WO2015140526A1 - Plateforme sous-marine - Google Patents

Plateforme sous-marine Download PDF

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Publication number
WO2015140526A1
WO2015140526A1 PCT/GB2015/050764 GB2015050764W WO2015140526A1 WO 2015140526 A1 WO2015140526 A1 WO 2015140526A1 GB 2015050764 W GB2015050764 W GB 2015050764W WO 2015140526 A1 WO2015140526 A1 WO 2015140526A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
towed
combination
towing
cable
Prior art date
Application number
PCT/GB2015/050764
Other languages
English (en)
Inventor
Stuart PARKES
Ian Andrew MCLEAY
Original Assignee
Bibby Marine Survey Services Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bibby Marine Survey Services Limited filed Critical Bibby Marine Survey Services Limited
Publication of WO2015140526A1 publication Critical patent/WO2015140526A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G01V1/3817—Positioning of seismic devices

Definitions

  • the present Invention relates to underwater survey platforms and in particular to underwater platforms which rely on a surface vessel for primary propulsion
  • ROVs Remotely operated vehicles
  • ROVs have been in use for many years and are used to carry out a variety of tasks underwater, particularly m hostile circumstances or at depths which would make it difficult for a diver to operate.
  • ROVs are typically provided with propellers to control the vertical position (depth) of the vessel in the water and other propellers for controlling the forward/rearward motion and lateral motion of the vessel, completely independently from the surface vessel
  • the position and movement of ROVs can be controlled accurately and many ROVs have onboard sensors which automatically control the various propellers to maintain the vessel in a chosen 3 dimensional position.
  • ROVs suffer from a number of key disadvantages for certain applications.
  • Large and powerful work class ROVs are extremely expensive and rely upon a very large and even more expensive surface vessel which can also limit access to work areas.
  • the working window of a small ROV is often very limited in circumstances where there are strong tides. This limits the amount of time for which the ROV can be engaged in its assigned tasks.
  • ROVs are particularly suitable for carrying out tasks at a specific location, their maximum speed is relatively low compared to a surface vessel
  • known ROVs are not particularly suited to circumstances where a task is carried out over a large area or where the ROV has to travel a considerable linear distance in carrying out its task
  • An example is where an ROV is being used to sense the position of a cable, pipeline or the like located on or just below the seabed, by means of specialist sensors.
  • ft is an object of the present invention to provide an underwater platform which overcomes or alleviates some of lbs problems of the prior art.
  • a combination of a towing vessel configured to travel across the surface of a body of water, a towed platform configured to be suspended videow the towing vessel as the towing vessel travels across the water surface, a towing cable connecting the towing vessel and the towed platform and a winch on the towing vessel for determining the length of paid-out towing cable, the towed platform being negatively buoyant and having thrust means on board for controliing only its lateral position.
  • the above arrangement relies on the surface towing vessel for both forward movement and for controlling its vertical position (depth) within the water column.
  • the thrust means mounted on the towing vessel ere configured only to control the lateral position of the towed platform.
  • the use of a towing vessel allows the towed platform to be effective at speeds which exceed those achievable by suitable known RGVs.
  • the present invention is particularly suited for carrying out tasks such as sensing of cables or pipelines on or just beneath the seabed and in other circumstances where the task is to be performed over a relatively large area.
  • the towed platform requires thrust means only for controlling its lateral position (since its forward motion and depth are controlled by movement of the towing vessel and the length of the towing cable), the complexity and cost of the towed platform can be significantly reduced as compared with known ROVs.
  • the towing vessel is powered.
  • the towed platform may comprise one or more accessories mounted on board.
  • an inductive coil sensor is mounted on the towed platform.
  • the sensor is preferably dispiaceabie between a deployed position and a retracted position.
  • the senor may be pivotaliy mounted on the towed platform. There may be powered drive means for displacing the sensor between its deployed and retracted positions.
  • the combination may further comprise means for determining the depth of the towed platform and/or the spacing of towed platform from the bed within the body of water.
  • the means for determining the depth of the towed platform and/or the spacing of towed platform from the bed of the body of water may comprise sonar means.
  • the sonar means may be mounted on the towed platform and/or on the towing vessel.
  • the winch comprises a heave-compensated winch.
  • the towing cable comprises an umbilical cable.
  • the umbilical cable comprises electrical cable for supplying electricity to the towed platform.
  • umbilical cable also comprises means for transmitting signals and data between the towed platform and the towing vessel
  • the towed platform preferably comprises cable connection means for connecting one end of the towing cable to the towed vessel.
  • the cable connection means preferably pivotally connects the towing cable to the towed platform.
  • the thrust means for controlling only the lateral position of the towed platform may comprise one or more propellers.
  • a platform adapted to be towed underwater is negatively buoyant and comprises means for connection to a towing cable and thrust means mounted on the platform for controlling only its lateral position.
  • one or more accessories are mounted on the platform,
  • an inductive coil sensor may be mounted on the vessel,
  • the sensor is displaeeable between a deployed position and a retracted position.
  • the sensor may be pivotally mounted on the towed piatform
  • the platform preferably comprises powered drive means for displacing the sensor between its deployed and retracted positions.
  • the platform may comprise means for determining its depth and/or its spacing from the bed within a body of water in which it is towed.
  • the platform may comprise sonar means for determining Its altitude and/or its spacing from the bed of the body of water,
  • the means for connection to a towing cabte pivotally connects the towing cable to the platform
  • the thrust means comprises one or more propellers.
  • Fig, 1 is a schematic view of an embodiment of sub-sea survey system in accordance with the present invention
  • Fig, 2 is a perspective view of an underwater platform which forms part of the sub-sea survey system of Fig. 1 , with its sensor in a refracted, raised position;
  • Fig. 3 is a perspective view of the frame of the underwater platform of Fig.
  • Fig. 4 is a flow diagram illustrating one mode of operation of the sub-sea survey platform of Fig. 1, and
  • Fig. 5 is a flow diagram illustrating a modified mode of operation of the sub-sea survey platform of Fig. 1
  • a sub-sea survey system comprises an underwater platform 10 which is connected by a cable 12 to a surface vessel such as a boat 14,
  • the underwater platform 10 is towed behind the boat 14 as the boat travels across the surface 16 of a body of water and the depth of the platform is controlled by adjusting the length of the cable 12 by means of a winch 18 mounted on the boat 14,
  • the winch 18 is a conventional heave-compensated winch which pays out or winds in the sable to compensate for the change in vertical position of the boat 14 arising from the swell of the sea.
  • the length of cable 12 required to tow the platform 10 at a given depth will depend on the depth of the water, speed of the boat 14, as the drag on the platform 10 and hence the shape of the cable will have an effect. Consequently, the winch 18 is under the control of a computer located on the boat 4, illustrated schematically at C, which receives a signal corresponding to the speed of the boat 14 and which is programmed to adjust the length of the paid-out cable accordingly in order to maintain the platform 10 at a desired vertical position.
  • the platform 10 comprises an aluminium alloy frame 20 comprising a generally oval, lower sub-frame 21 and a generally oval upper sub-frame 22.
  • the two sub-frames 21 , 22 are of the same overall dimensions and are mounted at opposite ends of a central column 24, such that the sub-frames 21 , 22 are parallel with each other, with the upper sub-frame 22 positioned directly above the lower sub-frame 21.
  • the sub-frames 21 , 22 and the central column 24 are constructed from many different frame members bolted together, whereby they form an open lattice or grid, which reduces both the weight and the drag of the platform 10 and which facilitates repair in the event of damage.
  • the platform 10 further comprises four identical conventional, reversible thrusters 26 (only three of which are visible in the drawings), each comprising a propeller 28 rotatabfe within a tubular shroud 30 by means of an associated electric motor 32.
  • the thrusters 26 are fixed and operable to control the lateral position of the platform 10, but not its vertical position.
  • the platform 10 also carries three identical, conventional cable pipeline detectors 34 mounted edge-to-edge, forming a detector head 36 which is wider than the frame 20, Each of the detectors 34 in the embodiment shown is a
  • Teledyne TSS Dualtrack detector which uses pulse induction technology for detecting cables, pipelines and the like
  • the detector head 38 is mounted on two support arms 38 which are in turn mounted to a respective V-shapad mounting frame 40, 42, each of which is pivotaily mounted on a horizontal pivot 44 in one of two mounting plates 46 mounted on opposite sides of the platform 10.
  • the mounting frames 40, 42 can be pivoted about their respective pivots 44 by means of a dual-acting hydraulic ram 48, whereby the detector head 38 can be moved between a vertical, inoperative position shown in Fig, 2 and a horizontal, deployed position shown in Fig. 1, in which it is able to detect cables, pipelines and the like located on, or just below, the sea bed as the platform is towed by the boat 14.
  • the platform 10 may be provided with additional equipment, such as an altimeter, compass, gyroscope, level sensor, video camera and iliurnination light (not visible in the drawings) and a sonar (illustrated at 50) for detecting the distance of the platform from the sea bed.
  • additional equipment such as an altimeter, compass, gyroscope, level sensor, video camera and iliurnination light (not visible in the drawings) and a sonar (illustrated at 50) for detecting the distance of the platform from the sea bed.
  • the towing cable 12 is connected to the upper end of the central column 24 of the frame 20, by means of a cable termination mounting 52 which is pivotaily connected to the upper end of the central column 24 of the frame 20.
  • ballast weights can be attached to the platform 10 to ensure that it is negatively buoyant ⁇ I.e. denser than the wafer).
  • the towing cable 12 is a so-cailed umbilical cable, whereby if desired one or more of the accessories mounted on the platform (e.g. the fhrusters 28, the hydraulic rams 48, the video camera, the light and the detector head 38) may be controlled from the boat 14 and signals from one or more of the accessories (e.g. the altimeter, compass, gyroscope, video camera, level sensor, detector head 38 and sonar 50) may be transmitted to monitoring equipment on the boat.
  • the accessories mounted on the platform e.g. the fhrusters 28, the hydraulic rams 48, the video camera, the light and the detector head 38
  • signals from one or more of the accessories e.g. the altimeter, compass, gyroscope, video camera, level sensor, detector head 38 and sonar 50
  • the umbilical cable 12 also has one or more electric power cables for operating the accessories on the platform 10,
  • the platform 10 Is designed to be towed at a predetermined distance from the sea bed, typically 1 or 2 metres, As the see bed both varies in depth and is not uniformly flat, further adjustment of the winch 18 is necessary in order to maintain the platform at the desired distance from the sea bed as the platform passes over it,
  • the sonar unit 50 will provide information on the topography of the sea bed slightly ahead of the platform 10. This information is transmitted to the monitoring equipment on the boat 14 via the umbilical cable 12 and is in turn supplied to the winch control computer C which, together with information relating to the speed of the boat and algorithms relating to the drag of the platform 10 and cable 12, operates the winch 18 to maintain the platform 10 at the desired spacing from the sea bed.
  • the platform 10 is towed directly beneath the boat 14 and any laybsek will be taken into account by the winch control to introduce a suitable time lag before operating the winch 18 to adjust the vertical height of the platform in response to the detection of the topography of the sea bed at a location ahead of the platform.
  • the topography of the sea bed ahead of the platform 10 may be detected by a sonar 54 on the hull of the boat 1 ,
  • Fig, 4 is a flow diagram illustrating one mode of operation of the sub-sea survey system.
  • Step will be abbreviated to * S B .
  • the routine starts at S1GC5.
  • the desired spacing of the platform from the sea bed is set on the computer C located on the boat 14 and at S104 the spacing of the platform from the sea bed is measured, for example by means of the sonar unit 50.
  • the signals returned to the sonar unit are supplied to the computer C on the boat 15 via the umbilicai cable 14 and at S106 the computer C determines whether the measured spacing from the sea bed is equal to the set spacing, within predetermined tolerances. If the platform is determined to be a? the correct spacing from the sea bed, the routine returns to S104 at which the spacing from the sea bed is measured once again. If the platform is determined not to be at the correct spacing from the sea bed, the routine moves to SI 08, where It is determined whether the measured spacing is greater than the set spacing.
  • the computer C If it is determined at S108 that the measured spacing is greater than the set spacing (i.e. the platform is spaced too far from the sea bed), at S110 the computer C operates the winch 18 to pay out the umbilical cable 12. On the other hand, if it is determined at S 08 that the measured spacing is less than the set spacing ⁇ I.e. the platform Is too dose to the sea bed), at S1 12 the computer C operates the winch 18 to wind In the cable 12, in either case, the routine then returns to S104, where the spacing of the platform from the sea bed is repeated.
  • FIG. 5 A modification to the routine of Fig. 4 is shown in Fig. 5.
  • the location where the topography is monitored may be some distance ahead of the actual location of the platform, for example if the sea bed topography is monitored using the sonar 54 on the hull of the towing boat 14,
  • the routine of Fig, 5 is largely the same at that of Fig. 5.
  • S104 of Fig. 4 is replaced with S1G4 ! , in which the topography of the sea bed at a location in front of the platform is detected, in addition, steps S110' and S112' are introduced before steps 110 and 1 12 respectively, in which the computer C calculates a delay before actuating the winch, to take into account that the platform is located behind the location where the sea bed is being monitored,

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Oceanography (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

La présente invention concerne une combinaison comprenant un navire de remorquage (14) configuré pour se déplacer sur la surface d'une masse d'eau, et une plateforme remorquée (10) configurée pour être remorquée sous l'eau par le navire de remorquage à mesure que le navire de remorquage se déplace sur la surface (16) de l'eau. Un câble de remorquage (12) relie le navire de remorquage et la plateforme remorquée, et un treuil (18) sur le navire de remorquage détermine la longueur de câble de remorquage déroulé. La plateforme remorquée possède une flottabilité négative et a des moyens de poussée (26) à bord permettant de contrôler uniquement sa position latérale.
PCT/GB2015/050764 2014-03-18 2015-03-16 Plateforme sous-marine WO2015140526A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1404860.7 2014-03-18
GB1404860.7A GB2524272A (en) 2014-03-18 2014-03-18 Underwater platform

Publications (1)

Publication Number Publication Date
WO2015140526A1 true WO2015140526A1 (fr) 2015-09-24

Family

ID=50634991

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2015/050764 WO2015140526A1 (fr) 2014-03-18 2015-03-16 Plateforme sous-marine

Country Status (2)

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GB (1) GB2524272A (fr)
WO (1) WO2015140526A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108995783A (zh) * 2018-09-06 2018-12-14 中国船舶工业系统工程研究院 一种基于钛合金的大深度rov主体框架装置
CN111220354A (zh) * 2020-03-09 2020-06-02 大连理工大学 一种水下拖曳试验装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105799890B (zh) * 2016-04-06 2017-07-21 大连理工大学 一种水下拖体布放装置及其使用方法
CN111332411B (zh) * 2020-03-25 2021-11-16 中国科学院沈阳自动化研究所 一种水下机器人海上回收方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2212451A (en) * 1987-11-18 1989-07-26 Marconi Gec Ltd Remotely operable submarine vehicles
WO1992020607A1 (fr) * 1991-05-21 1992-11-26 Thomson-Csf Treuil pour remorquage d'objets immerges
US5752460A (en) * 1996-02-02 1998-05-19 The United States Of America As Represented By The Secretary Of The Navy Submergible towed body system
EP2330027A1 (fr) * 2009-12-07 2011-06-08 Soil Machine Dynamics Limited Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4729333A (en) * 1986-07-09 1988-03-08 Exxon Production Research Company Remotely-controllable paravane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2212451A (en) * 1987-11-18 1989-07-26 Marconi Gec Ltd Remotely operable submarine vehicles
WO1992020607A1 (fr) * 1991-05-21 1992-11-26 Thomson-Csf Treuil pour remorquage d'objets immerges
US5752460A (en) * 1996-02-02 1998-05-19 The United States Of America As Represented By The Secretary Of The Navy Submergible towed body system
EP2330027A1 (fr) * 2009-12-07 2011-06-08 Soil Machine Dynamics Limited Véhicule submersible commandé à distance avec terminal de montage d'amarre réglable

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108995783A (zh) * 2018-09-06 2018-12-14 中国船舶工业系统工程研究院 一种基于钛合金的大深度rov主体框架装置
CN108995783B (zh) * 2018-09-06 2023-11-14 中国船舶工业系统工程研究院 一种基于钛合金的大深度rov主体框架装置
CN111220354A (zh) * 2020-03-09 2020-06-02 大连理工大学 一种水下拖曳试验装置

Also Published As

Publication number Publication date
GB201404860D0 (en) 2014-04-30
GB2524272A (en) 2015-09-23

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