Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
  • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
  • F16L1/26—Repairing or joining pipes on or under water
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
  • E21B41/0007—Equipment or details not covered by groups E21B15/00 - E21B40/00 for underwater installations
  • E21B41/0014—Underwater well locating or reentry systems
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
  • E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
  • E21B43/013—Connecting a production flow line to an underwater well head
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/87—Combinations of sonar systems
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/88—Sonar systems specially adapted for specific applications

Definitions

• the present invention carried out in collaboration with the Coflexip Company and the Laboratory of Automation and Systems Analysis, relates to a method and a device for placing in a determined relative position two elements possibly submerged in a liquid medium.
• tracking systems have been proposed using at least one acoustic transceiver integral with one of the elements to be assembled, the other element being provided with acoustic responders (British patents 1,597,378 and 2,034,471) .
• This solution makes it possible to approach the two elements to be joined to one another, but does not make it possible to ensure a sufficiently precise positioning of these elements to safely carry out the mechanical connections that certain connectors require.
• the present invention enables the precise relative positioning of two geometrical axes belonging respectively to two elements to be achieved, by a method and an apparatus of simple design, of relatively low cost and not having the drawbacks. previous devices.
• the implementation of the present invention requires a number of sensors less than that required according to patent FR-2,517,068.
• the device according to the invention allows the precise relative positioning of two geometric axes belonging respectively to two elements at least one of these elements being associated with means capable of ensuring its movement.
• This device according to the invention is characterized in that it comprises in combination at least two acoustic transceivers arranged in a first plane substantially perpendicular to one of said geometric axes, (this axis will be qualified as first axis), and transmitting towards this axis, these two transceivers being situated on a straight line which does not intersect said first axis and in that it comprises a third transceiver located outside said plane.
• the device according to the invention may comprise a fourth transceiver situated substantially in a second plane perpendicular to said first axis and passing through the third transceiver.
• the device according to the invention can be applied to the case where the element to which said first geometric axis belongs to the shape of a cylin ⁇ dre of revolution whose said first axis merges with the axis of revolution.
• the transceivers can be understood inside the space defined by the element of cylindrical shape and two planes parallel to each other, tangent to this cylinder.
• the displacement means act by the combination of displacement taking place in determined directions qualified as elementary directions
• at least two transceivers are placed so that the pLan defined by two directions carrying the shortest distance from each of said transceivers to the axis of the element to which they are transmitting, is parallel to the plane defined by two elementary directions of means of movement.
• this parallelism is to be considered when the second element is in place.
• the device according to the invention may be supplemented by other so-called tracking means allowing a first non-precise, or rough, approach of the two elements.
• these means may be such as those described in patent FR-2,517,068.
• the means of location may include:
• a first set of electrodes integral with a first of these elements and arranged in a geometric configuration making it possible to define at least one point on the axis of this element
• a second set of electrodes integral with the second element and arranged in a geometric configuration making it possible to define at least one point on the axis of this element
• a source of electric voltage one output terminal of which is electrically connected to the electrodes of one of the assemblies and the other output terminal of which is electrically connected to the electrodes of the other assembly
• the means for measuring the values of said parameter linked to the electric currents and the means for measuring the quantity characteristic of the propagation of the acoustic waves are adapted to deliver signals representative of the values taken respectively by said parameter and said quantity characteristic of the propagation of the waves. acoustic.
• the device carries automatic or non-automatic control means which, on receipt of said signals, actuate the displacement means to equalize between them the values of said parameter measured for the different electrodes and to equalize between them the values of the quantity characteristic of the propagation of the acoustic waves measured at the various transceivers.
• the present invention can be used in particular for the connection of pipes other than vertical, which does not benefit from the effect of gravity to keep the axes of the two pipes parallel. It is therefore necessary to achieve and maintain this parallelism by artificial means; at sea, and more particularly in the laying of large diameter pipes, it will most often be two overhead traveling cranes which, by means of a lifting beam, will support the section of pipe to be connected and guide it towards the end of the pipe already in place.
• the images given by the television cameras, even in relief, or the indications of the divers are powerless, when there is no longer any visibility, to restore the relative positions of the two ends to be connected.
• transceivers may be described as transducers.
• the present invention uses a limited number of acoustic sensors, these sensors emitting with a nonzero radial component relative to the axis of the element to which they are associated.
• FIG. 1 schematically represents a device for locating and detecting a position according to the invention, used to ensure the alignment of the axis of a pipe with that of an element to which the pipe must be connected during a first approach,
• FIG. 2 illustrates the arrangement of an electrical tracking network.
• FIG. 3 shows the arrangement of an acoustic tracking network used in combination with the electrical tracking network
• FIG. 5 represents an embodiment in which at least one flat plate is used which is used for the reflection of acoustic waves to carry out the approach phase
• FIG. 6 shows a device for precise positioning of the pipe according to the present invention
• FIG. 7 represents an alternative embodiment of the precise positioning device according to the present invention.
• FIGS. 8 and 9 show another use of the device according to the invention.
• FIG. 10 schematically illustrates the positioning of two circles
• Element 2 could be, for example, a pipe or an installation fixed relative to the sea bottom or resting on the bottom of the water, such as an oil well head, a submerged tank, an anifold tanker, outfall, etc.
• connection can be made either by a manipulated device from the surface - such as an overhead crane, either by means of a remote-controlled robot or manipulator 5, equipped with propulsion means ensuring its movement in the water.
• This manipulator could be, for example, of the type described in French patent 79 / 29.655 filed on December 3, 1979 and having for title "Device controllable from remote intervention on submerged structures, in particular for connection of underwater pipelines ".
• the complementary part 3 is associated with element 2 and part 4 is associated with element 1.
• L2 be the distance from point C to the circle with center 01 and L'2, the distance from point D to this same circle.
• the circle C01 corresponds substantially to the cross section of a circular tube and if two acoustic transducers, or transceivers, or transceivers are placed.
• the circle C02 can correspond substantially to the section of another tube with circular section.
• such an approximation can effectively be made to allow the positioning of the two elements. This facilitates the processing of data resulting from the measurements.
• the present invention can be used in particular 'for the connection of large diameter tubes.
• a frame 31 supports two measuring rods 24 and 25 on which are fixed respectively two transducers A1, A2 and C1, C2.
• the measurement of the distances L1, L2 and LL1, LL2, corresponds respectively to the sensors A1, C1, A2, C2, makes it possible to confuse the axes 22 and 23 before carrying out the penetration.
• the line joining A1 to C1 does not pass through axis 22. The same is true for the line joining A2 to C2.
• axes 22 and 23 can be viewed on a cathode screen: a reticle may appear, for example, the system of axes X01Y, a solid cross represents point 02 and a dotted cross point 0'2. Point 02 represents the intersection of axis 22 with a plane passing through sensors A1 and C1 perpendicular to this axis 22. The same is true for point 0'2 but considering sensors A2 and C2.
• the rods supporting the sensors are arranged 90 from each other. This is by no means limiting.
• the displacement means used to maneuver one of the elements act by the combination of displacement taking place in determined directions which will be called elementary directions of displacement and which generally are perpendicular to each other.
• first elementary direction which is the vertical direction in which the overhead crane moves
• second elementary direction which is a horizontal direction parallel to the direction of movement of the crane carriage which carries the hoist
• third direction which is that in which the bridge itself moves.
• the present invention can be used to make the connection of tubes to be buried.
• transducers C1 and C2 it is not recommended to leave the transducers C1 and C2 on the sides of the tube and we will arrange for them to be arranged preferably inside two vertical planes 26 and 27 tangent to this tube. Furthermore, the device described above may be doubled for security reasons. We therefore end up in fact with the arrangement drawn in FIG. 12.
• a first device (Fig. 11) is composed of two rods 24 and 25 arranged 90 from one another, as before, but one of these is 30 to the left and the other at 60 ° to the right of the vertical plane passing through the axis of the tube or vice versa. It is obvious that will not depart from the scope of the present invention if the two rods 24 and 25 are placed relative to one another at an angle different from 90 ° relative to the axis of the tube.
• a second device comprising two additional rods 28 and 29 can be placed, for example, symmetrically to the previous one with respect to the same vertical plane. It is then necessary to introduce an axis rotation matrix so that the horizontal and vertical movements printed on the tube result in displacements parallel to the vertical and horizontal reference axes of the display system.
• At least one transducer 30 for measuring the distance which gives, at all times, relative to a vertical surface integral with the tube in place and of known position, the horizontal distance of the moving tube from the tube fixed.
• each rod can be equipped with such a transducer.
• the measuring rods can be made up of interchangeable • tubular elements, for example made of stainless steel, comprising:
• Each transducer may consist of a piezoelectric pellet resting in a metallic body of stainless steel by means of a seat of absorbent material.
• the pellet is isolated from the ambient environment by a resin; the excitation signals, having a frequency appropriate to the operating conditions, and return may be transmitted by a cable, coaxial or not, connected on the one hand to the pad and on the other hand to the male electrical connector.
• the rear part of these can be made waterproof by resin.
• Each rod is fixed to the frame 31 in a very precise manner and its positioning can be ensured by two centering pins, this in order to know precisely The position of the sensors relative to the tube.
• connections can consist of a single cable grouping together the three elementary cables so as to guarantee the integrity of the return signals.
• the single cable is shielded and sheathed externally. It is terminated at each end by a waterproof electrical connector. - *
• the transducer 30 can also be fixed at the end of a rod or more advantageously at the level of the frame 31.
• the device according to the invention can include a detection assembly referenced 6 in FIG. 1 used for a first approach.
• This device is integral with one of the elements to be assembled.
• the detection assembly 6 is fixed to the part 3 of a connector by any known means such as, for example, screws 7 or possibly means allowing the recovery of this assembly after assembly of the elements.
• the body 8 of this detection device has the shape of a crown, the internal bore 9 of which has a diameter greater than the external diameter of the elements of the connector 3-4.
• the body 8 is arranged so that its axis coincides with that of the part 3 of the connector.
• the body 8 is equipped with a first network comprising at least three detectors 10, preferably regularly distributed over a circumference centered on the axis of the body 8.
• the body 8 carries a second network of at least three detectors 11, preferably regularly distributed over a circumference centered on the axis of the body 8.
• each network has four detectors arranged 90 from one another.
• the detectors 10 of the first network are for example constituted by four pairs of electrodes 10a, 10a '; 10b, 10b '; 10c, 1.0c '; 10d, 10d electrically isolated from each other and from the body 8.
• the electrodes 10a 10b, 10c and 10d are connected to one of the terminals of an AC or DC electrical source 12 (Fig. 2) through a control switch 12a, the other terminal of this source being switched on. the mass.
• Measuring members 13a to 13d determine the value of the electrical potential of the electrodes 10a ', 10b', 10c 'and 10d *.
• These measuring members 13a to 13d are adapted to deliver signals representative of the values of the potentials of the electrodes 10a ', 10b', 10c 'and 10d'. These signals are transmitted to a circuit 14 which transmits these signals in a manner known per se. The usefulness of these signals will be indicated later.
• the detectors of the second network can include four transceivers 11a, 11b, 11c and 11d of acoustic waves (Fig. 3). These transmitters are, for example, of the piezoelectric type.
• each transceiver On reception of an electrical signal produced by a control circuit 15, for example remote-controlled, each transceiver transmits an acoustic wave train and on receipt of an acoustic wave each receiver produces an electrical signal transmitted to a processing circuit 16 synchronized with the control circuit 15.
• This processing circuit produces for each transceiver a signal representative of the time interval separating The emission of the reception of the acoustic wave.
• a circuit 17 ensures the transmission of these signals in a manner known per se.
• the acoustic signals could be characteristic of the transceiver which produced them, this characteristic possibly corresponding to a particular coding of the pulses constituting the acoustic wave train, etc.
• the transmitter diagrams of the transceivers are chosen so that these transceivers can operate as indicated below.
• FIGS. 4A to 4C schematically illustrate the approximation of the two elements 1 and 2.
• the end 4 of the pipe 1 is approached at a determined distance D or at a distance less than D, from the end of the part 3 (FIG. 4A).
• This distance is, for example, of the order of 1.5m to 2m.
• the axis of the pipe 1 then makes with the axis of the element 2 an angle C at most equal to a determined value 00.
• the part 4 is maintained at the electrical potential of the ground.
• the electrodes 10a to 10d are connected to the electrical voltage source 12 by closing the switch 12a.
• An electric current is then established between each electrode 10a to 10d and the part 4, the intensity of these currents being a function, in particular, of the distance separating the electrodes from this part 4.
• the potentials of the electrodes 10a ′, 10b ′, 10c ′ and 10d ′ are then measured, the manipulator 5 is actuated so that these different electrical potentials are substantially equal.
• the center of the end of the part 4 is substantially on the axis of the element 2 (Fig. 4B) ' .
• the axes of the elements 1 and 2 are concurrent at a point A located at the end of the part 4.
• the network of acoustic detectors is activated.
• Each transceiver emits an acoustic signal which is reflected on the end face of the part 4 perpendicular to the axis of this part.
• the time interval separating the emission from the reception of the acoustic wave is measured for each transceiver and the manipulator 5 is actuated so that these time intervals are substantially equal.
• the axis of element 1 is substantially coincident with the axis of element 2 (Fig. 4C). At least one of the above operations may need to be repeated several times until satisfactory alignment is obtained.
• the manipulator is actuated to move the pipe 1 in the direction of the arrow F, so that at all times the conditions indicated above are respected, that is to say that simultaneously the electrical potentials of each electrode 10a ' , 10b ', 10c' and
• the emission diagram of the acoustic transceivers in a direction substantially parallel to the axis of the connecting piece 3, must allow the reflection of the acoustic waves until the end of the part 4 is substantially in the plane containing the transmitters.
• the final fitting of parts 3 and 4 of the connector will be facilitated by giving them complementary shapes comprising at least one surface of revolution, for example conical.
• the positioning of the part 4 can be better controlled by using a flat plate 18 reflecting the acoustic waves, for example fixed to the manipulator 5, perpendicular to the axis of the element 2 (Fig. 5) in association with transmitters -receivers having directional emission diagrams.
• the transmission of the signals from the transmission devices 14 and 17 can be carried out by cable or advantageously by coded acoustic wave trains, which eliminates any hardware link.
• This transmission can be carried to the surface where the value of the signals can be displayed and t serve as information to the operator remote control the manipulator 5.
• the transmission means 14 and 17 ensure acoustic transmission of information to a receiver carried by the manipulator 5.
• Control circuits connected to the receiver and the realization of which is within the reach of the technician, automatically actuate the means of movement of the manipulator 5 to keep the axes of the elements 1 and 2 aligned during the approach phase of these elements.
• the device 6 can also be integral with the part 4 or with the manipulator 5.
• This device is illustrated schematically in Figures 6 and 7. It comprises at least two acoustic transceivers 20 and 20a arranged in the bore 9 of the body 8 and in a plane substantially perpendicular to the axis of the part 3 of the connector, as well as a third transceiver 21 located in another plan. These transceivers transmit radially.
• the first two transceivers are not aligned with a point on the axis of part 3.
• the time interval between the emission of the acoustic wave and the reception of the reflected acoustic wave is then measured for each transceiver, then, after an axial displacement ⁇ L of part 4, the measurements are repeated and the position of part 3 is modified so that the measured travel times for all the transceivers comply with predetermined values corresponding to the desired positioning of parts 3 and 4, that is, i.e. to align the axes of parts 3 and 4.
• the precise positioning device comprises a fourth transceiver 21a disposed in the bore 9 of the body 8 and emitting radially, this transceiver being located in the plane perpendicular to the axis of the part 3 and containing the third transceiver 21.
• this transceiver being located in the plane perpendicular to the axis of the part 3 and containing the third transceiver 21.
• one of the couples is placed in a first, plane perpendicular to the axis of the part 3 and the second couple is placed in a second plane perpendicular to this same axis.
• the two couples are located in different radial planes.
• the alignment of the axes of parts 3 and 4 can be achieved by measuring for each transceiver the time interval separating the emission of the acoustic wave from the reception of the reflected acoustic wave and by modifying the position of the part 3 so that these time intervals are equal to each other and equal to a predetermined value.
• the transceivers are not located at the same distance from the axis of Room 3
• the time intervals separating the emission of the acoustic wave from the reception of the reflected wave must be equal at different predetermined time intervals.
• the predetermined time intervals depend on the shape of the parts to be positioned and the location of these transceivers with respect to these parts.
• the electrodes and the acoustic members associated with one of the elements will be arranged in a geometrical configuration making it possible to determine at least one point of the axis identified by this element, the quantities measured relating to the electrical potentials and to the propagation of the acoustic waves having to have predetermined values according to the geometrical configurations, when the axes of the two elements are aligned.
• the distribution of the electrodes or of the acoustic members around the axes of the element with which they are associated can be chosen judiciously, not only to allow the alignment of the axes of the two elements, but also to allow relative positioning. determined of these elements around the alignment axis.
• the electrical potential is measured electrodes 10a '... More generally, we can measure another quantity related to the electric current, such as, for example, the current passing through the electrodes, the electric resistance between the electrodes and the part 4, etc.
• the present invention eliminates the intervention of the diver and makes this method of connection usable even at great depths, where the intervention of divers is not possible.
• the device 6 is associated with a displacement member 110 of any known type and the position of which can be determined at any time with precision with respect to a reference system.
• the member 110 is moved as indicated above so that the device 6 (Fig. 1) according to the invention is positioned at the end of the element 3 as shown in phantom in FIG. 9.
• the position of the member is then identified 110 relative to the reference system, this position being representative of the end of the element 3 in the reference system.
• the member 110 is then moved so that the device 6 is placed at the end of the element 4 (position shown diagrammatically in broken lines in FIG. 9 ) .
• the new position of the member 110 is then located in said reference system, this new position being representative of the end of the element 4 in this reference system.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• Mining & Mineral Resources (AREA)
• Fluid Mechanics (AREA)
• Geochemistry & Mineralogy (AREA)
• General Engineering & Computer Science (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Environmental & Geological Engineering (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Acoustics & Sound (AREA)
• Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
• Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
• Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

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• 1985
  • 1985-06-11 FR FR8508937A patent/FR2583179B1/fr not_active Expired
• 1986
  • 1986-06-10 EP EP19860903430 patent/EP0225359A1/de not_active Withdrawn
  • 1986-06-10 JP JP50320686A patent/JPS63500265A/ja active Pending
  • 1986-06-10 WO PCT/FR1986/000202 patent/WO1986007468A1/fr not_active Application Discontinuation
  • 1986-06-10 AU AU59602/86A patent/AU5960286A/en not_active Abandoned
  • 1986-06-10 BR BR8606727A patent/BR8606727A/pt unknown
  • 1986-06-11 ES ES555959A patent/ES8705652A1/es not_active Expired
• 1987
  • 1987-02-10 DK DK066887A patent/DK66887A/da not_active Application Discontinuation

Non-Patent Citations (1)

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