WO2020075259A1 - Structure flottante - Google Patents

Structure flottante Download PDF

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Publication number
WO2020075259A1
WO2020075259A1 PCT/JP2018/037892 JP2018037892W WO2020075259A1 WO 2020075259 A1 WO2020075259 A1 WO 2020075259A1 JP 2018037892 W JP2018037892 W JP 2018037892W WO 2020075259 A1 WO2020075259 A1 WO 2020075259A1
Authority
WO
WIPO (PCT)
Prior art keywords
natural gas
facility
floating structure
liquefaction
tank
Prior art date
Application number
PCT/JP2018/037892
Other languages
English (en)
Japanese (ja)
Inventor
直彦 岸本
和亮 角田
治之 秋山
晃司 円谷
Original Assignee
日揮グローバル株式会社
川崎汽船株式会社
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 日揮グローバル株式会社, 川崎汽船株式会社 filed Critical 日揮グローバル株式会社
Priority to PCT/JP2018/037892 priority Critical patent/WO2020075259A1/fr
Priority to SG11202103382TA priority patent/SG11202103382TA/en
Priority to KR1020217009310A priority patent/KR102577082B1/ko
Priority to CN201880098507.1A priority patent/CN112839865A/zh
Publication of WO2020075259A1 publication Critical patent/WO2020075259A1/fr

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • B63B25/12Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
    • B63B25/16Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/448Floating hydrocarbon production vessels, e.g. Floating Production Storage and Offloading vessels [FPSO]

Definitions

  • the present invention relates to a floating structure in which a tank mounted on an existing LNG carrier or a floating structure is transferred.
  • An object of the present invention is to provide a slim floating structure in which a natural gas treatment facility is arranged while securing a tank arrangement space.
  • the floating structure of the present invention Tanks transferred from an existing LNG carrier or an existing floating structure and arranged continuously in the longitudinal direction of the hull, In the width direction of the hull portion, a floating structure comprising a natural gas treatment facility arranged on at least one of the two sides of the tank, The natural gas treatment facility is arranged inside the width direction of the hull portion.
  • the natural gas processing equipment is arranged on both sides of the tank.
  • the natural gas treatment facility is arranged along the starboard side of the hull and the port side of the hull.
  • the natural gas treatment facility comprises a pretreatment facility for pretreating natural gas, and a liquefaction facility for liquefying natural gas,
  • the pretreatment facility is arranged at an end portion in the longitudinal direction of the hull portion,
  • the liquefaction facility is arranged inside the width direction of the hull portion.
  • the natural gas treatment facility comprises a pretreatment facility for pretreating natural gas, and a liquefaction facility for liquefying natural gas,
  • the liquefaction facility is arranged on the inner side in the width direction of the hull portion, and is provided in two lines,
  • the liquefaction equipment of one series is arranged on the starboard side of the hull section, and the liquefaction equipment of the other series is arranged on the port side of the hull section.
  • the liquefaction facility and the tank are connected by a pipe for delivering the liquefied natural gas liquefied in the liquefaction facility to the tank.
  • Six or more tanks are continuously arranged in the longitudinal direction of the hull.
  • the tank is a spherical tank.
  • FIG. 1A is a schematic view of the floating structure 2 according to the embodiment as viewed from above
  • FIG. 1B is a schematic view of the floating structure 2 as viewed from the side (starboard side).
  • the floating structure 2 is an offshore structure having a hull portion 4 as a main body.
  • six tanks 6 are continuously arranged in a line in the central longitudinal direction of the hull portion 4. Between the adjacent tanks 6, a lateral partition wall (not shown) that straddles both sides of the port is appropriately arranged.
  • a natural gas treatment facility 8 a living area 10, a laydown area 12, and a power unit 14 are arranged on the floating structure 2.
  • the "hull part" means a structure whose outer edge is defined as one structure at the time of construction, and is additionally joined after the construction for the purpose of expanding the structure. It is a concept that does not include a structure (hereinafter, also referred to as an overhang part).
  • the floating structure 2 is used as a marine plant.
  • examples of such equipment include FPSO (floating body production / storage / shipping equipment) that produces, stores, and ships oil and natural gas, and FSO (floating body-based storage / shipment equipment) that does not have production equipment and only stores and ships. ), FSU (floating body type storage equipment) etc. which only store are known.
  • FLNG floating type liquefied natural gas production facility
  • LNG liquefied natural gas
  • a case where the floating structure 2 is FLNG will be described as an example.
  • the floating structure 2 does not have a self-propelled function, and when it moves, it is towed by a power ship.
  • the hull portion 4 is a structure that is long in one direction and has a longitudinal direction and a lateral direction.
  • the hull portion 4 is called a hull, and the hull portion having a double structure is called a double hull.
  • the hull portion 4 is newly constructed. Although it is assumed that the total length of the hull portion 4 in the present embodiment is 350 m to 450 m, the total length of the hull portion 4 may be longer or shorter than this.
  • the tank 6 is a spherical tank made of aluminum alloy with a diameter of about 25 m to 60 m, and stores liquefied natural gas cooled to minus 162 ° C.
  • the liquefaction facility 8b described later and the tank 6 are connected by a pipe (not shown).
  • the liquefied natural gas liquefied in the liquefaction facility 8b is liquefied to the tank 6 through the pipe and stored in the tank 6.
  • Such a spherical tank 6 is called a Moss type spherical tank.
  • the upper portion of the tank 6 projects from the hull portion 4 and is covered with a steel tank cover (not shown).
  • the lower portion of the tank 6 is housed inside the hull portion 4.
  • tanks 6 have been transferred from an existing LNG carrier, and are continuously arranged so that their centers are aligned in the longitudinal direction of the hull portion 4.
  • the moss type spherical tank of the existing floating structure is not relatively deteriorated and is in a sufficiently usable state, it is possible to reuse a durable tank at low cost.
  • the natural gas treatment facility 8 includes a pretreatment facility 8a, a heavy component removal facility (not shown), and a liquefaction facility 8b.
  • the pretreatment facility 8a is a facility for performing a pre-stage process of liquefying the raw material natural gas supplied from the wellhead, and is arranged on the bow side of the hull portion 4.
  • processes up to a separation step for separating condensate contained in the raw material natural gas, an acid gas removing step for removing acidic gas, a mercury removing step for removing mercury, and a dehydrating step for performing dehydration treatment are executed. It
  • the separated condensate is stored in a condensate tank (not shown).
  • the amine is countercurrently contacted with the raw material natural gas in an absorption tower (not shown), and environmental pollutants such as carbon dioxide and hydrogen sulfide are absorbed by the amine and removed.
  • the mercury removal step is a step of removing mercury from the raw material natural gas when the raw material natural gas contains a small amount of mercury vapor.
  • Mercury corrodes an aluminum alloy used as a low temperature member, and thus needs to be removed.
  • water is removed by an adsorbent from the raw material natural gas from which impurities have been removed. This dehydration is performed in order to prevent ice from being generated in the subsequent liquefaction process and freezing the piping.
  • the composition of the raw natural gas differs depending on the source of the well, so the amount of the object to be removed contained in the raw natural gas to be removed by the pretreatment facility 8a also differs depending on the source. That is, since the type and size of the equipment arranged in the pretreatment facility 8a are designed according to the property of the raw material natural gas at the well source, the type and size of the equipment depend on which well source natural gas to be treated. May be different.
  • the pretreatment facility 8a is arranged in a relatively large space such as the bow side where the tank 6 is not arranged so that the preparatory equipment 8a can be flexibly designed by expanding or narrowing the arrangement space according to the type and size of the equipment. Is preferred. Further, by disposing the pretreatment facility 8a on the bow side, even if a design change occurs due to a change in the composition of the raw natural gas, it can be dealt with by adjusting the length of the hull portion 4 in the longitudinal direction. The influence of the design change of the processing equipment 8a on the design of the entire hull is small.
  • Heaviness removal equipment implements a heavy content removal process that removes heavy content from raw natural gas.
  • the heavy component removal equipment is a part for separating the natural gas treated by the pretreatment equipment 8a into fractions such as methane, ethane and propane.
  • fractions such as methane, ethane and propane.
  • heavy hydrocarbons such as ethane, propane and butane are separated and recovered.
  • the heavy component removal equipment may be arranged on the bow adjacent to the pretreatment equipment 8a, or may be arranged laterally of the tank 6 in the width direction of the hull portion 4. Further, among the devices installed in the heavy component removing equipment, some devices may be arranged on the bow side and the other devices may be arranged on the side of the tank 6.
  • the liquefaction facility 8b is a facility for performing the process of liquefying the raw material natural gas, and is arranged on both sides of the tank 6 in the width direction of the hull portion 4.
  • the liquefaction equipment 8b is provided in two series, one series of liquefaction equipment 8b is arranged along the longitudinal direction on the starboard side of the hull section 4, and the other series of liquefaction equipment 8b is arranged on the port side of the hull section 4 in the longitudinal direction. Are arranged along.
  • two liquefaction facilities 8b are provided for one pretreatment facility 8a.
  • the liquefaction equipment 8b on the starboard side and the liquefaction equipment 8b on the port side are located at the same position in the longitudinal direction of the hull portion 4 (overlap in the width direction of the hull portion 4). They are facing each other across.
  • the liquefaction facility 8b is arranged inside the width direction of the hull part 4 so as not to protrude from the hull part 4. For this reason, it is not necessary to additionally install an overhanging portion in the width direction in order to secure an arrangement space on the port side, and a slim hull portion 4 can be designed.
  • a heat exchanger for liquefying methane separated by a demethanizer (not shown), a refrigerant circuit for supplying a refrigerant to the heat exchanger, and the like are provided.
  • each device heat exchanger and refrigerant circuit
  • each device is designed to have the same size so that the same amount of liquefied natural gas can be produced.
  • a liquefaction process for liquefying raw material natural gas is executed.
  • the liquefaction facility 8b is a part for liquefying the methane separated in the demethanizer in the heavy component removing device.
  • the raw material natural gas sent to the heat exchanger is heat-exchanged with the low-temperature gas supplied from the refrigerant circuit, cooled to minus 162 ° C. or lower, and liquefied.
  • the liquefied low-temperature raw material natural gas is liquid-fed to the tank 6 through a pipe and stored in the tank 6.
  • the liquefaction facility 8b is a facility that handles the raw material natural gas that has been treated by the pretreatment facility 8a, if the production amount of the raw material natural gas is determined, the layout of the size of the equipment and the installation position of the equipment, etc. Will be confirmed early. That is, the liquefaction facility 8b is a facility with few fluctuation factors. Therefore, it is possible to design the liquefaction facility 8b at an early stage so as to have an elongated shape extending in one direction along the longitudinal direction of the hull portion 4. By carrying out such a design in advance, as shown in FIG. 1, the liquefaction facility 8b can be designed so that the space on the side of the tank 6 along the starboard and port sides of the hull portion 4 is space-saving.
  • Residential area 10 is equipment equipped with a crew room, kitchen, etc.
  • laydown area 12 is an area for temporarily placing target devices during maintenance.
  • the power unit 14 is a facility including a generator for operating the natural gas processing facility 8.
  • the living area 10, the laydown area 12, and the power unit 14 are collectively arranged on the stern side.
  • the liquefaction facility 8b having few layout variation elements is designed in advance in an elongated shape extending in one direction along the longitudinal direction of the hull portion 4 and arranged on both sides of the tank 6.
  • the natural gas treatment facility 8 is arranged while ensuring the space for disposing the tank 6.
  • the liquefaction facility 8b since the liquefaction facility 8b has few elements of layout variation, the liquefaction facility 8b is designed in advance so as to have an elongated shape corresponding to a lateral space of the tank 6 in the width direction of the hull portion 4, It is possible to make the floating structure 2 in which the length of the hull portion 4 in the width direction is suppressed while effectively utilizing the spaces on both sides of 6.
  • the dead space on the hull 4 can be effectively utilized.
  • a sufficient space for arranging the liquefaction equipment 8b is secured, so that the design of the liquefaction equipment 8b can be established early.
  • the arrangement space of the natural gas treatment facility 8 does not overlap the arrangement space of the tank 6, it is not necessary to reduce the number of tanks 6.
  • the pretreatment facilities 8a intensively on the bow side and liquefying facilities 8b on both sides of the tank 6 the length from the tank 6 closest to the bow side to the stern of the hull portion 4 is (X) can be determined early and the length (Y) from the bow to the tank 6 can be changed. Therefore, the design and construction period of the floating structure 2 can be shortened, and the design change of the pretreatment facility 8a can be flexibly dealt with.
  • liquefaction equipments 8b are provided for one pretreatment equipment 8a, and the liquefaction equipments 8b of the two series are arranged with the tank 6 in between, so that the liquefaction equipments 8b arranged on the starboard side of the hull section 4 are provided. It is not necessary to connect the liquefaction equipment 8b arranged on the port side of the hull portion 4 with piping. That is, the liquefaction facility 8b is a facility that executes the final stage process of the natural gas treatment facility 8, and the liquefied natural gas is delivered to the tank 6 as a product.
  • the liquefaction equipment 8b on the starboard side and the liquefaction equipment 8b on the port side are located at the same position in the longitudinal direction of the hull portion 4 (overlap in the width direction of the hull portion 4). They are facing each other across. Therefore, the size and position of the area where the equipment other than the liquefaction equipment 8b is installed can be determined early, and the layout on the starboard side and the port side can be facilitated. Further, since the equipment of the starboard-side liquefaction equipment 8b and the port-side liquefaction equipment 8b are designed to have the same size, one design can be used for the other, and the liquefaction equipment 8b itself can be designed. It will be easy.
  • the floating structure 2 is constructed by reusing the tank 6 installed in the existing floating structure, the cost and the construction period for manufacturing the tank 6 are unnecessary. Therefore, the floating structure 2 can be provided at low cost and with a short delivery time.
  • the natural gas treatment facility 8 (liquefaction facility 8b) is arranged on both sides of the tank 6 in the width direction of the hull portion 4 has been described.
  • the natural gas treatment facility 8 may be arranged on either one of both sides of the tank 6.
  • the pretreatment facility 8a may be arranged at the end of the hull portion 4 in the longitudinal direction. Therefore, the pretreatment facility 8a may be arranged on the stern side, and the living area 10, the laydown area 12, and the power unit 14 may be arranged on the bow side. Further, the pretreatment facility 8a may be divided into a bow and a stern. Further, the power unit 14 may be arranged on one side or both sides of the tank 6 in the width direction of the hull portion 4. Even in these cases, it is possible to secure a wide space that can cope with variations in the type and size of the device.
  • the pretreatment facility 8a may be arranged laterally of the tank 6 in the width direction of the hull portion 4, and the liquefaction facility 8b may be at least the bow and stern. It may be arranged on one side.
  • the case where the six tanks 6 are continuously arranged in the longitudinal direction of the hull portion 4 is described as an example.
  • the number may be 7 or more.
  • 7 to 9 tanks 6 may be continuously arranged in the longitudinal direction of the hull portion 4. It is preferable that six or more tanks 6 are installed, but at least a plurality of tanks 6 may be installed, and the number of tanks 6 may be 2 to 5.
  • the liquefaction facility 8b may be provided in one line, or may be provided in three lines or more.
  • the liquefaction equipment 8b is provided in two lines for one pretreatment equipment 8a has been described, but the present invention is not limited to this.
  • a separate pretreatment facility 8a may be provided for each liquefaction facility 8b.
  • the pretreatment facilities 8a may be provided on the starboard side and the port side respectively so as to correspond to the liquefaction facilities 8b arranged on the starboard side and the port side of the hull portion 4, respectively.
  • each device (heat exchanger and refrigeration circuit) in the two series of liquefaction facilities 8b is designed to have the same size.
  • the equipment in the other series of liquefaction equipment 8b may be designed in different sizes.
  • the production amount of the liquefaction facility 8b of one of the two series of liquefaction facilities 8b can be made larger than the production amount of the liquefaction facility 8b of the other series.
  • the starboard-side liquefaction facility 8b and the port-side liquefaction facility 8b are arranged so as to face each other with the tank 6 in between, but the present invention is not limited to this. is not.
  • the starboard-side liquefaction equipment 8b and the port-side liquefaction equipment 8b may be arranged so that the longitudinal positions of the hull portion 4 are different (they do not overlap in the width direction of the hull portion 4).
  • all the liquefaction facilities 8b may be arranged on one side of the tank 6 in the width direction of the hull portion 4.
  • the tank 6 may be transferred from the existing LNG carrier.
  • the existing floating structure may be FLNG or the like. That is, the tank 6 can be reused as long as it is used as a storage tank for liquefied natural gas that is not corrosive.
  • the floating structure 2 having no self-propelled function has been described as an example, but the moving means of the floating structure 2 is not particularly limited, and the floating structure is not limited.
  • the item 2 may have a self-propelled function.
  • Natural Gas Treatment Facility 8a Pretreatment Facility 8b Liquefaction Facility 10 Living Area 12 Laydown Area 14 Power Unit 102 Floating Structure 104 Hull 106 LNG Tank 108 Natural Gas Treatment Facility

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)
  • Separation By Low-Temperature Treatments (AREA)

Abstract

[Problème] Fournir une structure flottante mince dans laquelle un équipement de traitement de gaz naturel est positionné tout en garantissant un espace de positionnement pour des réservoirs de GNL qui stockent un gaz naturel liquéfié. À cet effet, l'invention concerne une structure flottante comprenant : des réservoirs qui sont transférés à partir d'un navire de charge de GNL préexistant ou d'une structure flottante préexistante, et sont positionnés de façon continue dans une direction longitudinale d'une section de corps de navire ; et un équipement de traitement de gaz naturel qui est positionné sur au moins un côté parmi les deux côtés des réservoirs dans une direction de la largeur de la section de corps de navire, l'équipement de traitement de gaz naturel étant positionné sur l'intérieur dans la direction de la largeur de la section de corps de navire.
PCT/JP2018/037892 2018-10-11 2018-10-11 Structure flottante WO2020075259A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2018/037892 WO2020075259A1 (fr) 2018-10-11 2018-10-11 Structure flottante
SG11202103382TA SG11202103382TA (en) 2018-10-11 2018-10-11 Floating structure
KR1020217009310A KR102577082B1 (ko) 2018-10-11 2018-10-11 부체식 구조물
CN201880098507.1A CN112839865A (zh) 2018-10-11 2018-10-11 浮体式结构物

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/037892 WO2020075259A1 (fr) 2018-10-11 2018-10-11 Structure flottante

Publications (1)

Publication Number Publication Date
WO2020075259A1 true WO2020075259A1 (fr) 2020-04-16

Family

ID=70163842

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/037892 WO2020075259A1 (fr) 2018-10-11 2018-10-11 Structure flottante

Country Status (4)

Country Link
KR (1) KR102577082B1 (fr)
CN (1) CN112839865A (fr)
SG (1) SG11202103382TA (fr)
WO (1) WO2020075259A1 (fr)

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JP2011219051A (ja) * 2010-04-14 2011-11-04 Mitsubishi Heavy Ind Ltd 浮体式液化天然ガス生産貯蔵積出設備
JP2011235675A (ja) * 2010-05-06 2011-11-24 Mitsubishi Heavy Ind Ltd 浮体式液化天然ガス生産貯蔵積出設備および液化天然ガス生産貯蔵積出方法
US20120324910A1 (en) * 2011-06-23 2012-12-27 Waller Marine, Inc. Articulated Tug and Barge Arrangement for LNG Storage, Transportation and Regasification
JP2015013494A (ja) * 2013-07-03 2015-01-22 信吉 森元 長大海上浮体設備
US20150075216A1 (en) * 2012-04-20 2015-03-19 Sbm Schiedam B.V. Floating lng plant comprising a first and a second converted lng carrier and a method for obtaining the floating lng plant
JP2017530052A (ja) * 2014-10-08 2017-10-12 エスビーエム・シーダム・ビー.ブイ.SBM Schiedam B.V. Lng運搬船およびlng運搬船の製造方法

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JP2675980B2 (ja) * 1994-05-10 1997-11-12 川崎重工業株式会社 貨物圧縮機配管
JP2008519210A (ja) * 2004-11-05 2008-06-05 エクソンモービル アップストリーム リサーチ カンパニー Lng輸送容器及び炭化水素を輸送するための方法
JP2012086768A (ja) * 2010-10-22 2012-05-10 Mitsubishi Heavy Ind Ltd 液化天然ガスタンクを備えた浮体式構造物の製造方法
BR112015016443A2 (pt) * 2013-01-29 2017-07-11 Keppel Offshore & Marine Tech Ct Pte Ltd método de construção de transportador gnl
JP6388150B2 (ja) * 2014-06-05 2018-09-12 三井E&S造船株式会社 Lng船
JP6067804B1 (ja) * 2015-08-25 2017-01-25 三井造船株式会社 液化ガス貯蔵設備を備えた浮体構造物及びその設計方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100138008A (ko) * 2009-06-24 2010-12-31 대우조선해양 주식회사 선박형 부유식 해상 구조물
JP2011219051A (ja) * 2010-04-14 2011-11-04 Mitsubishi Heavy Ind Ltd 浮体式液化天然ガス生産貯蔵積出設備
JP2011235675A (ja) * 2010-05-06 2011-11-24 Mitsubishi Heavy Ind Ltd 浮体式液化天然ガス生産貯蔵積出設備および液化天然ガス生産貯蔵積出方法
US20120324910A1 (en) * 2011-06-23 2012-12-27 Waller Marine, Inc. Articulated Tug and Barge Arrangement for LNG Storage, Transportation and Regasification
US20150075216A1 (en) * 2012-04-20 2015-03-19 Sbm Schiedam B.V. Floating lng plant comprising a first and a second converted lng carrier and a method for obtaining the floating lng plant
JP2015013494A (ja) * 2013-07-03 2015-01-22 信吉 森元 長大海上浮体設備
JP2017530052A (ja) * 2014-10-08 2017-10-12 エスビーエム・シーダム・ビー.ブイ.SBM Schiedam B.V. Lng運搬船およびlng運搬船の製造方法

Also Published As

Publication number Publication date
SG11202103382TA (en) 2021-05-28
KR102577082B1 (ko) 2023-09-11
KR20210077672A (ko) 2021-06-25
CN112839865A (zh) 2021-05-25

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