WO2020010425A1 - Sistema e método de suporte a operação de instalações submarinas para reconstrução 3d de linhas flexíveis durante uma operação de conexão vertical direta - Google Patents
Sistema e método de suporte a operação de instalações submarinas para reconstrução 3d de linhas flexíveis durante uma operação de conexão vertical direta Download PDFInfo
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- WO2020010425A1 WO2020010425A1 PCT/BR2019/050265 BR2019050265W WO2020010425A1 WO 2020010425 A1 WO2020010425 A1 WO 2020010425A1 BR 2019050265 W BR2019050265 W BR 2019050265W WO 2020010425 A1 WO2020010425 A1 WO 2020010425A1
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- G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
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- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/01—Risers
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- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
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- E21B17/012—Risers with buoyancy elements
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- E—FIXED CONSTRUCTIONS
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- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/01—Risers
- E21B17/017—Bend restrictors for limiting stress on risers
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- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
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- G—PHYSICS
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Definitions
- the present invention relates to the Subsea Engineering project area for support to the Interconnection of flexible oil and gas lines between deepwater wells and platforms. More particularly, the invention relates to Direct Vertical Connection (CVD) operations developed by the applicant itself. Thus, the invention relates to a methodology and tool for real-time monitoring of the flex line radius of curvature during CVD operations in order to increase the safety and operational efficiency of these operations.
- CVD Direct Vertical Connection
- CVD Vertical Connection Module
- the flexible line configuration in CVD operation depends on the pipe flexural stiffness (EI), which, in turn, is a function of pressure, temperature and stresses at the time of operation. Therefore, the actual value of flexural stiffness is a parameter that has to be estimated during operation to obtain accurate dynamic line configuration and dynamic behavior during CVD.
- EI pipe flexural stiffness
- the bending radius of the flex line can be determined by flexural stiffness (EI) and should be monitored to prevent infringement of its minimum value which could result in flex line damage.
- EI flexural stiffness
- curvature restrictor or vertebra that locks into the minimum allowable radius of curvature for the line, preventing it from being flexed to a smaller radius than permitted.
- locking the vertebra can damage the structure of the MCV, such as the breakdown of the goose-neck, and / or subsea equipment to which the MCV is connected as the Production Adapter Base Hub (BAR) or the Submarine Manifold End Hub (PLEM), among other equipment.
- BAR Production Adapter Base Hub
- PLM Submarine Manifold End Hub
- the main object of the present invention is to obtain an estimate of line curvature from 3D reconstruction of line geometry and physical simulation of static equilibrium in real time during CVD operation.
- DIP Deep Immersion Performance test
- This document deals with a methodology to help a line installation engineer to perform CVD operations safely. It is based on a computer vision system to estimate the curvature of flexible lines during CVD operations to increase operational efficiency through the use of stereo cameras and some markers along the line.
- the system described features a stereo set of iowiight cameras and an interspersed pattern of black and white markers painted over the line.
- the system accomplishes its task through of a sequence of three distinct phases: calibration, detection and estimation of the radius of curvature.
- the methodology is based on an interspersed pattern of black and white markings that should cover the entire surface of the line segment being analyzed. This pattern allows the system to distinguish line segments over time.
- the system continually attempts to identify the interspersed pattern in the images.
- the detection algorithm uses topological constraints to segment the image of the best possible candidates for white marks and then applies the backtracking algorithm technique to choose from those candidates which ones actually belong to the flexible line.
- the tracking procedure is a two-step energy maximization technique, based on the fact that the line moves slightly from frame to frame, thereby reducing the search space for the highs in the next frame of the image.
- the Figure 1a illustrates the RC error behavior according to the number of 3D points reconstructed.
- the present invention aims at solving the problems of the state of the art described above in a practical and efficient manner.
- the purpose of the present invention is to provide a
- Subsea Installation Operation Support Tool that enables you to accurately estimate the stresses on a MCV and the bend radius of the duct during all steps of a CVD operation.
- the present invention provides a method of supporting the operation of subsea installations for obtaining the radius of curvature (RC) through 3D reconstruction of flexible lines during a direct vertical connection operation.
- the method comprises the steps of painting the flexible line with a specific regular pattern, performing the 3D reconstruction of the sampled points of the flexible line and finally obtaining the radius of curvature of the flexible line.
- 3D reconstruction comprises the steps of: capturing images of the flexible line during CVD operation; send captured images to a dedicated computer; process the images generating radius of curvature (RC) information.
- the present invention It also comprises a subsea facility operation support system, called SOIS, for obtaining RC from the 3D reconstruction of flexible lines during direct vertical connection operations. Furthermore, the present invention performs online physical simulation of the static duct equilibrium to obtain the bend radius (RC) of the flexible line.
- the physical simulation comprises the static balance evaluation of the system containing: MGV (with or without adapter), flexible line and accessories (connector and vertebra), float straps and hump straps.
- Static equilibrium of the system is accomplished through the numerical modeling of all the above mentioned parts discretely considering the points obtained from the 3D reconstruction and all the efforts involved in real time.
- the positions of the points obtained from the 3D reconstruction are used as constraints used in the optimization process performed by the physical simulation, performed optimally in GPU.
- Figure 1 illustrates the behavior of RC error according to data noise, according to the Subsea Installation Operation Support method described by the state of the art.
- Figure 1a illustrates the behavior of the mean RC percentage error in relation to the actual value, according to the number of 3D points reconstructed, according to the Subsea Installation Operation Support method described by the state of the art.
- Figure 2 illustrates an overview of the SOIS system according to a preferred embodiment of the present invention.
- Figure 3a illustrates an optional default setting. specific regular adopted to mark the flexible line.
- Figure 3b illustrates an optional configuration of the specific regular pattern adopted to mark the vertebra compatible with flexible line marking.
- Figures 4a and 4b illustrate two optional configurations for marking the float loops according to one embodiment of the present invention. Note that the goal is to allow precise marking of the first float while the others should not be confused with the regular white line markings.
- FIG. 5 schematically illustrates the PLSV-
- Figure 6 schematically illustrates the hump elements of the second end CVD.
- Figure 8 illustrates a schematic view of the positioning of the SOIS system cameras of the present invention.
- Figure 9 illustrates a view of the calibration standard as provided by the present invention.
- Figure 10a illustrates a flow chart of the SOIS method of the present invention.
- Figure 10b illustrates the detail of the 3D reconstruction of a line according to the SOIS method of the present invention.
- Figure 11 schematically illustrates the actuation of the 3D reconstruction module from the points on each camera frame, in accordance with one embodiment of the present invention.
- Figure 12 schematically illustrates the iterative process of adjusting the particle system (p L ⁇ to 3D points. used in the physical simulation of the static equilibrium of SOIS.
- Figure 14 illustrates the approximation adopted for the calculation of the distance of the interpolated curve C ( ⁇ p) by the particle system (Pi) using the tangent vector to the interpolated curve as provided by the present invention.
- the present invention is intended to support the installation process of the Vertical Connection Module (MCV) during the Direct Vertical Connection (CVD) procedure.
- MCV Vertical Connection Module
- CVD Direct Vertical Connection
- SOIS Subsea Installation Operation Support
- Vertebra - A mechanical device that acts as a mechanical stop limiting the local curvature radius of flexible lines to a minimum.
- This equipment is composed of the following components: o Adaptation Part - Split Part that connects the beginning of the vertebra to the MCV connector;
- the invention can be employed in all line interconnection operations between wells, manifolds, and Floating Production Storage and Offloading (FPSOs) with first and second end CVD procedures.
- FPSOs Floating Production Storage and Offloading
- DIP Test operations can also be tracked using the SOIS methodology.
- FIG. 2 illustrates an overview of the SOIS system according to a preferred embodiment of the present invention, however, the invention is not limited to that particular embodiment. It is observed that the SOIS system is basically composed of: hardware (cameras (3), dedicated computer (4) and cables for receiving ROV video signals), and accessories (calibration standard).
- Line (1) and vertebra (6) should be painted following a specific regular pattern to enable their detection under lighting conditions under the seabed at ultra-deep water depths.
- the SOIS methodology initially comprises the steps of: marking (see figure 3) of flexible line (1) with a specific regular pattern; and marking the vertebra (6) in a manner consistent with the regular pattern made on the line (1).
- these steps are performed on a shore stand to reduce impact on board, however, marking on said shore stand is not restricted and can be performed or reinforced on board the vessel (5).
- SOIS tracks the operation to support installation as follows. Two video cameras (3) installed on the ROV (2) make images of line (1) flexible during CVD. These images are then sent to the dedicated computer (4) and are processed by SOIS. Finally, the radius of curvature value is presented to the real-time launch engineer, see figure 2.
- the specific regular pattern adopted comprises alternating black and white bands.
- Figure 3a illustrates an optional configuration of the specific regular pattern adopted for marking flexible line (1).
- Figure 3b illustrates an optional configuration of the specific regular pattern adopted for marking the vertebra (6) coherently marking the line (1).
- the marking to be applied to the flexible line (1) is a regular interleaved sequence of white and black regions, as indicated in Figure 3a, in which a number of requirements may be adopted.
- Marking shall be done with matte (dull) ink in white and black, where the length of a white region shall be equal to the outside diameter (d) of the line (1) and the length of a region black should be equal to half the outside diameter (d / 2) of line (1). Marking is not restricted to the use of white and black colors or the lengths described above, and a further combination of colors and painted lengths may be used that will allow data capture and structure reconstruction without damage.
- marking shall be performed within the first 50 meters of line (1). If line (1) is to be painted or retouched on board, the stretch under the vertebra (8) in the compressed situation need not be painted or retouched.
- flexible line marking (1) is the responsibility of the installer, with the supervision of a supervisor on board the installation vessel (5). Ideally the flexible line (1) should be marked before being shipped, and the installer should make the final line marking (1) following the recommendations presented.
- marking must be done with matte (dull) paint in white and black and in addition with matte black tape. Marking is not restricted to the use of the white and black colors described above, and another color combination can be used that allows data capture and structure reconstruction without damage.
- the inner rings (61) are painted white
- the outer rings (62) are painted black
- the fitting is painted white.
- the outer rings (62) After the outer rings (62) are installed, they must be wrapped with black tape to hide the anodes.
- the color of the ribbon is not restricted to black, but should follow the color of the outer rings (62).
- the marking of the vertebra (6) is also the responsibility of the installer with the supervision of a supervisor on board the installation vessel (5).
- the vertebra (6) should be painted before being boarded.
- the installer should perform the final marking of the vertebra (6) following the recommendations presented.
- the SOIS methodology of the invention also optionally proposes the identification of the attachment points of the floats (7) to the flexible line (1). For this, the handles (71) of the floats (7) must be marked.
- Figures 4a and 4b illustrate two optional configurations for marking the float loops (71) in accordance with the present invention.
- the loops (71) of the floats (7) should be marked with matte (dull) tape in white and black, where the handle (71) marking of the first float (positioned closer to the MCV) is different from the handles marking (71) of the other floats (7).
- marking is not restricted to the use of the white and black colors described above, and another color combination capable of capturing data may be used. and the reconstruction of the structure without damage.
- the handles (71) should be marked with black tape at the nearest 2m to line (1), or the entire length of the handle (71).
- the hoisting straps (91) and (92) for hump formation shall be marked with black tape at the nearest 2 m to line (1), or the entire length of the straps. (91) and (92).
- SOIS In order to be executed, SOIS requires some information about CVD operation to be provided, such as physical characteristics of equipment such as flexible line (1), floats (7), vertebra (6) and MCV. This information, which will be presented in detail below, may be provided at different times of the execution of SOIS, as will be apparent from the following description. [077] Also, most of the information can be provided by the ground crew conducting the CVD configuration study prior to operation. This information can be provided through a form delivered to the release engineer, to be entered directly into a user interface provided by SOIS to track the CVD operation.
- figure 5 schematically illustrates the PLSV-Crane distance and the PLSV-MCV distance.
- Figure 6 schematically illustrates the hump elements of the second end CVD.
- Figure 7 illustrates two options for MCV coupling, as provided by the method of the present invention, targeted with left or right MCV, Figures 7a and 7b.
- CVD type ie whether the CVD type is first or second end
- the SOIS also requests information from the following parameters of line (1):
- the SOIS system also provides for the use of two video cameras (3) for the capture of line images (1), where these cameras (3) must have high resolution, especially in low light environments. to be resistant to the underwater environment.
- cameras (3) should have at least the following specification: light sensitivity of at least 1.3 x 10 ⁇ 3 Lux; and field of view in water of at least 80 °.
- Figure 8 illustrates a schematic top view of the positioning of the SOIS system cameras (3) of the present invention.
- the cameras (3) must be fixed to an ROV (2) so that their positioning (3) cannot be changed during the entire operation. Therefore, it is recommended that they be secured in a place where they are protected from mechanical shock.
- the distance between cameras (3) should preferably be a minimum of 1 m and a maximum of 1.5 m.
- the cameras (3) should be positioned side by side at the same height as the ROV base (2), and the lenses (part (3) must be aligned
- the distance described above is not restrictive, so another distance may be used as long as it is capable of data capture and structure reconstruction without damage.
- cameras (3) are positioned at the top of the ROV (2), where positioning should ensure that other equipment (such as the ROV arm (2)) does not appear in the cameras field of view (3 ).
- cables carrying video signals from cameras (3) must have BNC-type connectors so that they can be connected to the capture device installed in the dedicated computer (4).
- the SOIS described here further provides for a chamber calibration step so that the SOIS can estimate the radius of curvature of the marked region of a flexible line (1).
- the calibration procedure consists of capturing images of a calibration standard using SOIS software in which a series of recommendations must be followed.
- a calibration standard For calibration, a calibration standard must be constructed as shown in Figure 9. The construction of this standard can be divided into two parts: assembly of the structure; and printing and applying the calibration standard drawings (10).
- Drawings (10) are provided in print-ready digital format. It is also recommended that drawings (10) be made in specialized printers using matte vinyl adhesive [0104] Adhesives should be applied after drilling the plate (100) and before placing it on the structure. Adhesives should be applied to the flat plate (100) of the pattern carefully so as not to create bubbles, not to wrinkle the design, nor to damage the design, which may impair camera calibration (3).
- the SOIS tool provides real-time support for CVD operation by calculating the radius of curvature and other quantities of interest to the launch engineer during installation.
- Figure 10a illustrates a flow diagram of the SOIS of the present invention.
- Figure 10b illustrates the detail of the 3D reconstruction of a line (1 according to the SOIS method of the present invention.
- SOIS basically comprises the steps of: image capture; calibration; computer vision for 3D reconstruction; and physical simulation.
- Image capture is achieved through the two cameras (3) positioned on the ROV (2) as shown above.
- the intrinsic and extrinsic calibrations of the cameras (3) are obtained on board before the ROV descent (2).
- Features of the flexible line (1) and the accessories used, such as handles (71) and floats (7) are also provided.
- the video capture module receives images from the stereo array of calibrated cameras (3). For each frame of a camera (3) there is the equivalent in the other and both are processed and sent to the next Computational Vision module.
- the Computer Vision module is responsible for making the 3D reconstruction of the sampled points of flexible line (1) (centolds of line markings (1)). It receives as input the capture module frame pairs and the calibration of the two cameras (3), so that it can extract metric information from the wire points (triangulation).
- Figure 11 schematically illustrates the actuation of the 3D reconstruction module from the points on each frame of the cameras (3) according to one embodiment of the present invention.
- line (1) can be reconstructed in 3D through four main stages, image processing, flexible line point detection (1) in each frame of each camera (3), matching ( correspondence) between the points obtained in each camera frame (3), and triangulation to obtain the 3D position of the points identified in line (1).
- the physical simulation module receives the reconstructed 3D points as input and simulates the static equilibrium of these points using the description of the operation scenario to obtain, in real time, the radius and curvature estimation at each detected point of the (1) Flexible line.
- the physical simulation module performs the adjustment to a particle system ⁇ p £ ⁇ , which fits each particle to the reconstructed 3D points ⁇ x ; - ⁇ in the condition of the vertical MCV, prior to its coupling to the subsea equipment.
- the flexible line (1) is modeled by a set of particles where tensile forces, momentum and gravity acting on them are balanced.
- the solution of this particle system is obtained by imposing as boundary conditions the 3D position of the reconstructed 3D points ⁇ c ; ⁇ ⁇ .
- the convergence of the particle system one can then calculate several physical quantities inherent to the current state of the reconstructed duct, such as radius of curvature, forces and moments.
- Figure 12 schematically illustrates the iterative process of adjusting the particle system (p, to the reconstructed 3D points used in the physical simulation of the static equilibrium of the SOIS.
- the particle system of physical simulation is represented by the set of its points ⁇ p.
- the ⁇ x j ⁇ set represents the reconstructed 3D points.
- the equations of static equilibrium, defined as E, to be respected by each particle are given by the equation: E ( ⁇ pi ⁇ , h) 0,
- Such equations consist of the sum of the forces acting on each particle, such as traction, cutting, gravity, friction, normal, among others. These forces are given both as a function of particle position (p) and as a function of equipment physical properties such as axial stiffness, flexural and mass. These properties are represented by the vector h and are constant during the execution of the SOIS method.
- the particle set of the finite element system forms a discrete C curve and the curve fit can be defined as:
- Figure 13 illustrates the adjustment of the interpolated curve by the ⁇ p ⁇ particle system according to the SOIS method.
- T j is the unit vector tangent to the curve at point p 3 ⁇ 4 as shown in figure 14.
- Figure 14 shows the interpolated curve approximation of the particle system £ ⁇ p ⁇ , as described above.
- the invention solves the problem of the state of the art. namely, it provides a support tool for the operation of subsea installations that allows to accurately estimate the forces on a MCV and the radius of curvature of the line (1) during all stages of a CVD operation.
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- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Sewage (AREA)
- Joints Allowing Movement (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/258,518 US11436747B2 (en) | 2018-07-13 | 2019-07-10 | System and method for supporting the operation of subsea installations for 3D reconstruction of flexible pipes during a direct vertical connection operation |
AU2019300942A AU2019300942A1 (en) | 2018-07-13 | 2019-07-10 | System and method for supporting the operation of subsea installations for 3D reconstruction of flexible pipes during a direct vertical connection operation |
CN201980059754.5A CN112840102A (zh) | 2018-07-13 | 2019-07-10 | 用于在直接竖直连接操作期间支持海底安装的操作以用于柔性管的3d重建的系统和方法 |
CA3106848A CA3106848A1 (en) | 2018-07-13 | 2019-07-10 | System and method for supporting the operation of subsea installations for 3d reconstruction of flexible pipes during a direct vertical connection operation |
NO20210182A NO20210182A1 (en) | 2018-07-13 | 2019-07-10 | System and method for supporting the operation of subsea installations for 3d reconstruction of flexible pipes during a direct vertical connection operation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR102018014298-4A BR102018014298B1 (pt) | 2018-07-13 | 2018-07-13 | Sistema e método de suporte a operação de instalações submarinas para reconstrução 3d de linhas flexíveis durante uma operação de conexão vertical direta |
BRBR102018014298-4 | 2018-07-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020010425A1 true WO2020010425A1 (pt) | 2020-01-16 |
Family
ID=69143292
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/BR2019/050265 WO2020010425A1 (pt) | 2018-07-13 | 2019-07-10 | Sistema e método de suporte a operação de instalações submarinas para reconstrução 3d de linhas flexíveis durante uma operação de conexão vertical direta |
Country Status (7)
Country | Link |
---|---|
US (1) | US11436747B2 (pt) |
CN (1) | CN112840102A (pt) |
AU (1) | AU2019300942A1 (pt) |
BR (1) | BR102018014298B1 (pt) |
CA (1) | CA3106848A1 (pt) |
NO (1) | NO20210182A1 (pt) |
WO (1) | WO2020010425A1 (pt) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US7080689B2 (en) * | 2002-06-13 | 2006-07-25 | Institut Francais Du Petrole | Instrumentation assembly for an offshore riser |
US7630866B2 (en) * | 2001-05-25 | 2009-12-08 | Institut Francais Du Petrole | Method of dimensioning a drilling riser |
US7789588B2 (en) * | 2005-08-04 | 2010-09-07 | Technip France | Subsea system provided with a controllable curvature flexible pipe |
WO2016130155A1 (en) * | 2015-02-13 | 2016-08-18 | Halliburton Energy Services, Inc. | Real-time tracking and mitigating of bending fatigue in coiled tubing |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2790054B1 (fr) * | 1999-02-19 | 2001-05-25 | Bouygues Offshore | Procede et dispositif de liaison fond-surface par conduite sous marine installee a grande profondeur |
US7416025B2 (en) * | 2005-08-30 | 2008-08-26 | Kellogg Brown & Root Llc | Subsea well communications apparatus and method using variable tension large offset risers |
GB2439148A (en) * | 2006-06-16 | 2007-12-19 | Wellstream Int Ltd | Pipe armour wires support in terminating collar |
FR2929398B1 (fr) * | 2008-10-24 | 2010-03-12 | Technip France | Procede d'etalonnage d'un dispositif de controle optique |
FR2971322B1 (fr) * | 2011-02-03 | 2014-05-02 | Saipem Sa | Limiteur de courbure de ligne flexible sous-marine et installation de liaison fond-surface en comprenant |
CN202215159U (zh) * | 2011-08-30 | 2012-05-09 | 中国石油集团西部钻探工程有限公司 | Mwd立管压力传感器安全减震接头 |
FR2983233B1 (fr) * | 2011-11-30 | 2016-01-01 | Saipem Sa | Installation de liaisons fond-surface flexibles multiples sur au moins deux niveaux |
US9623466B2 (en) * | 2012-05-30 | 2017-04-18 | Aggresive Tube Bending Inc. | Bending assembly and method therefor |
CA2815195A1 (en) * | 2013-05-02 | 2014-11-02 | 059312 N.B. Inc. | Bipartite sensor array |
CN103711460B (zh) * | 2013-12-31 | 2016-04-20 | 重庆前卫海洋石油工程设备有限责任公司 | 深水管线多回路跨接系统及其测试安装方法 |
US10775165B2 (en) * | 2014-10-10 | 2020-09-15 | Hand Held Products, Inc. | Methods for improving the accuracy of dimensioning-system measurements |
-
2018
- 2018-07-13 BR BR102018014298-4A patent/BR102018014298B1/pt active IP Right Grant
-
2019
- 2019-07-10 NO NO20210182A patent/NO20210182A1/en unknown
- 2019-07-10 AU AU2019300942A patent/AU2019300942A1/en active Pending
- 2019-07-10 WO PCT/BR2019/050265 patent/WO2020010425A1/pt active Application Filing
- 2019-07-10 US US17/258,518 patent/US11436747B2/en active Active
- 2019-07-10 CN CN201980059754.5A patent/CN112840102A/zh active Pending
- 2019-07-10 CA CA3106848A patent/CA3106848A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7630866B2 (en) * | 2001-05-25 | 2009-12-08 | Institut Francais Du Petrole | Method of dimensioning a drilling riser |
US7080689B2 (en) * | 2002-06-13 | 2006-07-25 | Institut Francais Du Petrole | Instrumentation assembly for an offshore riser |
US7789588B2 (en) * | 2005-08-04 | 2010-09-07 | Technip France | Subsea system provided with a controllable curvature flexible pipe |
WO2016130155A1 (en) * | 2015-02-13 | 2016-08-18 | Halliburton Energy Services, Inc. | Real-time tracking and mitigating of bending fatigue in coiled tubing |
Non-Patent Citations (1)
Title |
---|
SANTOS, I. H. F. E OUTROS: "Real Time Radius of Curvature During DVC Operations Based on Flexible Pipe 3D Reconstruction", OFFSHORE TECHNOLOGY CONFERENCE, 2015, Rio de Janeiro * |
Also Published As
Publication number | Publication date |
---|---|
CN112840102A (zh) | 2021-05-25 |
BR102018014298B1 (pt) | 2021-12-14 |
CA3106848A1 (en) | 2020-01-16 |
US20210248771A1 (en) | 2021-08-12 |
US11436747B2 (en) | 2022-09-06 |
NO20210182A1 (en) | 2021-02-11 |
BR102018014298A2 (pt) | 2020-01-14 |
AU2019300942A1 (en) | 2021-03-11 |
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