EP0029768B1 - Process and apparatus for watching and controlling an articulated fluid-transfer arm for linking a ship to a platform in the sea - Google Patents

Process and apparatus for watching and controlling an articulated fluid-transfer arm for linking a ship to a platform in the sea Download PDF

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Publication number
EP0029768B1
EP0029768B1 EP80401601A EP80401601A EP0029768B1 EP 0029768 B1 EP0029768 B1 EP 0029768B1 EP 80401601 A EP80401601 A EP 80401601A EP 80401601 A EP80401601 A EP 80401601A EP 0029768 B1 EP0029768 B1 EP 0029768B1
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EP
European Patent Office
Prior art keywords
vessel
arm
point
computer
envelope
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
EP80401601A
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German (de)
French (fr)
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EP0029768A1 (en
Inventor
Thomas Ehret
Gérard Ovieve
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FMC Technologies SAS
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FMC Europe SA
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Publication date
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Publication of EP0029768A1 publication Critical patent/EP0029768A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D9/00—Apparatus or devices for transferring liquids when loading or unloading ships
    • B67D9/02—Apparatus or devices for transferring liquids when loading or unloading ships using articulated pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/24—Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8158—With indicator, register, recorder, alarm or inspection means
    • Y10T137/8225—Position or extent of motion indicator
    • Y10T137/8242—Electrical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/8807—Articulated or swinging flow conduit

Definitions

  • the present invention relates to a method and an installation for monitoring and controlling an articulated fluid transfer arm with an emergency disconnection device, intended to connect and connect a ship to a platform at sea.
  • the known document FR-A-2 347 159 describes a logical system for monitoring an articulated fluid transfer arm, comparing an isolated signal with a predetermined limit without taking account of the preceding information.
  • the present invention relates to a logic system comparing the statistical parameters of a sample of signals with a predetermined limit.
  • the invention meets these various imperatives and constraints by ensuring, in particular, either the stopping of all circulation of fluid, or the emergency disconnection.
  • the values of the signals from the computer approaching the alarm envelope are used to trigger the alarm.
  • the signal values of the computer approaching the intervention envelope produce an semi-automatic alarm for the operator, who can act on a device for stopping the circulation of fluid in the transfer arm and, in automatic, produce the direct action of sealing means of said pipe.
  • the invention also relates to an installation for monitoring and controlling an articulated fluid transfer arm intended to connect and connect a ship to a platform at sea and implementing the above method.
  • the installation comprises, in addition to the computer, sensor means allowing constant monitoring of the parameters to which the ship is exposed simply moored to the platform.
  • the boom is, during loading operations, substantially in a horizontal position and has two degrees of freedom: - a rotation relative to a vertical axis secured to the platform, which rotation allows the arm to follow the horizontal drift of the ship ; and - a rotation relative to a horizontal axis integral with the platform, which rotation allows the arm to rise or lower to follow the vertical drift (due mainly to the tide) of the ship.
  • an oil tanker (T) is shown connected to an offshore platform (P) by means of a simple hawser or mooring (A).
  • A On the arrow (F) of said platform hangs an articulated fluid transfer arm (L) itself connected at a theoretical point (M) of the ship.
  • the articulated arm (L) can be of any suitable type and is provided with at least one device for stopping the circulation of fluid (not shown) and a device for emergency disconnection (1 ) of which a part (1A) is integral with the ship (T) ( Figure 2).
  • the articulated arm suspended from the arrow is of the accordion or zigzag type, but it is obvious that this choice is in no way restrictive.
  • the arrow (F) can rotate around a vertical axis and around a horizontal axis.
  • the vessel (T) is subject to continual variations in the sea state and the connection point (M) considered is illustrative, according to three degrees of freedom (H-SW-SU) of the movements of the vessel resulting from variations in this state sea.
  • H-SW-SU degrees of freedom
  • the point (M) is part of a plane, preferably pendulum, in which is located the articulated arm (L) and all angular or linear displacements of said pendular plane correspond to variable coordinates in the space of the point (M); the axis OX being taken as corresponding to the longitudinal axis of the ship.
  • variable coordinates of point (M) can be measured at all appropriate points; on the arm (L), on the boom (F) of the platform or on the ship itself.
  • the sea state intervenes mainly on the angular displacements and the linear displacements of the ship.
  • the phenomena which characterize it can be of slow or fast action vary in time and according to the places of the globe where we are. This is how tides and currents cause rather slow linear movements while the waves cause rather rapid linear and angular movements of the ship.
  • the amplitude and the duration of these oscillations depend in fact on several factors and on the relationship with each other (dimensions, direction and speed of propagation of the swell; dimensions, inertia and righting moment of the ship, etc.).
  • the ship itself therefore constitutes in itself an important factor, determined by its dimensions, its type of construction, its resistance to the sea as to that of the wind and depending on whether it is in an empty or loaded state.
  • the most complete possible set of these various data and these various events of variable frequency (regular or irregular, fortuitous or rare) occurring in various places and of variable importance in the scale of the potential risks of damage and accidents that they represent is inventoried and analyzed statistically and supplied in memory to a computer or other calculator.
  • the computer accumulates in memory the information supplied by sensors in order to statistically process a representative sample of the situation. In order to reflect the evolution of the situation, the sample is periodically renewed, the oldest information being rejected to make room for the most recent information.
  • movements (H'-SW'-SU ') having a frequency of the order of that of the wave are said to be “rapid movements” and movements (H “-SW” ) having a period much longer than that of the wave (or constant) are called “slow movements”.
  • the arm (L) takes account of the movements (H'-SW'-SU ') while the arrow (F) takes account of the movements (H "-SW").
  • the computer discriminates slow horizontal displacements in particular by analysis by digital filter, and the result of this operation is the displacement of the arrow to compensate for the drift.
  • the measured values of the variable angular displacements of the point (M) considered on the ship, like the variable linear displacements of this same point (M) are continuously supplied to the computer.
  • One of the tasks of the computer is then to continuously compare the information acquired from statistical analysis (AS) information with the information it constantly receives from measurement sensors. From the result of this continuous comparison, the computer provides usable signals, either semi-automatic or automatic, on the circulation of the fluid in the transfer arm (circulation stop device) or on the emergency disconnection. (emergency disconnection device) and sufficiently in advance to take into account the inertia of these fluid circulation stop and emergency disconnection devices.
  • AS statistical analysis
  • one or more limit thresholds (S1-S2-S3) are imposed on the computer so that the approach of these thresholds generates a triggering of an alarm or a triggering of 'an operation, by one or more of the operating signals supplied by the computer.
  • An operating criterion imposed by the invention is therefore to force the point (M) to remain inside a volume delimited by a surface called “capable envelope”.
  • a work envelope which is a closed surface containing all the possible trajectories of the point (M) is calculated with a given probability of crossing (for example it can be agreed that the probability for the point (M) of crossing the 'work envelope in ten years is less than 1/100).
  • the fluid transfer arm is calculated so that the working envelope is inscribed entirely inside the capable envelope of the arm.
  • the function of the computer is to ensure that point (M) never crosses the working envelope S (a, ⁇ , 0). Since for given p, ⁇ , y coordinates, the point (M) is fixed, it is possible to determine the coordinates of (M) in a system centered in (Mo). When the arm is disconnected, the point (M) returns to a position (R) which is a rest position.
  • the movements of the point (M) are measured before, during and after the connection of the arm (L) to the vessel (T).
  • the arrow (F) is substantially in a horizontal position and has two degrees of freedom: - a rotation relative to a vertical axis secured to the platform, which rotation allows the arm (L) to follow the horizontal drift of the ship; and- a rotation with respect to a horizontal axis integral with the platform, which rotation allows the arm to rise or lower to follow the vertical drift (due mainly to the tide) of the ship.
  • Two accelerometers (Acc 1 and Acc 2) are provided to measure the vertical movement (direction Z) and the horizontal movement (direction Y only).
  • the sensitive axes of the accelerometers are preferably mounted on a stabilized platform or with Cardan joint.
  • the acceleration signals are integrated twice.
  • this is preferably transformed into a low frequency square wave signal, amplitude modulated. This low-frequency signal is then demodulated to obtain an exploitable signal. It is thus possible to do without any electric transmission cable and to use a low energy.
  • the instrumentation can be installed on the moorings of a buoy subjected to the wave, which constitutes, in itself, a reliable means allowing the measurement of the vertical movement of the sea.
  • the geometry of the articulated arm is determined by several angles using potentiometric means.
  • the measurement of the angles a, ⁇ , y allows the determination of the coordinates X, Y, Z of the point (P) located at the point of connection of the articulated arm with the loading connector.
  • the determination of the point (P) is considered sufficient by measuring only the angles a, ⁇ , y .
  • the measuring instruments can be constituted by four potentiometers (P01-P02-P03-P04) intended to measure the angles a, ⁇ , y, ⁇ .
  • the first of these potentiometers is installed on the articulated arm (L) and the fourth on the ship (T).
  • An electrical connection is provided between the vessel and the articulated arm to connect the fourth potentiometer and this connection is waterproof.
  • the potentiometers are installed in watertight boxes, of robust construction with sealed axis passage.
  • the output signal from each potentiometer is a voltage proportional to the angle measured.
  • two sets of four potentiometers each are provided in order to increase the security of the measurements.
  • the readings can be compared and crossed if necessary by comparison of eight groups of three readings each for the angles a, ⁇ , y.
  • the invention applies whether or not the arm L is connected to the ship (T).
  • the movement of the point (M) at the front of the ship can be determined, according to one embodiment, by the combination of two cameras, both fixed to the arrow (F), one at the end of the arrow (camera A), the other at the base of the arrow (camera B).
  • a transmitting diode is required at the front of the ship at a point close to point M.
  • the two cameras are directed at this point and the combination of the two measurement forms provides the three-dimensional movement of the front of the ship relative to a system of references taken from the arrow (F).
  • the two cameras are installed so that they can "see” the point (M) regardless of the position of the articulated arm (L).
  • X, Y and Z are the coordinates relative to a reference system taken on the arrow (with the horizontal OY axis).
  • the cameras are placed in waterproof boxes and fitted with windscreen wipers.
  • optical axes of the two cameras are preferably in the same plane.
  • the power of the emitting diode and the aperture ratio of the lenses are calculated as a function of the distance from the point (M) and the detector of each camera is also calculated accordingly.
  • a single camera placed at the end of the arrow (camera A).
  • This camera is mounted on the gimbal and looks down, vertically, at two points B and C from the front of the ship, fixed relative to point (M). These points B and C are equipped with emitting diodes.
  • the distance between these points is the distance l o .
  • a maximum distance Imax can be calculated according to three or more travel times. This maximum distance I max is very close to the real distance 1 0 ; thus this arrangement provides the absolute X and Y coordinates of the two points B and C of the bow of the ship and the X and Y coordinates of the point (M).
  • the vertical displacement Z is not measured by the camera and, in this case, additional equipment is required.
  • Z in this case can be measured by a distance measuring device such as an infrared rangefinder or equivalent device.
  • This device continuously monitors the distance from the bow of the ship and the output signal is measured and filtered to give an accurate representation.
  • This equipment can be protected against bad weather, in particular, against heavy rain and against substantially vertical reflection from the deck of the ship exposed to the sun.
  • a television camera is installed at the end of the arrow (F) and directed at the front of the ship. This arrangement allows the operator to view the operations at the front of the ship and in particular to control the positioning of the articulated arm (L) during this connection.
  • This camera is also placed in a waterproof casing and fitted with windscreen wipers.
  • this surveillance camera is camera A already installed for measuring the displacement of the bow of the ship.
  • Connection monitoring begins once the boat is moored. Before any operation takes place, the movement (Z) of the ship is given by an accelerometer or a “Datawell” type buoy. Statistical analysis decides whether the operation can be carried out or not. In the event that the operation is not to be carried out, the computer interrupts the sequence; if the operation can be carried out, the means available for measuring the movement (Y) is the optical means, which gives the distance separating the arrow (F) from the central axis of the ship and allows the computer to initiate rotation in the arm position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Loading And Unloading Of Fuel Tanks Or Ships (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Navigation (AREA)
  • Jib Cranes (AREA)

Description

La présente invention se rapporte à un procédé et à une installation de surveillance et de commande d'un bras articulé de transfert de fluide à dispositif à déconnexion d'urgence, destiné à relier et reliant un navire à une plate-forme en mer.The present invention relates to a method and an installation for monitoring and controlling an articulated fluid transfer arm with an emergency disconnection device, intended to connect and connect a ship to a platform at sea.

Le document connu FR-A-2 347 159 décrit un système logique de surveillance d'un bras articulé de transfert de fluide, comparant un signal isolé à une limite prédéterminée sans tenir compte des informations précédentes.The known document FR-A-2 347 159 describes a logical system for monitoring an articulated fluid transfer arm, comparing an isolated signal with a predetermined limit without taking account of the preceding information.

La présente invention vise un système logique comparant les paramètres statistiques d'un échantillon de signaux à une limite prédéterminée.The present invention relates to a logic system comparing the statistical parameters of a sample of signals with a predetermined limit.

Si l'on peut considérer la plate-forme comme sensiblement à l'état fixe, il n'en est pas de même du navire amarré à la plate-forme par une seule aussière et qui, sous l'action des vagues, des courants ou du vent, présente des mouvements alternatifs ou non, de grande envergure.If one can consider the platform as appreciably in a fixed state, it is not the same for the ship moored to the platform by a single hawser and which, under the action of the waves, currents or wind, presents reciprocating or non-large-scale movements.

Il est indispensable de tenir compte de ces divers mouvements du navire afin d'éviter des risques graves d'avaries et d'accidents dans le cas, en particulier, où le bras articulé de chargement ou de déchargement sert au transfert de produits fluides cryogéniques. Une intervention s'impose alors sur le circuit même du transfert, en bloquant toute circulation de fluide et, dans les cas extrêmes, en produisant la déconnexion d'urgence entre le bras et le navire lorsque le bras se trouve déjà connecté au navire.It is essential to take account of these various movements of the ship in order to avoid serious risks of damage and accidents in the case, in particular, where the articulated loading or unloading arm is used for the transfer of cryogenic fluids. An intervention is therefore necessary on the transfer circuit itself, blocking all circulation of fluid and, in extreme cases, producing emergency disconnection between the arm and the ship when the arm is already connected to the ship.

L'invention répond à ces divers impératifs et contraintes en assurant notamment, soit l'arrêt de toute circulation de fluide, soit la déconnexion d'urgence.The invention meets these various imperatives and constraints by ensuring, in particular, either the stopping of all circulation of fluid, or the emergency disconnection.

Le procédé selon l'invention consiste:

  • - à inventorier un ensemble de données qui interviennent sur les déplacements du navire et relatives à divers événements de fréquence variable (réguliers ou irréguliers, fortuits ou rares) survenant en des lieux divers et d'importance variable dans l'échelle des risques potentiels d'avaries et d'accidents qu'ils représentent;
  • - à analyser statistiquement (AS) les risques potentiels d'avaries ou d'accidents relatifs à une situation donnée, en un lieu donné, cette analyse statistique tenant compte de l'état de la mer dont les phénomènes peuvent provoquer des déplacements linéaires lents comme des déplacements linéaires et angulaires rapides du navire selon trois degrés de liberté (H-SW-SU); des mouvements (H'-SW'-SU') ayant une fréquence de l'ordre de celle de la vague étant considérés comme «mouvements rapides» et des mouvements (H"-SW") ayant une période beaucoup plus longue que celle de la vague (ou constants) étant considérés comme «mouvements lents»;
  • - à disposer d'un ordinateur, micro-ordinateur ou autre calculateur;
  • - à fournir en mémoire les résultats de cette analyse statistique à l'ordinateur, lequel reçoit, par ailleurs, constamment les informations de divers capteurs disposés en tous points appropriés du bras et du navire et détermine à l'aide de ces informations la position, en coordonnées dans l'espace, du point de raccordement du bras du navire faisant partie d'un plan de préférence pen- dualire dont le bras fait partie, l'axe OX étant pris comme correspondant à l'axe longitudinal du navire et le système de référence étant lié à la plate-forme;
  • - à accumuler dans la mémoire de l'ordinateur les informations fournies par lesdits capteurs afin de traiter statistiquement un échantillon représentatif de la situation et afin de rendre compte de l'évolution de la situation, l'échantillon est périodiquement renouvelé, les informations les plus anciennes étant rejetées pour faire place aux informations les plus récentes;
  • - à demander à l'ordinateur la comparaison continue entre les informations reçues sans cesse des différents capteurs et l'acquis des informations de l'analyse statistique (AS) des risques potentiels, lequel ordinateur fournit alors des signaux exploitables, pour le déclenchement d'une alarme, d'une annulation ou d'une interdiction ou le déclenchement d'une opération sur la connexion, la circulation du fluide ou la déconnexion d'urgence.
The method according to the invention consists:
  • - to inventory a set of data which intervenes on the movements of the ship and relating to various events of variable frequency (regular or irregular, fortuitous or rare) occurring in various places and of variable importance in the scale of the potential risks of damage and accidents they represent;
  • - to analyze statistically (AS) the potential risks of damage or accidents relating to a given situation, in a given place, this statistical analysis taking into account the state of the sea, the phenomena of which can cause slow linear movements such as rapid linear and angular movements of the ship according to three degrees of freedom (H-SW-SU); movements (H'-SW'-SU ') having a frequency of the order of that of the wave being considered as "rapid movements" and movements (H "-SW") having a period much longer than that of the wave (or constants) being considered as "slow movements";
  • - have a computer, microcomputer or other calculator;
  • - to provide in memory the results of this statistical analysis to the computer, which, moreover, constantly receives the information from various sensors arranged at all appropriate points of the arm and of the ship and determines with the aid of this information the position, in space coordinates, of the point of connection of the ship's arm forming part of a preferably tilting plane of which the arm forms part, the axis OX being taken as corresponding to the longitudinal axis of the ship and the system of reference being linked to the platform;
  • - to accumulate in the computer memory the information provided by said sensors in order to statistically process a sample representative of the situation and in order to account for the evolution of the situation, the sample is periodically renewed, the most being discarded to make room for the most recent information;
  • - to ask the computer for the continuous comparison between the information constantly received from the various sensors and the information acquired from the statistical analysis (AS) of the potential risks, which computer then supplies usable signals, for triggering an alarm, cancellation or prohibition or the triggering of an operation on the connection, the circulation of the fluid or the emergency disconnection.

Trois enveloppes de travail sont également considérées autour d'un point fixe nominal dans la zone de raccordement du bras articulé au navire:

  • - une première enveloppe centrale ou enveloppe d'alarme;
  • - une enveloppe intermédiaire ou enveloppe d'intervention; et
  • - une enveloppe extérieure ou enveloppe de limite extrême.
Three working envelopes are also considered around a nominal fixed point in the connection area of the articulated arm to the ship:
  • - a first central envelope or alarm envelope;
  • - an intermediate envelope or intervention envelope; and
  • - an outer envelope or extreme limit envelope.

Les valeurs des signaux issus de l'ordinateur approchant l'enveloppe d'alarme servent à déclencher l'alarme.The values of the signals from the computer approaching the alarm envelope are used to trigger the alarm.

Les valeurs de signaux de l'ordinateur approchant l'enveloppe d'intervention produisent en se- mi-automatique l'alarme à l'opérateur, lequel peut agir sur un dispositif d'arrêt de circulation de fluide dans le bras de transfert et, en automatique, produisent l'action directe de moyens d'obturation de ladite canalisation.The signal values of the computer approaching the intervention envelope produce an semi-automatic alarm for the operator, who can act on a device for stopping the circulation of fluid in the transfer arm and, in automatic, produce the direct action of sealing means of said pipe.

Les valeurs des signaux de l'ordinateur approchant l'enveloppe extrême déclenchent le processus prévue de déconnexion d'urgence.The values of the computer signals approaching the extreme envelope initiate the planned emergency disconnection process.

L'invention vise également une installation de surveillance et de commande d'un bras articulé de transfert de fluide destiné à relier et reliant un navire à une plate-forme en mer et mettant en oeuvre le procédé ci-dessus.The invention also relates to an installation for monitoring and controlling an articulated fluid transfer arm intended to connect and connect a ship to a platform at sea and implementing the above method.

L'installation, conforme à l'invention, comprend, outre l'ordinateur, des moyens capteurs permettant la surveillance constante des paramètres auxquels est exposé le navire simplement amarré à la plate-forme.The installation, in accordance with the invention, comprises, in addition to the computer, sensor means allowing constant monitoring of the parameters to which the ship is exposed simply moored to the platform.

La flèche est, pendant les opérations de chargement, sensiblement dans une position horizontale et possède deux degrés de liberté: - une rotation par rapport à un axe vertical solidaire de la plate-forme, laquelle rotation permet au bras de suivre la dérive horizontale du navire; et - une rotation par rapport à un axe horizontal solidaire de la plate-forme, laquelle rotation permet au bras de se lever ou de s'abaisser pour suivre la dérive verticale (due en majeure partie à la marée) du navire.The boom is, during loading operations, substantially in a horizontal position and has two degrees of freedom: - a rotation relative to a vertical axis secured to the platform, which rotation allows the arm to follow the horizontal drift of the ship ; and - a rotation relative to a horizontal axis integral with the platform, which rotation allows the arm to rise or lower to follow the vertical drift (due mainly to the tide) of the ship.

Les déplacements linéaires et angulaires sont calculés à partir de mesures faites:

  • - soit sur le bras par des capteurs d'angles ou des accéléromètres et retransmis par câbles,
  • - soit en dehors du bras par caméra ou ensemble de caméras, optiques ou à laser,
  • - soit sur le bateau au moyen d'une bouée «Datawell» et une transmission radio.
Linear and angular displacements are calculated from measurements made:
  • - either on the arm by angle sensors or accelerometers and retransmitted by cables,
  • - either outside the arm by camera or set of cameras, optical or laser,
  • - either on the boat by means of a “Datawell” buoy and a radio transmission.

D'autres caractéristiques et avantages de la présente invention ressortiront de la description qui va suivre faite en regard des dessins annexés sur lesquels:

  • - la figure 1 est une vue schématique en perspective représentant le navire pétrolier relié par un bras articulé à la flèche d'une plate-forme en mer;
  • - la figure 2 est une vue en élévation de face moins schématique du bras articulé relié à la flèche et au navire;
  • - la figure 3 représente un point théorique de raccordement du bras articulé au navire, considéré par rapport à des coordonnées dans l'espace et une enveloppe de travail;
  • - la figure 4 représente en perspective une forme de réalisation d'observation de l'avant du navire à l'aide de deux caméras;
  • - la figure 5 est une vue en perspective d'une forme de réalisation d'observation de l'avant du navire par une seule caméra;
  • - la figure 6 est une vue en plan de l'aire d'observation de cette caméra;
  • - la figure 7 est un organigramme de fonctionnement d'une installation conforme à l'invention.
Other characteristics and advantages of the present invention will emerge from the description which follows, given with reference to the appended drawings in which:
  • - Figure 1 is a schematic perspective view showing the oil tanker connected by an articulated arm to the boom of a platform at sea;
  • - Figure 2 is a less schematic front elevation view of the articulated arm connected to the boom and the ship;
  • - Figure 3 shows a theoretical point of connection of the articulated arm to the ship, considered in relation to coordinates in space and a work envelope;
  • - Figure 4 shows in perspective an embodiment of observation of the front of the ship using two cameras;
  • - Figure 5 is a perspective view of an embodiment of observation of the front of the ship by a single camera;
  • - Figure 6 is a plan view of the viewing area of this camera;
  • - Figure 7 is an operating flow diagram of an installation according to the invention.

Sur la figure 1 des dessins, un navire pétrolier (T) est représenté relié à une plate-forme en mer (P) au moyen d'une simple aussière ou amarre (A). Sur la flèche (F) de ladite plate-forme est suspendu un bras articulé de transfert de fluide (L) lui-même relié en un point théorique (M) du navire. Il doit être précisé que le bras articulé (L) peut être de tout type approprié et se trouve muni d'au moins un dispositif d'arrêt de circulation de fluide (non représenté) et d'un dispositif à déconnexion d'urgence (1) dont une partie (1A) est solidaire du navire (T) (figure 2). Dans la forme de réalisation schématisée, le bras articulé suspendu à la flèche est du type accordéon ou zigzag, mais il est évident que ce choix n'est en aucune sorte restrictif.In FIG. 1 of the drawings, an oil tanker (T) is shown connected to an offshore platform (P) by means of a simple hawser or mooring (A). On the arrow (F) of said platform hangs an articulated fluid transfer arm (L) itself connected at a theoretical point (M) of the ship. It should be noted that the articulated arm (L) can be of any suitable type and is provided with at least one device for stopping the circulation of fluid (not shown) and a device for emergency disconnection (1 ) of which a part (1A) is integral with the ship (T) (Figure 2). In the schematic embodiment, the articulated arm suspended from the arrow is of the accordion or zigzag type, but it is obvious that this choice is in no way restrictive.

La flèche (F) peut tourner autour d'un axe vertical et autour d'un axe horizontal.The arrow (F) can rotate around a vertical axis and around a horizontal axis.

Le navire (T) est soumis aux variations continuelles de l'état de mer et le point de raccordement (M) considéré est illustratif, selon trois degrés de liberté (H-SW-SU) des mouvements du navire résultant des variations de cet état de mer.The vessel (T) is subject to continual variations in the sea state and the connection point (M) considered is illustrative, according to three degrees of freedom (H-SW-SU) of the movements of the vessel resulting from variations in this state sea.

Le point (M) fait partie d'un plan, de préférence pendulaire, dans lequel se situe le bras articulé (L) et tous déplacements angulaires ou linéaires dudit plan pendulaire correspondent à des coordonnées variables dans l'espace du point (M); l'axe OX étant pris comme correspondant à l'axe longitudinal du navire.The point (M) is part of a plane, preferably pendulum, in which is located the articulated arm (L) and all angular or linear displacements of said pendular plane correspond to variable coordinates in the space of the point (M); the axis OX being taken as corresponding to the longitudinal axis of the ship.

Comme il sera expliqué plus loin les coordonnées variables du point (M) peuvent être mesurées en tous points appropriés; sur le bras (L), sur la flèche (F) de la plate-forme ou encore sur le navire lui-même.As will be explained below, the variable coordinates of point (M) can be measured at all appropriate points; on the arm (L), on the boom (F) of the platform or on the ship itself.

L'état de mer intervient principalement sur les déplacements angulaires et les déplacements linéaires du navire. Les phénomènes qui le caractérisent peuvent être d'action lente ou rapide, varier dans le temps et suivant les lieux du globe où l'on se trouve. C'est ainsi que marées et courants provoquent des déplacements linéaires plutôt lents alors que les vagues provoquent des déplacements linéaires et angulaires du navire plutôt rapides. L'amplitude et la durée de ces oscillations dépendent en fait de plusieurs facteurs et du rapport des uns avec les autres (dimensions, direction et vitesse de propagation de la houle; dimensions, inertie et couple de redressement du navire, etc.).The sea state intervenes mainly on the angular displacements and the linear displacements of the ship. The phenomena which characterize it can be of slow or fast action, vary in time and according to the places of the globe where we are. This is how tides and currents cause rather slow linear movements while the waves cause rather rapid linear and angular movements of the ship. The amplitude and the duration of these oscillations depend in fact on several factors and on the relationship with each other (dimensions, direction and speed of propagation of the swell; dimensions, inertia and righting moment of the ship, etc.).

Le navire lui-même constitue donc en soi un facteur important, déterminé par ses dimensions, son type de construction, sa résistance à la mer comme à celle du vent et suivant qu'il est à l'état vide ou chargé.The ship itself therefore constitutes in itself an important factor, determined by its dimensions, its type of construction, its resistance to the sea as to that of the wind and depending on whether it is in an empty or loaded state.

Il convient en effet de considérer également l'état des vents (force et direction) dont l'action peut s'exercer directement sur le navire (dérive du navire).It should indeed also consider the state of the winds (force and direction) whose action can be exerted directly on the ship (drift of the ship).

Conformément à un aspect de l'invention, un ensemble le plus complet possible de ces diverses données et de ces divers événements de fréquence variable (réguliers ou irréguliers, fortuits ou rares) survenant en des lieux divers et d'importance variable dans l'échelle des risques potentiels d'avaries et d'accidents qu'ils représentent, est inventorié et analysé statistiquement et fourni en mémoire à un ordinateur ou autre calculateur.In accordance with one aspect of the invention, the most complete possible set of these various data and these various events of variable frequency (regular or irregular, fortuitous or rare) occurring in various places and of variable importance in the scale of the potential risks of damage and accidents that they represent, is inventoried and analyzed statistically and supplied in memory to a computer or other calculator.

L'ordinateur accumule en mémoire les informations fournies par des capteurs afin de traiter statistiquement un échantillon représentatif de la situation. Afin de rendre compte de l'évolution de la situation, l'échantillon est périodiquement renouvelé, les informations les plus anciennes étant rejetées pour faire place aux informations les plus récentes.The computer accumulates in memory the information supplied by sensors in order to statistically process a representative sample of the situation. In order to reflect the evolution of the situation, the sample is periodically renewed, the oldest information being rejected to make room for the most recent information.

Suivant un mode d'investigation choisi mais nullement limitatif, des mouvements (H'-SW'-SU') ayant une fréquence de l'ordre de celle de la vague sont dits «mouvements rapides» et des mouvements (H"-SW") ayant une période beaucoup plus longue que celle de la vague (ou constants) sont dits «mouvements lents».According to a chosen but in no way limiting mode of investigation, movements (H'-SW'-SU ') having a frequency of the order of that of the wave are said to be "rapid movements" and movements (H "-SW" ) having a period much longer than that of the wave (or constant) are called "slow movements".

Le tableau ci-après fait apparaître une classification de mouvements suivant ce mode d'investigation en considération des trois axes OX, OY, OZ:

Figure imgb0001
The table below shows a classification of movements according to this mode of investigation in consideration of the three axes OX, OY, OZ:
Figure imgb0001

Le bras (L) tient compte des mouvements (H'-SW'-SU') alors que la flèche (F) tient compte des mouvements (H"-SW").The arm (L) takes account of the movements (H'-SW'-SU ') while the arrow (F) takes account of the movements (H "-SW").

Il doit être remarqué que l'ordinateur discrimine les déplacements lents horizontaux notamment par analyse par filtre numérique, et le résultat de cette opération est le déplacement de la flèche pour compenser la dérive.It should be noted that the computer discriminates slow horizontal displacements in particular by analysis by digital filter, and the result of this operation is the displacement of the arrow to compensate for the drift.

Toujours suivant ce mode d'investigation donné à titre d'exemple le (ou les) paramètres définissant «l'agitation» du navire sont fonctions:

  • - du point du navire considéré;
  • - du (ou des) paramètre de l'état de mer considéré;
  • - des caractéristiques hydrodynamiques du navire.
Still according to this mode of investigation given by way of example, the parameter (s) defining "agitation" of the ship are functions:
  • - from the point of the ship considered;
  • - the sea state parameter (s) considered;
  • - hydrodynamic characteristics of the ship.

Par ailleurs, en cours de fonctionnement, les valeurs mesurées des déplacements angulaires variables du point (M) considéré sur le navire, comme les déplacements linéaires variables de ce même point (M) sont continuellement fournies à l'ordinateur.Furthermore, during operation, the measured values of the variable angular displacements of the point (M) considered on the ship, like the variable linear displacements of this same point (M) are continuously supplied to the computer.

Une des tâches de l'ordinateur est alors de comparer continûment l'acquis des informations de l'analyse statistique (AS) avec les informations qu'il reçoit sans cesse des capteurs de mesure. Du résultat de cette comparaison continuelle, l'ordinateur fournit des signaux exploitables, soit en semi-automatique, soit en automatique, sur la circulation du fluide dans le bras de transfert (dispositif d'arrêt de circulation) ou sur la déconnexion d'urgence (dispositif de déconnexion d'urgence) et suffisamment à l'avance pour tenir compte de l'inertie de ces dispositifs d'arrêt de circulation de fluide et de déconnexion d'urgence.One of the tasks of the computer is then to continuously compare the information acquired from statistical analysis (AS) information with the information it constantly receives from measurement sensors. From the result of this continuous comparison, the computer provides usable signals, either semi-automatic or automatic, on the circulation of the fluid in the transfer arm (circulation stop device) or on the emergency disconnection. (emergency disconnection device) and sufficiently in advance to take into account the inertia of these fluid circulation stop and emergency disconnection devices.

Dans le cadre de cette tâche, un ou plusieurs seuils limites (S1-S2-S3) sont imposés à l'ordinateur de sorte que l'approche de ces seuils soit génératrice d'un déclenchement d'une alarme ou d'un déclenchement d'une opération, par un ou plusieurs des signaux d'exploitation fournis par l'ordinateur.Within the framework of this task, one or more limit thresholds (S1-S2-S3) are imposed on the computer so that the approach of these thresholds generates a triggering of an alarm or a triggering of 'an operation, by one or more of the operating signals supplied by the computer.

Un critère d'exploitation imposé par l'invention est donc d'obliger le point (M) à rester à l'intérieur d'un volume délimité par une surface appelée «enveloppe capable».An operating criterion imposed by the invention is therefore to force the point (M) to remain inside a volume delimited by a surface called “capable envelope”.

Selon l'invention, une enveloppe de travail qui est une surface fermée renfermant toutes les trajectoires possibles du point (M) est calculée avec une probabilité de franchissement donnée (par exemple on peut convenir que la probabilité pour le point (M) de franchir l'enveloppe de travail en dix ans soit inférieure à 1/100).According to the invention, a work envelope which is a closed surface containing all the possible trajectories of the point (M) is calculated with a given probability of crossing (for example it can be agreed that the probability for the point (M) of crossing the 'work envelope in ten years is less than 1/100).

Par ailleurs, le bras de transfert de fluide est calculé de telle sorte que l'enveloppe de travail soit inscrite entièrement à l'intérieur de l'enveloppe capable du bras.Furthermore, the fluid transfer arm is calculated so that the working envelope is inscribed entirely inside the capable envelope of the arm.

Il est important de noter que l'enveloppe de travail est calculée en ne tenant pas compte des mouvements lents du bateau.It is important to note that the working envelope is calculated without taking into account the slow movements of the boat.

Il faut également considérer que le volume de l'enveloppe de travail croît très rapidement avec l'état d'agitation du navire au point (M) et qu'il est nécessaire, dans pratiquement tous les cas, de donner des limites à l'agitation du point (M).It should also be considered that the volume of the working envelope increases very rapidly with the state of agitation of the ship at point (M) and that it is necessary, in almost all cases, to give limits to the agitation of point (M).

Ces limites s'imposent de toute façon du fait des possibilités d'amarrage et des distances de sécurité.These limits are imposed anyway due to the mooring possibilities and safety distances.

Le point (M) peut donc voyager dans un volume dans l'espace dont la limite est une surface appelée enveloppe de travail S (a, ψ, 0) = 0 (voirfigure 1 pour définition de a, ψ, 0) et qui possède un axe vertical passant par un point Mo (αo, ψo = O, θ° = 0) qui est le point de travail nominal du bras (figure 3).The point (M) can therefore travel in a volume in space whose limit is a surface called the working envelope S (a, ψ, 0) = 0 (see figure 1 for definition of a, ψ, 0) and which has a vertical axis passing through a point Mo (α o , ψ o = O, θ ° = 0) which is the nominal working point of the arm (Figure 3).

En faisant varier ϕ et 8b, il est possible de faire varier les coordonnées absolues de Mo (p, ϕ, ψ) par rapport à un système de référence (par exemple la plate-forme).By varying ϕ and 8 b , it is possible to vary the absolute coordinates of Mo (p, ϕ, ψ) relative to a reference system (for example the platform).

La fonction de l'ordinateur est d'assurer que le point (M) ne traverse jamais l'enveloppe de travail S(a, ψ, 0). Etant donné que pour des coordonnées p, Φ, y données, le point (M) est fixé, il est possible de déterminer les coordonnées de (M) dans un système centré en (Mo). Quand le bras est déconnecté, le point (M) retourne à une position (R) qui est une position de repos.The function of the computer is to ensure that point (M) never crosses the working envelope S (a, ψ, 0). Since for given p, Φ, y coordinates, the point (M) is fixed, it is possible to determine the coordinates of (M) in a system centered in (Mo). When the arm is disconnected, the point (M) returns to a position (R) which is a rest position.

Il existe deux possibilités d'action pour l'ordinateur:

  • a) le «recalage» de (Mo) en l'amenant en (M") et, dans ce cas, la surface limite et la position de repos (R) suivent le point (Mo).
  • b) de déconnecter le système et dans ce cas (M) retourne en (R) mais le risque demeure que durant ce retour le point (M) puisse traverser la surface limite.
There are two possibilities of action for the computer:
  • a) the “registration” of (Mo) while bringing it in (M ") and, in this case, the limit surface and the position of rest (R) follow the point (Mo).
  • b) to disconnect the system and in this case (M) returns to (R) but the risk remains that during this return point (M) may cross the limit surface.

Les atures tâches de l'ordinateur sont alors:

  • 1°) de vérifier que les limites susnommées ne seront pas atteintes;
  • 2°) de corriger les mouvements lents du bateau;
  • 3°) de diriger les séquences d'opérations nécessaires au début et à la fin du chargement;
  • 4°) d'informer les opérateurs de la situation et des opérations en cours;
  • 5°) de prendre les dispositions prévues en cas d'urgence.
The main tasks of the computer are then:
  • 1 °) to verify that the above-mentioned limits will not be reached;
  • 2 °) to correct the slow movements of the boat;
  • 3 °) to direct the sequences of operations necessary at the beginning and at the end of the loading;
  • 4 °) to inform operators of the current situation and operations;
  • 5 °) to take the measures provided in case of emergency.

Les déplacements linéaires et angulaires sont calculés à partir de mesures faites:

  • - soit sur le bras (L) par des capteurs d'angles ou des accéléromètres et retransmis par câbles,
  • - soit en dehors du bras par caméra ou ensemble de caméras, optiques ou à laser,
  • - soit sur le bateau au moyen d'une bouée «Datawell» et une transmission radio.
Linear and angular displacements are calculated from measurements made:
  • - either on the arm (L) by angle sensors or accelerometers and retransmitted by cables,
  • - either outside the arm by camera or set of cameras, optical or laser,
  • - either on the boat by means of a “Datawell” buoy and a radio transmission.

Les mouvements du point (M) sont mesurés avant, pendant et après la connexion du bras (L) au navire (T).The movements of the point (M) are measured before, during and after the connection of the arm (L) to the vessel (T).

Pendant les opérations de chargement, la flèche (F) est sensiblement dans une position horizontale et possède deux degrés de liberté: - une rotation par rapport à un axe vertical solidaire de la plate-forme, laquelle rotation permet au bras (L) de suivre la dérive horizontale du navire; et- une rotation par rapport à un axe horizontal solidaire de la plate-forme, laquelle rotation permet au bras de se lever ou de s'abaisser pour suivre la dérive verticale (due en majeure partie à la marée) du navire.During the loading operations, the arrow (F) is substantially in a horizontal position and has two degrees of freedom: - a rotation relative to a vertical axis secured to the platform, which rotation allows the arm (L) to follow the horizontal drift of the ship; and- a rotation with respect to a horizontal axis integral with the platform, which rotation allows the arm to rise or lower to follow the vertical drift (due mainly to the tide) of the ship.

Deux accéléromètres (Acc 1 et Acc 2) sont prévus pour mesurer le mouvement vertical (direction Z) et le mouvement horizontal (direction Y seulement).Two accelerometers (Acc 1 and Acc 2) are provided to measure the vertical movement (direction Z) and the horizontal movement (direction Y only).

Afin d'éviter de mesurer les accélérations indésirables qui peuvent accompagner le roulis et le tangage, les axes sensibles des accéléromètres sont, de préférence, montés sur une plate-forme stabilisée ou à la Cardan.In order to avoid measuring the undesirable accelerations which can accompany roll and pitch, the sensitive axes of the accelerometers are preferably mounted on a stabilized platform or with Cardan joint.

Afin d'obtenir les déplacements verticaux et horizontaux, les signaux d'accélération sont intégrés deux fois.In order to obtain vertical and horizontal displacements, the acceleration signals are integrated twice.

Pour la transmission du signal de courant continu à la plate-forme en mer (P) celui-ci est de préférence transformé en un signal basse fréquence d'onde carrée, modulé en amplitude. Ce signal basse-fréquence est ensuite démodulé pour obtenir un signal exploitable. Il est possible ainsi de se passer de tout câble électrique de transmission et d'utiliser une faible énergie.For the transmission of the direct current signal to the offshore platform (P), this is preferably transformed into a low frequency square wave signal, amplitude modulated. This low-frequency signal is then demodulated to obtain an exploitable signal. It is thus possible to do without any electric transmission cable and to use a low energy.

L'instrumentation peut être installée sur les amarres d'une bouée soumise à la vague, qui constitue, en soi, un moyen fiable permettant la mesure du mouvement vertical de la mer.The instrumentation can be installed on the moorings of a buoy subjected to the wave, which constitutes, in itself, a reliable means allowing the measurement of the vertical movement of the sea.

Quand le bras (L) est relié au navire (T), la géométrie du bras articulé est déterminée par plusieurs angles à l'aide de moyens potentiomé- triques.When the arm (L) is connected to the vessel (T), the geometry of the articulated arm is determined by several angles using potentiometric means.

La mesure des angles a, β, y permet la détermination des coordonnées X, Y, Z du point (P) situé au point de raccordement du bras articulé avec le connecteur de chargement.The measurement of the angles a, β, y allows the determination of the coordinates X, Y, Z of the point (P) located at the point of connection of the articulated arm with the loading connector.

Théoriquement, un angle supplémentaire ϕ est nécessaire pour déterminer la position du point (M) situé à l'avant du navire.Theoretically, an additional angle ϕ is necessary to determine the position of the point (M) located at the front of the ship.

Toutefois, pour des raisons pratiques (instruments et câbles) et en raison de ce que l'on s'intéresse au mouvement du bras articulé, la détermination du point (P) est considérée comme suffisante en mesurant seulement les angles a, β, y.However, for practical reasons (instruments and cables) and because we are interested in the movement of the articulated arm, the determination of the point (P) is considered sufficient by measuring only the angles a, β, y .

Le mouvement du point (M) est donc assimilé au mouvement du point (P) (figure 2).The movement of the point (M) is therefore assimilated to the movement of the point (P) (Figure 2).

De plus, il est requis de déterminer l'attitude du navire (T) par rapport à la flèche (F). Ceci est obtenu en mesurant l'angle d'embardée de giration ou de lacet 5, à la base du bras articulé (L).In addition, it is required to determine the attitude of the vessel (T) in relation to the arrow (F). This is obtained by measuring the angle of gyration or yaw 5, at the base of the articulated arm (L).

Les instruments de mesure peuvent être constitués par quatre potentiomètres (P01-P02-P03-P04) destinés à mesurer les angles a, β, y, δ.The measuring instruments can be constituted by four potentiometers (P01-P02-P03-P04) intended to measure the angles a, β, y, δ.

Le premier de ces potentiomètres est installé sur le bras articulé (L) et le quatrième sur le navire (T). Une connexion électrique est prévue entre le navire et le bras articulé pour connecter le quatrième potentiomètre et cette connexion est étanche à l'eau.The first of these potentiometers is installed on the articulated arm (L) and the fourth on the ship (T). An electrical connection is provided between the vessel and the articulated arm to connect the fourth potentiometer and this connection is waterproof.

Les potentiomètres sont installés dans des boîtiers étanches, de construction robuste à passage d'axe étanche. Le signal de sortie de chaque potentiomètre est une tension proportionelle à l'angle mesuré.The potentiometers are installed in watertight boxes, of robust construction with sealed axis passage. The output signal from each potentiometer is a voltage proportional to the angle measured.

Suivant une forme de réalisation, deux jeux de quatre potentiomètres chacun sont prévus afin d'augmenter la sécurité des mesures. Les relevés peuvent être comparés et croisés si nécessaire par comparaison de huit groupements de trois relevés chacun pour les angles a, β, y.According to one embodiment, two sets of four potentiometers each are provided in order to increase the security of the measurements. The readings can be compared and crossed if necessary by comparison of eight groups of three readings each for the angles a, β, y.

L'invention s'applique que le bras L soit ou non relié au navire (T).The invention applies whether or not the arm L is connected to the ship (T).

Le mouvement du point (M) à l'avant du navire peut être déterminé, suivant une forme de réalisation, par la combinaison de deux caméras, toutes deux fixées à la flèche (F), l'une à l'extrémité de la flèche (caméra A), l'autre à la base de la flèche (caméra B).The movement of the point (M) at the front of the ship can be determined, according to one embodiment, by the combination of two cameras, both fixed to the arrow (F), one at the end of the arrow (camera A), the other at the base of the arrow (camera B).

Une diode émettrice est requise à l'avant du navire en un point proche du point M. Les deux caméras sont dirigées sur ce point et la combinaison des deux formes de mesure fournit le mouvement tridimensionnel de l'avant du navire par rapport à un système de références pris sur la flèche (F).A transmitting diode is required at the front of the ship at a point close to point M. The two cameras are directed at this point and the combination of the two measurement forms provides the three-dimensional movement of the front of the ship relative to a system of references taken from the arrow (F).

Les deux caméras sont installées afin qu'elles puissent «voir» le point (M) quelle que soit la position du bras articulé (L).The two cameras are installed so that they can "see" the point (M) regardless of the position of the articulated arm (L).

Cette disposition de moyens fonctionne de la façon suivante: Depuis les mesures obtenues par les deux caméras, deux ensembles de coordonnées du point (M) peuvent être obtenus:

  • - le degré de liberté (Y) et le degré de liberté (Z) tels que vus par la caméra (B) (ces degrés sont obtenus directement si l'axe de la caméra (B) est horizontal ou avec une légère transformation s'il ne l'est pas);
  • - les degrés de liberté (Y) et (X) tels que vus par la caméra (A).
This arrangement of means works as follows: From the measurements obtained by the two cameras, two sets of coordinates of the point (M) can be obtained:
  • - the degree of freedom (Y) and the degree of freedom (Z) as seen by the camera (B) (these degrees are obtained directly if the axis of the camera (B) is horizontal or with a slight transformation s' it is not);
  • - the degrees of freedom (Y) and (X) as seen by the camera (A).

X, Y et Z sont les coordonnées par rapport à un système de référence pris sur la flèche (avec l'axe OY horizontal).X, Y and Z are the coordinates relative to a reference system taken on the arrow (with the horizontal OY axis).

Les caméras sont placées dans des boîtiers étanches et équipées d'essuie-glaces.The cameras are placed in waterproof boxes and fitted with windscreen wipers.

Les axes optiques des deux caméras sont de préférence dans un même plan.The optical axes of the two cameras are preferably in the same plane.

La puissance de la diode émettrice et le rapport d'ouverture des lentilles sont calculés en fonction de la distance du point (M) et le détecteur de chaque caméra est également calculé en conséquence.The power of the emitting diode and the aperture ratio of the lenses are calculated as a function of the distance from the point (M) and the detector of each camera is also calculated accordingly.

Il doit être remarqué que cette forme de réalisation ne nécessite aucune connexion, que ce soit par câble électrique ou par signaux radios.It should be noted that this embodiment requires no connection, either by electrical cable or by radio signals.

Suivant une forme de réalisation simplifiée, on fait appel à une seule caméra placée à l'extrémité de la flèche (caméra A). Cette caméra est montée à la Cardan et regarde vers le bas, verticalement, deux points B et C de l'avant du navire, fixes par rapport au point (M). Ces points B et C sont équipés de diodes émettrices.According to a simplified embodiment, use is made of a single camera placed at the end of the arrow (camera A). This camera is mounted on the gimbal and looks down, vertically, at two points B and C from the front of the ship, fixed relative to point (M). These points B and C are equipped with emitting diodes.

La distance entre ces points est la distance lo.The distance between these points is the distance l o .

En mesurant les positions des points B et C et la distance BC telles que vues par la caméra à chaque moment, une distance maximum Imax peut être calculée selon trois temps de déplacement ou plus. Cette distance maximum Imax est très proche de la distance réelle 10; ainsi cette disposition fournit les coordonnées absolues X et Y des deux points B et C de l'avant du navire et les coordonnées X et Y du point (M).By measuring the positions of points B and C and the distance BC as seen by the camera at each moment, a maximum distance Imax can be calculated according to three or more travel times. This maximum distance I max is very close to the real distance 1 0 ; thus this arrangement provides the absolute X and Y coordinates of the two points B and C of the bow of the ship and the X and Y coordinates of the point (M).

Le déplacement vertical Z n'est pas mesuré par la caméra et, dans ce cas, un équipement supplémentaire est nécessaire.The vertical displacement Z is not measured by the camera and, in this case, additional equipment is required.

Z dans ce cas peut être mesuré par un dispositif de mesure de distance tel qu'un télémètre infrarouge ou dispositif équivalent. Ce dispositif surveille continuellement la distance de l'avant du navire et le signal de sortie est mesuré et filtré afin de donner une représentation exacte. Cet équipement peut être protégé contre le mauvais temps, en particulier, contre les fortes pluies et contre la réflexion sensiblement verticale du pont du navire exposé au soleil.Z in this case can be measured by a distance measuring device such as an infrared rangefinder or equivalent device. This device continuously monitors the distance from the bow of the ship and the output signal is measured and filtered to give an accurate representation. This equipment can be protected against bad weather, in particular, against heavy rain and against substantially vertical reflection from the deck of the ship exposed to the sun.

Enfin, une surveillance visuelle peut être prévue durant les opérations de chargement et particulièrement durant les opérations de connexion. A cet effet, une caméra de télévision est installée à l'extrémité de la flèche (F) et dirigée sur l'avant du navire. Cette disposition permet à l'opérateur de visualiser les opérations à l'avant du navire et en particulier de contrôler la mise en position du bras articulé (L) pendant cette connexion.Finally, visual surveillance can be provided during loading operations and particularly during connection operations. For this purpose, a television camera is installed at the end of the arrow (F) and directed at the front of the ship. This arrangement allows the operator to view the operations at the front of the ship and in particular to control the positioning of the articulated arm (L) during this connection.

Cette caméra est également placée dans un carter étanche et pourvue d'essuie-glaces.This camera is also placed in a waterproof casing and fitted with windscreen wipers.

Suivant une variante, cette caméra de surveillance est la caméra A déjà installée pour la mesure du déplacement de l'avant du navire.According to a variant, this surveillance camera is camera A already installed for measuring the displacement of the bow of the ship.

La surveillance de connexion commence une fois que le bateau est amarré. Avant que toute opération ait lieu, le mouvement (Z) du navire est donné par un accéléromètre ou une bouée du type «Datawell». L'analyse statistique décide si l'opération peut être effectuée ou non. Dans le cas où l'opération ne doit pas être effectuée, l'ordinateur interrompt la séquence; dans le cas où l'opération peut être effectuée, le moyen disponible pour la mesure du mouvement (Y) est le moyen optique, lequel donne la distance séparant la flèche (F) de l'axe central du navire et permet à l'ordinateur de déclencher la rotation en position du bras.Connection monitoring begins once the boat is moored. Before any operation takes place, the movement (Z) of the ship is given by an accelerometer or a “Datawell” type buoy. Statistical analysis decides whether the operation can be carried out or not. In the event that the operation is not to be carried out, the computer interrupts the sequence; if the operation can be carried out, the means available for measuring the movement (Y) is the optical means, which gives the distance separating the arrow (F) from the central axis of the ship and allows the computer to initiate rotation in the arm position.

Claims (22)

1. A method of checking and controlling a fluid transfer hingedly connected arm with means for providing rotation about a vertical axis and about a horizontal axis, an emergency disconnection device adapted to connect, and connecting, a vessel to an off-shore platform, comprising sensors for continuously determining the position of the connection point to the vessel, such position being compared with limits that should not be exceeded, characterized in that it consists of:
- listing a group of data which intervene on the vessel motions and concerning various events of variable frequency (whether regular or irregular, fortuitous or rare), occurring in various sites and of variable significance on the scale of potential risks of damages and accidents represented thereby,
- statistically analyzing (AS) the potential risks of damages or accidents relative to a given situation, in a given site, such statistic analysis taking into account the state of the sea, phenomena of which may produce slow linear motions and rapid linear and angular motions of the vessel according to three degrees of freedom (H-SW-SU); motions (H'-SW'-SU') of a frequency in the order of that of the wave being considered as «rapid motions», and motions (H"-SW") having a period much longer than that of the wave (or constant) being considered as "slow motions";
- providing a computer, microcomputer or any other calculator;
- supplying the results of such statistic analysis to the computer memory, the computer also constantly receiving information data from various sensors disposed in all appropriate points on the arm and the vessel, and determining by means of such information data the position in space coordinates of the connection point of the arm to the vessel belonging to a preferably pendular plane in which the arm is included, the axis OX being taken to correspond to the longitudinal axis of the vessel and the reference system being related to the platform;
-storing into the computer memory the information data provided by said sensors to statistically process a representative sample of the situation and, to take into account development of the situation, the sample is periodically updated, old information data being rejected to be replaced by more recent information data;
- causing the computer to continuously compare the continuously received information data from the various sensors and the acquired information data from the statistic analysis (AS) of the potential risks, such computer then providing exploitable signals to trigger an alarm, a cancellation or a prohibition, or trigger an operation relative to the connection, the fluid circulation or the emergency disconnection.
2. A method according to claim 1, characterized in that the rotation of the boom relative to a vertical axis made integral with the platform permits the arm (L) to follow up the horizontal drift of the vessel and the boom rotation relative to a horizontal axis related to the platform permits the arm to move up or down to follow up the vertical drift of the vessel, the computer discriminating off the slow horizontal motions, and the result of such operation being the displacement of the boom to compensate for the drift.
3. A method according to any one of claims 1 and 2, characterized in that other works assigned to the computer are:
- directing the required operational sequences at the beginning and the end of the loading,
- informing operators of the situation and of the current operations,
-taking measures provided for in case of emergency.
4. A method according to any one of claims 1 to 3, characterized in that a geometrical point taken in the space within the connection zone of the arm hingedly connected to the vessel is considered in respect to the pendular plane in which the hingedly connected arm lies.
5. A method according to any one of claims 1 to 4, characterized in that during the operation the measured values of the variable angular displacements of the theoretical connection point (M) considered on the vessel as well as the variable linear displacements of this same point (M) are continuously supplied to the computer.
6. A utilization of the method according to any one of claims 1 to 5, characterized in that the point (M) is caused to remain within a volume delimited by a socalled "capable envelope" surface.
7. A utilization according to claim 6, characterized in that one or more limit thresholds (S1-S2-S3) of approach to the "capable envelopes" are imposed upon the computer such that the approaching of such thresholds provokes triggering of an alarm, a cancellation or a prohibition, or triggering of an operation through one or more exploitation signals supplied by the computer.
8. A utilization according to any one of claims 6 and 7, characterized in that a working envelope containing all of the possible trajectories of the point (M) is computed with a given probability of crossing.
9. A utilization according to any one of claims 6 to 8, characterized in that the fluid transfer arm is designed so that the working envelope is entirely inscribed within the capable envelope of the arm.
10. A utilization according to any one of claims 6 to 9, characterized in that three working envelopes are considered:
- a first central envelope or alarm envelope,
- an intermediary envelope or intervention envelope, and
- an outer envelope or extreme limit envelope,
- the values of signals from the computer approaching the alarm envelope serving to trigger the alarm,
- the values of the signals from the computer approaching the intervention envelope producing in semi-automatic mode an alarm to the operator who can act upon a fluid circulation stopping device in the transfer arm and in the automatic mode producing direct action of means for plugging in said conduit,
- the values of signals from the computer that approach the extreme envelope provoking the emergency disconnection sequence provided for.
11. An installation for checking and controlling a fluid transfer hingedly connected arm with means for providing rotation about a vertical axis and about a horizontal axis, an emergency disconnection device, adapted to connect, and connecting, a vessel to an off-shore platform, and for carrying out the above method according to claims 1 to 5 and according to the utilization of claims 6 to 10, characterized in that it comprises, besides the computer, the sensing means to provide for constant follow up of parameters to which the vessel merely moored to the platform is subjected, the linear and angular motions being computed from the effected measurements:
- either on the arm (L) by angle sensors on accelerometers and retransmitted throug cables,
- or outside the arm, by means of a camera or camera group whether optical or laser cameras,
- or on the vessel by means of a "Datawell" buoy and radio-transmission.
12. An installation according to claim 11, characterized in that two accelerometers (Acc1 and Acc2) are provided for measuring the vertical motion (direction Z) and the horizontal motion (direction Y).
13. An installation according to claim 12, characterized in that to prevent measurement of undesired accelerations that may accompany rolling and pitching, the sensitive axis of the accelerometers, are preferably mounted to a stabilized or cardanic platform.
14. An installation according to any one of claims 11 to 13, characterized in that transmission of the DC acceleration signal to the off-shore platform (P) is preferably converted to a low frequency square wave amplitude modulated signal, such low frequency signal being thereafter demodulated to obtain an exploitable signal.
15. An installation according to claim 11, characterized in that when the arm (L) is connected to the vessel (T), geometry of the hingedly connected arm is determined by several angles through potentiometer means and measurement of angles a, β, y permits determination of coordinates X, Y, Z of point (P) lying at the connection point of the hingedly connected arm to the loading connector.
16. An installation according to claim 15, characterized in that two respective sets of four potentiometers are provided to increase reliability of measurements.
17. An installation according to claim 11, characterized in that the motion of point (M) in the bows of the vessel is determined by the combination of two cameras both being secured to the boom (F), with one to the point of the boom (camera A) and the other to the base of the boom (camera B), a transmitting diode being disposed in the vessel's bows on a point close to the point (M) and both cameras being directed to such point, the combination of both modes of measurement supplying the tridimensional motions of the vessel's bows.
18. An installation according to claims 11 and 17, characterized in that a single camera is used disposed at the point of the boom (camera A), such camera being cardanically mounted and looking down vertically to points B and C in the bows of the vessel, which are stationary in respect to point (M).
19. An installation according to claim 18, characterized in that the vertical motion is measured by a range measurement device such as an infrared telemeter or equivalent device.
20. An installation according to any one of claims 11 to 19, characterized in that visual watch is provided during the loading operations particularly during the connecting operations, a television camera to this end being installed at the point of the boom (F) directed to the bows of the vessel, such arrangement permitting the operator to visualize operations in the bows of the vessel and in particular to control the positioning of the hingedly connected arm (L) during such connection.
21. An installation according to any one of claims 18, 19 and 20, characterized in that the watching camera is camera (A) already installed for measuring the motion of the bows of the vessel.
EP80401601A 1979-11-12 1980-11-07 Process and apparatus for watching and controlling an articulated fluid-transfer arm for linking a ship to a platform in the sea Expired EP0029768B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB7939091 1979-11-12
GB7939091 1979-11-12

Publications (2)

Publication Number Publication Date
EP0029768A1 EP0029768A1 (en) 1981-06-03
EP0029768B1 true EP0029768B1 (en) 1986-04-23

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EP80401601A Expired EP0029768B1 (en) 1979-11-12 1980-11-07 Process and apparatus for watching and controlling an articulated fluid-transfer arm for linking a ship to a platform in the sea

Country Status (7)

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US (1) US4402350A (en)
EP (1) EP0029768B1 (en)
JP (1) JPS56142780A (en)
CA (1) CA1158751A (en)
DE (1) DE3071572D1 (en)
GB (1) GB2065307B (en)
NO (1) NO803392L (en)

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Also Published As

Publication number Publication date
NO803392L (en) 1981-05-13
GB2065307A (en) 1981-06-24
CA1158751A (en) 1983-12-13
US4402350A (en) 1983-09-06
GB2065307B (en) 1983-08-24
EP0029768A1 (en) 1981-06-03
JPH0139960B2 (en) 1989-08-24
DE3071572D1 (en) 1986-05-28
JPS56142780A (en) 1981-11-07

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