EP0002991B1 - Procédé pour effectuer un dépôt de matériaux sur un fond sous-marin selon un tracé donné, installation pour sa mise en oeuvre, véhicules prévus pour être utilisés dans cette installation et application de cette installation - Google Patents

Procédé pour effectuer un dépôt de matériaux sur un fond sous-marin selon un tracé donné, installation pour sa mise en oeuvre, véhicules prévus pour être utilisés dans cette installation et application de cette installation Download PDF

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Publication number
EP0002991B1
EP0002991B1 EP78400256A EP78400256A EP0002991B1 EP 0002991 B1 EP0002991 B1 EP 0002991B1 EP 78400256 A EP78400256 A EP 78400256A EP 78400256 A EP78400256 A EP 78400256A EP 0002991 B1 EP0002991 B1 EP 0002991B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
hopper
chassis
pipeline
propulsion
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.)
Expired
Application number
EP78400256A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0002991A1 (fr
Inventor
Pierre Biancale
Pierre Lemercier
Jean Vertut
Jean-Yves Corfa
Jean Pierre Moreau
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP0002991A1 publication Critical patent/EP0002991A1/fr
Application granted granted Critical
Publication of EP0002991B1 publication Critical patent/EP0002991B1/fr
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D15/00—Handling building or like materials for hydraulic engineering or foundations
    • E02D15/10—Placing gravel or light material under water inasmuch as not provided for elsewhere

Definitions

  • the subject of the present invention is a process for depositing materials on an underwater background along a given route, an installation for its implementation of the vehicles intended to be used in this installation and the application of this installation.
  • the present invention relates to a method for depositing materials such as gravel or rocks on a pipe placed on an underwater bottom, this pipe can for example be a gas pipeline, an oil pipeline, a cable etc. ...
  • the autonomous means of propulsion will have to be much more powerful and their larger surface area of support which increases with the weight. Consequently, the forces applied by the lower end of the pipe to the vehicle risk making it practically impossible to obtain good vehicle stability. Even if the tilting stability of the vehicle were obtained at the cost of significant impaling, these efforts risk displacing the vehicle from its path.
  • the object of the present invention is precisely to allow a deposit of material such as rocks according to a precise given path corresponding to the cable or the piping even when the seabed on which the pipe rests is relatively deep, for example at a higher immersion. 100 meters.
  • the method essentially consists in moving on the seabed, an autonomous vehicle carrying a hopper in slaving this vehicle to strictly follow the route of the pipe to be covered. Furthermore, from a dynamically positioned vessel, a pipe is suspended for channeling the materials to be discharged, according to the method of the invention, action is taken on displacement means arranged at the lower end of the piping to slave the lower end of said piping to remain above the hopper. All of these different elements move gradually to follow the route of the pipeline.
  • the present invention also relates to an installation for implementing the method described above of the type comprising a vehicle capable of moving on the seabed and provided with a hopper, said vehicle comprising means suitable for propulsion on the seabed and means for detecting the route to be followed, said propulsion means being controlled by the detection means so that said vehicle follows precisely said route, a surface ship containing said materials, and a pipe for guiding said materials, said piping being suspended by its upper end to said vessel and its lower end not being integral with said hopper, the installation being characterized in that said piping comprises at its lower end means for detecting the presence of said hopper and its own propulsion means controlled by said detection means to control the lower end of said pipe ery to remain above the hopper, without mechanical connection between them.
  • the vehicle comprises a rigid chassis on which its hopper fixed which has an upper opening and a lower opening, at least one pair of thrusters, each thruster being arranged on one side of the lower opening of said hopper, motor means capable of driving said thrusters, detection means capable of detecting the deviation of the position of the vehicle relative to the layout and of controlling the driving means to cancel this deviation.
  • the present invention also relates to vehicles intended to be used in such an installation.
  • a vehicle being characterized in that it comprises means of transport by conveyor belt integral with said chassis, capable of moving the materials received by the hopper from a position located below the lower opening of the hopper to a lateral position in relation to the longitudinal axis of the vehicle, and in that the detection means are capable of maintaining said lateral position above the layout.
  • FIG. 1 represents the entire installation for burying a pipe 2 resting on the seabed 4 from a surface ship floating on the sea, represented by the line 8.
  • the installation comprises a on the one hand, bodies which are directly linked to the ship 6 and on the other hand, bodies which, during normal operation of the installation, move on the ground.
  • the first members consist essentially of a pipe 10 for supplying materials suspended from a derrick 12 secured to the ship 6.
  • This pipe 10 ends near the ground level by a head 14 which can be propelled and which will be described later.
  • the other part of the installation not linked to the ship is essentially constituted by a vehicle 16 which moves by means of propellants on the seabed 4 and which, as will be explained later, is controlled to follow the route of the pipe 2.
  • a dynamic location of the ship is obtained by its own means which are for example constituted by the propellers 18.
  • the ship 6 has a room 19 for controlling the loading of machinery into rocks. loading and holds such as 20 for the storage of rocks to be poured on the pipe 2.
  • a central well 22 is arranged below the derrick 12 and which allows not only the passage of the pipe erie 10 in operation, but also the lifting of the complete vehicle 16 which is shown on board the ship under the reference I.
  • suspension of the piping 10 to the derrick makes it possible to compensate for the variations in depth of the seabed to maintain the lower end of the piping at a low altitude above the vehicle and to compensate for the heaving.
  • the ship further comprises a conveyor 24 for transporting the rocks or more generally the loading materials to a loading belt 26 arriving at the upper end of the derrick, that is to say at the upper end of the piping 10.
  • the vehicle 16 comprises a chassis 30 of welded profiles which constitutes the framework of the vehicle and connects between them Archimedes screws such as 32 (4 in the case of FIG. 2), which constitute the proper propellants of the vehicle 16 to a hopper 34 for receiving and depositing 36 materials (rocks) intended to constitute a covering for the pipe 2.
  • the cylindrical part 32a of each Archimedes screw allows support on the ground of low lift and participates in weight compensation of the whole vehicle.
  • the helical parts 32 of the Archimedes screws of opposite steps allow movement in one direction or the other by the composition of rotational movements: if their movements are of the same speed and in the opposite direction, the vehicle moves in a straight line longitudinally, if their movements are of different speeds and in opposite directions, the vehicle turns; finally, if their movements are of the same speed and the same direction, the vehicle moves transversely.
  • a motor or geared motor unit 38 drives each of the Archimedes screws. It is conceivable that this group is an integral part of the thrusters inside the Archimedes screws, for example. As shown in FIG. 2 ', the Archimedes' screws constituting the thrusters can be replaced by tracks 32' of conventional type.
  • the hopper 34 is made up of panels 34a which can be interchangeable. These panels must resist impact and abrasion.
  • the rear wall may include a door that can be controlled remotely which allows the rocks to be removed in the event of a "jam" in the hopper. It is understood that due to its shape of an inverted pyramid trunk, this hopper makes it possible to accept errors in relative position between the lower end of the pipe 10 and the point of deposit of the materials on the ground.
  • the vehicle 16 essentially comprises a first set of sensors ensuring the centering of the vehicle 16 relative to the pipe 2.
  • sensors 40 and 40 ' are for example simple or differential ultrasonic sensors.
  • This set can be completed by mechanical or probe sensors or electromagnetic or optical sensors. It is easy to understand that these sensors behave both as transmitters and receivers and that insofar as the round trip times of the signals emitted by the sensors 40 and 40 'are the same, the vehicle is correctly centered.
  • a second set of sensors ensures the positioning of the head 14 and of the piping 10 relative to the vehicle 16 or more precisely relative to the hopper 34 of the vehicle 16.
  • the hopper 34 is equipped with a sensor 42 and the head 14 of the piping 10 is equipped with a sensor 44.
  • the sensor 44 is an ultrasonic transmitter and receiver and the sensor 42 is a reflector. It is easy to understand that the centering of the head relative to the vehicle 16 is correct if the transit times of the two ultrasonic signals between the transmitter and the receiver (which are combined) are equal.
  • the head 14 is itself provided with thrusters, the starting of which is controlled by the error signal detected by the sensor 44.
  • a cable 46 connects the surface vessel 6 to the vehicle 16. It is composed of power supply cables necessary for the engine 38, information and measurement transmission cables, control cables, optical information transmission cable and compressed air supply pipes for possible ballasting of the vehicle.
  • the vehicle 16 preferably comprises an equipment of light projectors 48 and electronic cameras 50. These projectors and cameras essentially have the function of facilitating the starting position of the vehicle 16 before the sequence of automatic commands. There are a certain number of mechanical probes, not shown, making it possible to ascertain the quality of the deposit 36 produced and to send the information necessary for dosing the quantity of rocks which is conveyed by the piping 10.
  • FIG. 3 completes the description of this first embodiment. Flaps 50 disposed at the lower end of the hopper 34 and controlled by jacks not shown make it possible to vary the width of the deposit by adjusting the inclination of these flaps. In addition, by acting only on one of the flaps, it is possible to compensate for small positioning errors of the vehicle relative to the pipe 2.
  • ballast volumes 52 integral with the chassis 30 make it possible to vary the apparent weight of the vehicle and, consequently, to adjust its bearing force on the ground according to its characteristics.
  • the vehicle 16 is provided with protective devices 54 protecting the Archimedes' screws 32 against the accidental fall of rocks out of the hopper 34.
  • the sensors 40, 40 ' which make it possible to position the vehicle 16 relative to the pipe 2 to be buried as well as the sensors 42 and 44 which make it possible to enslave the head 14 of the piping in position. with respect to the hopper 34.
  • the propulsion members of the head 14 are shown in more detail.
  • the propeller of the head 14 is for example constituted by propellers such as 60 arranged in nozzles 62. These nozzles are arranged in two orthogonal and horizontal directions so that the head 14 can move autonomously in a horizontal plane. Of course, these propellers are rotated according to the indications delivered by the sensor 44.
  • the latter can be provided with pipe 64 and nozzles 66 for injecting a gas under pressure creating a relief of the water and rock column. It is also important to note that due to the symmetry between the front and the rear of the vehicle and the fact that the vehicle is guided relative to the pipeline without mechanical contact, the vehicle can retrace its steps that is to say, back off by returning to a portion of the pipeline where rocks have already been dumped.
  • FIG. 4 represents an alternative embodiment of FIG. 3.
  • the difference consists essentially in the shape of the hopper which here bears the reference 34 '.
  • This comprises at its lower end several openings 70a, 70b, 70c, which make it possible to distribute the deposit of rocks judiciously, these openings being provided with flaps 72 thus making it possible to completely interrupt the deposit of the rocks.
  • the rock supply pipe 10 can comprise at its lower end a stop valve 74 which thus makes it possible to interrupt the supply of the rock hopper.
  • FIG. 5 represents a new alternative embodiment of the vehicle 16.
  • the rocks contained in the hopper do not fall directly on the ground directly above the hopper, but on a conveyor belt 80.
  • This conveyor belt makes it possible to transport the rocks from a position located below the hopper 34 to the point of depositing the rocks on the pipe 2.
  • the propellants of the vehicle are no longer arranged on either side from line 2, but on the same side.
  • a positioning sensor 40 or several positioning sensors 40" are used which are directed towards the outside of the vehicle.
  • the treadmill 80 is mounted articulated around the axis 82 relative to the chassis of the vehicle and that it is possible to vary its inclination by controlling the jack 84 to adjust the height of the rock fall.
  • the other characteristics of the vehicle are identical to those which have been described in connection with FIGS. 2 to 4.
  • This variant may have advantages for the positioning of the vehicle in its initial material unloading position, because thus, the vehicle can approach the piping 2 from the side without having to step over it. However, adjusting the position may be more difficult.
  • each thruster 32 is fixed by an articulated system 100 to the lower end of a post 102 subjected to sliding vertically inside guides 104 integral with the chassis 30 of the vehicle. These guides 104 are for example provided with rollers 106.
  • the upper end of the post 102 is integral with a threaded rod 108 which can move in vertical translation under the effect of the rotation of the sleeve 110 internally threaded and immobilized in translation by relative to the chassis 30.
  • a motor 112 also integral with the chassis rotates the sheath 110 and thus causes the pole 102 to slide.
  • FIGS 7a and 7b show a second embodiment of the mechanism.
  • Each thruster 32 can be raised or lowered by a linkage which pivots about an axis parallel to the direction of travel of the vehicle.
  • Each end of the thruster 32 is pivotally mounted at one end of a lever arm 120a, 120b, the other end of which is articulated relative to the chassis 30.
  • Bars 122a, 122b, connect these two arms at a point of articulation 124
  • a jack 126 controls the raising and lowering of the arms 120 and therefore of the propellant: the body 126a is articulated with respect to an upper element of the chassis and the rod 126b of the jack is articulated at the point of articulation 124.
  • the position of the thruster 32 is also controlled.
  • the vehicle has four identical mechanisms. In the left half-view of FIG. 7a, the chassis is in the low position, in the right half-view it is in the high position.
  • FIG. 8 shows a third embodiment in which the raising or lowering of the chassis relative to the thrusters is carried out by pivoting about an axis perpendicular to the direction of progression of the vehicle.
  • each propulsion assembly is constituted by two propellers with parallel axes forming a boogie.
  • each pair of thrusters (of which only one 32 ′ is shown) is supported by an assembly 130 forming a stirrup.
  • the lifting mechanism consists of a lever arm 132 articulated with respect to the frame 30 around the axis 134, and around the axis 136 with respect to the structure 130.
  • the movement control is provided by the jack 138.
  • the body 138a of the jack is articulated on an upright 140 of the chassis 30 of the vehicle and the rod 138b on the axis 142. It is understood that thus there is ' at least a degree of freedom between the actuating mechanism and the couple of propellants , which allows the thrusters to conform to the configuration of the seabed.
  • the four drive members (112, 126, 138) can be controlled simultaneously. This gives an overall movement of raising or lowering the chassis. It is then possible to control each driving member individually and thus provides a certain compensation for the slope of the seabed.
  • FIG 9 there is shown in more detail an embodiment of the walls of the hopper.
  • Each wall 34a is covered by a set of parts in the manner of roof tiles.
  • Each part 140 which has a generally rectangular shape is fixed to its upper part by lugs 142 driven into corresponding bores 144 formed in support parts 146 integral with the chassis 30.
  • the parts 140 overlap each other.
  • the upper parts 140a are for example directly fixed to the upper rim 148 of the hopper.
  • the main advantages of the invention and of the method described above are easily understood. It makes it possible to mechanically decouple the deposition vehicle 16 which follows with all the desired precision the layout of the deposition to be carried out while a dynamic positioning of loose precision makes it possible to maintain the vessel 6 in the vicinity of the vertical of the vehicle 16 and that for a depth greater than or equal to 100 m, (for example between 100 and 300 m), the piping 10 using proore means constituted by these propellants may be at the cost of reduced energy consumption, positioned with greater precision than that of the ship above the hopper of vehicle 16, which provides the final precision of the deposit.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Physical Or Chemical Processes And Apparatus (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Vending Machines For Individual Products (AREA)
EP78400256A 1977-12-23 1978-12-21 Procédé pour effectuer un dépôt de matériaux sur un fond sous-marin selon un tracé donné, installation pour sa mise en oeuvre, véhicules prévus pour être utilisés dans cette installation et application de cette installation Expired EP0002991B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7739060A FR2412660A1 (fr) 1977-12-23 1977-12-23 Procede de depot de materiaux sur les fonds marins selon un trace donne et dispositifs de mise en oeuvre dudit procede
FR7739060 1977-12-23

Publications (2)

Publication Number Publication Date
EP0002991A1 EP0002991A1 (fr) 1979-07-11
EP0002991B1 true EP0002991B1 (fr) 1981-06-10

Family

ID=9199300

Family Applications (1)

Application Number Title Priority Date Filing Date
EP78400256A Expired EP0002991B1 (fr) 1977-12-23 1978-12-21 Procédé pour effectuer un dépôt de matériaux sur un fond sous-marin selon un tracé donné, installation pour sa mise en oeuvre, véhicules prévus pour être utilisés dans cette installation et application de cette installation

Country Status (7)

Country Link
US (1) US4338043A (no)
EP (1) EP0002991B1 (no)
JP (1) JPS5565630A (no)
CA (1) CA1103467A (no)
DE (1) DE2860765D1 (no)
FR (1) FR2412660A1 (no)
NO (1) NO148270C (no)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
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US4407606A (en) * 1979-11-13 1983-10-04 Larsen Ole J F Method and apparatus for producing and laying a ballasted mat for ground stabilization
NL188938C (nl) * 1981-05-08 1992-11-16 Oord Acz B V Van Vaartuig met inrichting voor het storten van materiaal op een onder water gelegen bodem.
SE435102B (sv) * 1983-08-12 1984-09-03 Hans Jelbring Anordning for jemn ispafrysning pa vermevexlare av ror- eller slangtyp placerad i vattendrag
US4542334A (en) * 1983-09-26 1985-09-17 The United States Of America As Represented By The Secretary Of The Navy Induced-signal capacitance effect cable tracking sensor
DE3347669A1 (de) * 1983-12-31 1985-07-11 Josef 2990 Papenburg Messmann Vorrichtung zum einbau von schuettguetern zum abdichten von kanaelen
NO163648C (no) * 1987-04-29 1990-06-27 Dag Vilnes Fremgangsmaate til isolering av et roerlegeme som er nedsenket i vann.
JPH04363417A (ja) * 1991-06-10 1992-12-16 Toa Harbor Works Co Ltd 捨石投入・均し装置
US20040141811A1 (en) * 2003-01-20 2004-07-22 Karel Karal Ballast deployment apparatus and method for installing and retrieving said apparatus
MXPA05001608A (es) 2003-11-12 2006-01-27 Mattel Inc Vehiculo de accionamiento por tornillo.
KR100712372B1 (ko) * 2006-09-08 2007-05-02 주식회사 유일종합기술단 수중 구조물 보호용 누름사석 투하기
JP6586342B2 (ja) * 2015-10-05 2019-10-02 中国電力株式会社 水中締固め工法
EP3458187A1 (en) 2016-05-18 2019-03-27 WorleyParsons Services Pty Ltd Device for removing catalyst and other material form refinery and petrochemical reactors and other vessels
US11673638B2 (en) * 2020-12-08 2023-06-13 Applied Impact Robotics, Inc Robotic solution to penetrate and maneuver through sludge and sediment

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US2842039A (en) * 1950-05-08 1958-07-08 Donald M Swingle Motor vehicle controls
US3112004A (en) * 1961-04-05 1963-11-26 Arthur W Neaville Remote control system for automotive vehicles
US3224407A (en) * 1964-10-27 1965-12-21 Paul A Bertrand Tractor vehicle
US3267682A (en) * 1964-12-21 1966-08-23 Gunther And Shirley Company Method of submarine pipe laying
FR1506699A (fr) * 1965-12-17 1967-12-22 Ishikawajima Harima Heavy Ind Véhicule amphibie
DE1256096B (de) * 1966-03-03 1967-12-07 Beteiligungs & Patentverw Gmbh Amphibienfahrzeug
FR1589416A (no) * 1968-04-20 1970-03-31
AT314579B (de) * 1969-01-22 1974-04-10 Plasser Bahnbaumasch Franz Fahrbare Einrichtung zur Aufzeichnung und bzw. oder Korrektur der Lage eines Gleises
US3632172A (en) * 1969-07-17 1972-01-04 Dresser Ind Method of and apparatus for weakening ice for assisting an icebreaker
US3812929A (en) * 1971-07-26 1974-05-28 Citation Mfg Co Inc Self-propelled golf cart
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FR2377522A1 (fr) * 1977-01-18 1978-08-11 Commissariat Energie Atomique Vehicule de nodules sur un fond marin

Also Published As

Publication number Publication date
US4338043A (en) 1982-07-06
NO148270C (no) 1983-09-07
JPS5565630A (en) 1980-05-17
FR2412660B1 (no) 1982-11-05
CA1103467A (fr) 1981-06-23
EP0002991A1 (fr) 1979-07-11
DE2860765D1 (en) 1981-09-17
NO148270B (no) 1983-05-30
NO784244L (no) 1979-06-26
FR2412660A1 (fr) 1979-07-20

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