WO2020154093A1 - Terminaison de câble à fibre intelligente, module et technologies de mise en réseau - Google Patents

Terminaison de câble à fibre intelligente, module et technologies de mise en réseau Download PDF

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Publication number
WO2020154093A1
WO2020154093A1 PCT/US2020/012483 US2020012483W WO2020154093A1 WO 2020154093 A1 WO2020154093 A1 WO 2020154093A1 US 2020012483 W US2020012483 W US 2020012483W WO 2020154093 A1 WO2020154093 A1 WO 2020154093A1
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WO
WIPO (PCT)
Prior art keywords
cable
module
intelligent
termination
recited
Prior art date
Application number
PCT/US2020/012483
Other languages
English (en)
Inventor
Richard V. Campbell
Original Assignee
Campbell Richard V
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
Priority claimed from US16/255,913 external-priority patent/US11162855B2/en
Application filed by Campbell Richard V filed Critical Campbell Richard V
Priority to EP20744777.2A priority Critical patent/EP3914835A4/fr
Priority to SG11202108001TA priority patent/SG11202108001TA/en
Priority to AU2020212495A priority patent/AU2020212495A1/en
Priority to CA3127876A priority patent/CA3127876A1/fr
Publication of WO2020154093A1 publication Critical patent/WO2020154093A1/fr

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Classifications

    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B1/00—Constructional features of ropes or cables
    • D07B1/14—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable
    • D07B1/145—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable comprising elements for indicating or detecting the rope or cable status
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
    • F16G11/02—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with parts deformable to grip the cable or cables; Fastening means which engage a sleeve or the like fixed on the cable
    • F16G11/025—Fastening means which engage a sleeve or the like fixed on the cable, e.g. caps
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
    • F16G11/04—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps
    • F16G11/042—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps using solidifying liquid material forming a wedge
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
    • F16G11/04—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps
    • F16G11/05—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps by using conical plugs insertable between the strands
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
    • F16G11/06—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with laterally-arranged screws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0004—Force transducers adapted for mounting in a bore of the force receiving structure
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
    • G01L5/10—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
    • G01L5/101—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means using sensors inserted into the flexible member
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
    • G01L5/10—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
    • G01L5/103—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means using sensors fixed at one end of the flexible member
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B1/00—Constructional features of ropes or cables
    • D07B1/14—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable
    • D07B1/147—Ropes or cables with incorporated auxiliary elements, e.g. for marking, extending throughout the length of the rope or cable comprising electric conductors or elements for information transfer
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B2301/00—Controls
    • D07B2301/25—System input signals, e.g. set points
    • D07B2301/252—Temperature
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B2301/00—Controls
    • D07B2301/25—System input signals, e.g. set points
    • D07B2301/259—Strain or elongation
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B2501/00—Application field
    • D07B2501/20—Application field related to ropes or cables
    • D07B2501/2015—Construction industries
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B2501/00—Application field
    • D07B2501/20—Application field related to ropes or cables
    • D07B2501/2061—Ship moorings
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B5/00—Making ropes or cables from special materials or of particular form
    • D07B5/005—Making ropes or cables from special materials or of particular form characterised by their outer shape or surface properties
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B7/00—Details of, or auxiliary devices incorporated in, rope- or cable-making machines; Auxiliary apparatus associated with such machines
    • D07B7/16—Auxiliary apparatus
    • D07B7/18—Auxiliary apparatus for spreading or untwisting ropes or cables into constituent parts for treatment or splicing purposes
    • D07B7/187—Auxiliary apparatus for spreading or untwisting ropes or cables into constituent parts for treatment or splicing purposes for forming bulbs in ropes or cables

Definitions

  • the invention relates to the field of tensile strength members. More specifically, the invention comprises an intelligent cable module that can be placed in any desired position along a rope or cable.
  • the module preferably includes an instrument package useful for things such as position monitoring and load monitoring, as well as other components that are connected to the instrument package.
  • a“tensile strength member” meaning a component that readily transmits tensile forces but not compressive forces.
  • Tensile strength members must generally be connected to other components in order to be useful.
  • a flexible cable provides a good example.
  • Most cables include some type of end-fitting configured to transmit a load.
  • a cable used in a hoist generally includes a lifting hook on its free end. This lifting hook may be rigged to a load.
  • the assembly of an end-fitting and the portion of the cable to which it is attached is commonly called a“termination.”
  • a termination is a useful point for the addition of the inventive intelligent cable module, though such a module can be added at other points as well.
  • the present invention has application to many fields where cables are used.
  • a non- exhaustive listing of applicable fields includes offshore lifting, ship mooring, drag line cranes (in both fixed and moveable rigging), power shovels (in both fixed and moveable rigging), civil structure tendons (suspension bridges and the like), and floating structure moorings (such as offshore oil rigs)
  • the cable is a wound or braided assembly of individual steel wire.
  • An end fitting (such as a lifting hook) is often attached to the steel cable by placing a length of the cable within a cavity running through a portion of the end fitting.
  • the wires within the end fitting are splayed apart and a potting compound is then used to lock the wires within the fitting.
  • the term“potting compound” means any substance which transitions from a liquid to a solid over time. Examples include molten lead, thermoplastics, and UV-cure or thermoset resins (such as two-part polyesters or epoxies). Other examples include plasters, ceramics, and cements.
  • solid is by no means limited to an ordered crystalline structure such as found in most metals.
  • the term “solid” means a state in which the material does not flow significantly under the influence of gravity.
  • a soft but stable wax is yet another example of such a solid.
  • Molten lead was traditionally used as a potting compound for steel cables. Once the individual wires were splayed within the expanding cavity of an end-fitting, molten lead was poured into the cavity. The lead then solidified and locked a portion of the cable in the cavity. In more recent years lead has been replaced by high-strength epoxies.
  • Modern cables may still be made of steel, but high-strength synthetic filaments are becoming more common. These include DYNEEMA (ultra-high-molecular weight polyethylene), SPECTRA (ultra-high-molecular weight polyethylene), TECHNORA (processed terephhthaloyl chloride), TWARON (para-aramid), KEVLAR (para-aramid), VECTRAN (liquid crystal polymer), PBO (polybenzobisoxazole), carbon fiber, and glass fiber (among many others). Modern cables may also be made of older, lower-strength synthetic materials such as NYLON. In the case of high-strength synthetics, the individual filaments have a thickness that is less than that of human hair.
  • the filaments are very strong in tension, but they are not very rigid. They also tend to have low surface friction. These facts make such synthetic filaments difficult to handle during the process of adding a termination and difficult to organize. Hybrid cable designs are also emerging in which traditional materials are combined with high-strength synthetic materials. These present additional challenges, since the metal portions may be quite stiff while the synthetic portions will not be.
  • cables made from synthetic filaments have a wide variety of constructions.
  • a protective jacket will be provided over the exterior of the synthetic filament. This jacket does not carry any significant tensile load and it may therefore be made of a different material.
  • Most larger cables are made as an organized grouping of smaller cables.
  • the smaller cables are often referred to as“strands.”
  • One example is a parallel core of synthetic filaments surrounded by a jacket of braided filaments.
  • the cable may be braided throughout.
  • the cable construction may be: (1) an entirely parallel construction enclosed in a jacket made of different material, (2) a helical“twist” construction, (3) a more complex construction of multiple helices, multiple braids, or some combination of helices and braids, or (4) a hybrid construction including metallic constituents.
  • the present invention is not limited to multi-stranded terminations. Any form of cable termination may be used, such as a single socket for example.
  • the exemplary embodiments depicted all include multi-stranded terminations but this fact should not be viewed as limiting.
  • the embodiments specifically described pertain primarily to the field of deep water lifting and lowering. The invention is by no means limited to this field, however.
  • Modern high-performance cables incorporating synthetic fibers provide the same strength as steel cables but with a substantial weight reduction.
  • the weight of the cable often exceeds the weight of the payload.
  • a reduction in the weight of the cable results in a direct increase in payload.
  • the inventive products described herein will most often be applied to high-strength cables (5 Tons to 2000 Tons or even more). These applications are often critical in nature.
  • the present invention provides such a capability.
  • the present invention comprises a cable including an integrated intelligent cable module.
  • the module preferably includes an integral instrument package.
  • the instrument package may assume many forms and may serve many purposes.
  • the module includes a position-determining system and an on-board processor.
  • the processor determines a current location in space for the module based on the information it is receiving. This positional information may then be transmitted to an external receiver. In the scenario where the module is attached to a termination near a payload, the positional information may be used by an external positioning device (such as a crane) to control the motion of the cable
  • the module also preferably includes load-monitoring and recording features. These features act as a“black box” for the cable, monitoring its performance and reporting (in realtime or at a later time) any exceedances or any deterioration in performance or structural integrity.
  • FIG. 1 is an exploded perspective view, showing an exemplary intelligent anchor made according to the present invention.
  • FIG. 2 is a sectional elevation view, showing one type of strand termination that may be used.
  • FIG. 3 is a sectional elevation view, showing representative instrumentation that may be added to a strand termination.
  • FIG. 4 is a sectional view, showing one possible construction for a multi-stranded cable.
  • FIG. 5 is a plan view, showing a collector.
  • FIG. 6 is an exploded perspective view, showing additional features of the housing and collector.
  • FIG. 7 is a sectional elevation view, showing a version in which a separate collector and housing is used.
  • FIG. 8 is a sectional elevation view, showing a completed assembly using the components of FIG. 7.
  • FIG. 9 is a schematic view, showing a representative instrumentation package for an inventive termination.
  • FIG. 10 is a sectional elevation view, showing another embodiment of the inventive termination.
  • FIG. 11 is a perspective view, showing an inventive termination with thrusters.
  • FIG. 12 is a sectional elevation view, showing a strand termination with an embedded sensing/comm element.
  • FIG. 13 is a perspective view, showing the use of the inventive termination to place a payload in the deep water lifting environment.
  • FIG. 14 is a perspective view, showing the addition of an external camera to the assembly of FIG. 13.
  • FIG. 15 is a perspective view, showing the addition of a pair of ROV garages and ROV’s to the intelligent cable termination.
  • FIG. 16 is a perspective view, showing one of the ROV’s of FIG. 15 in operation.
  • FIG. 17 is a perspective view, showing a different payload configuration.
  • FIG. 18 is an elevation view, showing a common construction for a braided cable.
  • FIG. 19 is a perspective view, showing how the strands of a cable can be loosened to expose a central void and gaps between the individual strands.
  • FIG. 20 is a perspective view, showing an exemplary intelligent cable module configured to fit in the central void of a braided cable.
  • FIG. 21 is an elevation view with a cutaway, showing the intelligent cable module of FIG. 20 installed inside a cable.
  • FIG. 22 is a sectional elevation view, showing the use of clamping collars to hold the module of FIG. 21 in position.
  • FIG. 23 is a perspective view, showing an embodiment of the intelligent cable module including radial prongs to stabilize its position.
  • FIG. 24 is an elevation view, showing an embodiment of an intelligent cable module configured to clamp to the exterior of a cable.
  • FIG. 25 is an elevation view, showing the use of multiple intelligent cable modules along a cable in a marine lifting application.
  • FIG. 26 is a perspective view showing how an intelligent cable module can be added at any desired position along a cable’s length.
  • FIG. 27 is an exploded perspective view, showing the addition of an intelligent cable module in a length of cable.
  • FIG. 28 is an elevation view, showing the addition of two intelligent cable modules in a length of cable.
  • FIG. 29 is a schematic view, showing a master-based network among intelligent cable modules and other systems.
  • FIG. 30 is a schematic view, showing a masterless network among intelligent cable modules and other systems.
  • FIG. 31 is a perspective view, showing an intelligent cable module integrated into a ship mooring system.
  • FIG. 32 is a plan view, showing the system of FIG. 31
  • FIG. 33 is a perspective view, showing the incorporation of an intelligent cable module in a small single-strand termination.
  • FIG. 34 is a sectional elevation view, showing internal details of the embodiment of
  • FIG. 35 is an elevation view, showing an exemplary graphical user interface.
  • FIG. 1 provides an exploded view of an exemplary intelligent cable module that is configured to be located near one end of a cable.
  • the intelligent cable module is therefore referred to as an“intelligent cable termination.”
  • Intelligent cable termination 132 is shown as an exploded assembly in FIG. 1.
  • the particular cable 10 shown has nine individual strands 12 surrounding a core. All these components are encompassed within a surrounding jacket. A portion of the jacket is removed to reveal the individual strands and the core.
  • a strand termination 30 is affixed to the end of each individual strand 12. Each strand termination 30 is then attached to collector 34.
  • the intelligent cable termination 132 is configured to attach to an external element (such as a payload to be hoisted and placed by a crane).
  • a connecting feature can be added to collector 34.
  • the connecting feature clevis structure 76
  • Housing 74 connects to collector 34. Using this approach, tension carried by strands 12 is transmitted to the collector, then to housing 74 and finally through clevis structure 76 to an external element.
  • housing 74 in this embodiment provides additional internal space for housing an instrument package or packages.
  • the instrument package or packages allows the integrated termination to become an“intelligent” termination, as will be described subsequently.
  • Middle strand collector 64 slides over the splayed strands and attaches to the perimeter of collector 34.
  • Distal strand collector 66 (which is split into two halves in this version), clamps over the small end of the middle strand collector and seals the interface between the middle strand collector and the jacketed portion of the cable. These components direct the transition of the strands from their configuration within the cable to the“splayed” state proximate collector 34.
  • FIG. 2 is a sectional elevation view showing an exemplary structure for a strand termination 30.
  • the individual filaments within strand 12 (which may be a million filaments or more in the case of an advanced synthetic material) are connected to anchor 18, such as by potting a length of the filaments within cavity 20 to form potted region 22.
  • Loading stud 28 is connected to anchor 18 via threaded engagement 28.
  • the loading stud is equipped with a suitable force-transferring feature - in this case male thread 26. This assembly thereby transmits tensile loads from strand 12 to loading stud 24.
  • FIG. 3 is a sectional elevation view depicting an exemplary connection between strand termination 30 and collector 34.
  • a ball-and-socket connection is used. Opening 46 passes through collector 34 at an angle.
  • a hemispherical receiver 38 is provided in the portion of the opening opposite the strand. Hemi bearing 44 rests in receiver 38.
  • Loading stud 24 passes through hemi bearing 44.
  • Load cell 68 is placed on top of hemi bearing 44. Nut 40 secures the assembly in place.
  • Each individual strand termination includes its own adjusting nut. The nuts may be used to individually allocate the total tension among the strands.
  • Load cell 68 provides an electrical output that corresponds to the amount of compressive load it is presently experiencing.
  • Each individual strand termination is preferably provided with a load cell so that the load on each strand can be monitored.
  • the intelligent cable module receives and monitors the information from the load cells. It can also place this information in a suitable communication format and transmit it to an external monitoring system.
  • the load cell shown in this version is illustrative of any load/stress/strain sensing device that is incorporated into a cable or strand’s load path. Other types of devices may be substituted.
  • a pressure sensing device can be provided within the potted region inside the anchor.
  • a strain gauge may be attached to the exterior surface of the strand termination.
  • FIG. 4 shows a cross sectional view through an exemplary cable assembly of the type depicted in FIG. 1.
  • This particular cable has ten sub-groupings - core 72 surrounded by nine strands 12.
  • Optional jacket 70 may be provided to surround and protect the other components. While cable jackets are not common in the field of deep water lowering and lifting (primarily due to inspection limitations), with the addition of sensory technologies, an external jacket may be an advantageous feature. External jackets are more common in other applications.
  • FIG. 5 depicts a plan view of collector 34 (the same version as shown in FIG. 1). Center opening 50 receives core 72. Nine openings 46 are provided for the nine strands 12. Nine through holes 48 are provided for bolts that are used to attach the collector to the housing.
  • FIG. 6 provides a perspective view of collector 34 and housing 74. The reader will note how the nine through holes 48 in the collector align with nine receivers 82 in housing 74. Each receiver 82 includes a female thread. Nine bolts 80 are passed through the receiver and into the nine threaded receivers 82 in the housing. The bolts are then tightened to secure the collector to housing 74.
  • housing 74 is machined as one integral piece. It includes clevis structure 76 with transverse hole 78. This is configured to receive a tang and cross-pin in order to attach the housing to some external element.
  • An example of an external element would be a payload that is to be lifted and moved using the inventive cable termination.
  • additional rigging such as lifting slings
  • hardware will be added to the clevis structure shown.
  • the clevis structure should be viewed as exemplary and non-limiting.
  • Housing 74 includes an internal recess 84 that may be used to house one or more instrumentation packages.
  • FIG. 7 shows a sectional elevation view through collector 34 and housing 74. Cavity 86 is provided in the portion of the housing that faces the collector.
  • One or more additional recesses may be provided where the limitations of structural strength requirements permit. In the example shown, two such recesses 84 are provided.
  • Housing 74 is preferably quite robust, and in some cases may be sealed from water and/or water pressure. Given that most instruments are sensitive to water and / or the pressures of deep water operation, a boundaiy will typically need to be established for ocean lifting applications. This can either be done within housing 74 as an example, or individually between instrument package components. For example the power source and sensors may have independently sealed packages for this purpose. Housing 74 would then not require an overall seal.
  • FIG. 7 shows a sectional view through an assembly made according to the present invention (The section is taken on the same plane used for FIG. 7).
  • Core termination 94 is provided on the end of core 72 in this example. It is secured within central opening 50 in collector 34.
  • core 72 is not intended to carry significant tension. It houses communication and / or power lines that extend along the entire length, or in some cases a portion, of the cable.
  • First instrument package 88 and second instrument package 90 are contained within housing 74. These instrument packages are connected to the elements in core 72 (such as fiber optic lines and electrical conductors). The instrument packages are also connected (in this version) to the load cells monitoring the load on each individual strand.
  • the addition of power, communication, data, air, fluid, or any form of auxiliary service line can be incorporated within the strength member to increase the service context of the intelligent cable module.
  • These service lines can be incorporated in countless configurations, such as inside strands, between strands, within layers of the jacket, temporarily wrapped and unwrapped around the outside of the cable, etc.
  • the proposed invention is not limited to any specific cable design. However, the addition of auxiliary service lines can significantly increase the advantages of the inventive termination.
  • the addition of fiber optics and in some cases power within the lifting cable may allow high speed data transfer for real-time feedback of position, or operation of subsea ROVs and/or AUVs.
  • the intelligent termination can more easily become the power and/or communication hub for additional machines and/or devices operating at depth.
  • middle strand collector 64 has been attached to the outer perimeter of collector 34.
  • the unification of these elements creates a solid and protective assembly.
  • the instrument packages and associated connections are well-protected inside a very solid surrounding structure. This configuration is preferable, as a cable termination frequently lives in a hostile environment.
  • this housing may take on many shapes and forms, including separate or attached housings that may not be within the termination casing.
  • the instrument package(s) may include many types of electronic devices.
  • FIG. 9 schematically depicts an exemplary embodiment to aid the reader’s understanding.
  • the reader should first bear in mind that some versions will include external power and/or communication connections, while others will not.
  • the unconnected versions will run on internal power and may save information for subsequent downloading, or pulse information to other sources on an interval or as-needed basis (such as a strand integrity breach alarm signaling an acoustic transmitter to communicate to a ship-board receiver).
  • the connected versions may transfer information up the cable (to a receiver on board a surface vessel) as they are being used.
  • FIG. 9 shows an externally-connected version (meaning a version that is designed to maintain communication up the cable).
  • the instrument package(s) may include only analog devices.
  • An example would be load cell circuitry that sends a sensed value up the cable. It is preferable in most cases, however, to include digital devices such as one or more processors. These may be used to convert information to a digital format and thereby facilitate easier retention and transmittal.
  • the example of FIG. 9 uses digital circuitry.
  • Processor 102 is ideally a programmable device capable of running suitable software. It includes an associated memory 104.
  • the memory is preferably non-volatile so that it may store data over time even if the power is lost.
  • Power supply 98 provides stable power to all the components shown (The power connections are not depicted). The power supply may draw input power from battery 96, from external power connector 106, or both. Additionally it may draw power from an alternate source such as an ROV tether or auxiliary power source on the sea floor.
  • IMS Inertial measurement system 100
  • IMS provides position and orientation data to the processor. It preferably provides full six degree of freedom information. Using conventional nomenclature, this means that the IMS provides such information as X-axis position, Y-axis position, Z-axis position, roll angle, pitch angle, and yaw angle. The IMS may also provide such information as a rate-of-change for these values.
  • the information provided by the IMS alloAvs the processor to“know” the intelligent module’s position in space and its orientation. This assumes, of course, that accurate initial information is provided (an initial value for all six state variables). Providing initial state information is well understood in the art. As one example, the termination might be placed in an initial “zeroing” fixture. After it is zeroed the cable to which the termination is connected would then be lifted by a boom on a crane and swung into service moving a payload.
  • the IMS is not limited to any particular kind of system. Such systems have traditionally used spinning gyroscopes in combination with linear accelerometers. However, since space will be somewhat limited inside the termination, solid state solutions are preferable.
  • the preferred embodiments will likely employ“ring laser gyros.” As those skilled in the art will know, these devices are not gyros at all. Rather, each individual ring laser measures interference between counter-propagating laser beams to sense angular velocity. Mathematical functions are used to convert the angular velocity to angular position. Where less accuracy is required, MEMS devices (micro electromechanical systems) may be used for monitoring the roll, pitch, and yaw motion.
  • Linear accelerometers (essentially very accurate force detectors) are used to measure linear acceleration that is then integrated to determine position (X, Y, and Z). Where high accuracy is needed, three orthogonal ring laser assemblies are used and multiple linear accelerometers are used.
  • the IMS generally contains its own internal processor and memory. These units integrate the received data to produce values for the six state variables. Alternatively, raw data may be fed from the IMS to the processor and the processor may perform the integrating functions.
  • inventive embodiments will include a full six degree of freedom IMS.
  • some embodiments may provide only positional data without any attitude data. Others may provide attitude data with no reference to position. Still others may omit an IMS altogether.
  • I/O port 1 14 provides connection to communication connector 108.
  • the communication connector provides a hard-wired connecting to the far end of the cable. If, for example, the cable is being paid off a shipboard crane, the far end of the cable will remain on the ship and the communication connector will allow real-time communication between the ship and the termination (even though the termination may be thousands of meters below the ocean’s surface).
  • I/O port 1 16 connects processor 102 to acoustic transducer 1 12.
  • the acoustic transducer is connected to acoustic antenna 110.
  • This is a device intended for undersea communications. It allows sonar-like signals to be sent by the termination to other devices. The termination can also receive these signals from an external source.
  • This type of communication device is merely an example, as it is one of many potential technologies that can be used to either transmit or receive information.
  • the communication is preferably via radio signals and antenna 1 10 in that application would be an R/F antenna.
  • I/O port 1 18 connects the numerous load cells 120, 122, 124 (feeding load data from the individual strands) to processor 102 (any type of load sensor may be substituted).
  • I/O port 126 connects multiple sensors to the processor. In this example, it connects pressure sensor 128, temperature sensor 130, and salinity sensor 136. These are merely examples of the many forms of sensors that may be tied into the instrument package. These may reside within the housing or be separate. In some cases they may be entirely separate, such as those on the subsea infrastructure - and may simply communicate data to the instrument package.
  • the reader will note the numerous wire connections 92 to the core and to the load cells monitoring the strand loads.
  • the processor is able to use these connections to monitor position and loading information and to send that data back to the far end of the cable through the electrical and/or optical connections in core 72.
  • the termination is designed to be a standalone system without power and / or communication running down the cable, this data is simply stored for ship-side retrieval or transmitted on an as needed basis. Power in that case is handed via a sufficient local power source.
  • the intelligent cable module is configured for deep water lifting operations.
  • the exemplary termination is provided with a pair of thrusters that can provide limited positioning adjustment - controlling both the twist in the cable as it moves down the water column, and the positioning of the payload as it nears its point of connection on the sea floor.
  • Thruster controller 134 controls the orientation and thrust provided by the thrusters.
  • the thruster controller is integrated with processor 102 as shown.
  • FIG. 1 1 provides a perspective view of the completed termination with a series of thrusters 140 included.
  • Each thruster may be independently pivoted about its trunnion mount 142.
  • Each thruster may also be throttled and reversed in this embodiment.
  • the orientation and affiliation of thrusters may vary widely, and may not necessarily be integral to the termination housing. For example these may be mounted to a large external frame. In other cases there may further be auxiliary thrusters or position orienting devices mounted to the actual payload.
  • FIG. 13 shows a view of the intelligent termination 132 attached to a representative payload 162 in a deep water lifting scenario.
  • Lifting tang 164 on the payload is connected to the clevis assembly by a cross-pin.
  • Cable 10 suspends the assembly from a crane located on a surface vessel.
  • Thrusters 140 provide selective lateral and torsional mobility on the sea floor, as well as assuring that the cable is not twisted when traveling to and from the vessel through the water column which has alternating currents. With synthetic fiber and hybrid ropes in particular, this is helpful in assuring that rope integrity remains intact.
  • Surface vessel crane control systems include stabilization functions that are generally referred to as“anti-heave” functions. These are designed to minimize wave-induced motion of the payload on the end of the cable.
  • anti-heave functions in the prior art have no useful information regarding the exact motion of the termination and its attached payload when at depth. Rather, they attempt to compensate using only information regarding the motion of the surface vessel. This is a challenge when running in deep water. It is especially significant with the use of synthetic fibers as the delayed spring response is more difficult to predict.
  • the termination can transmit accurate motion and position information which can then be used by the surface anti-heave systems or an inline device.
  • FIG. 10 shows another embodiment in which there is no communication through the cable.
  • Extended housing 138 includes a larger cavity 86.
  • a large battery 96 is provided in this cavity.
  • the battery provides electrical power to the instrument packages, the load cells, and other items requiring electrical power.
  • the instrument packages are more akin to the“black box” of an aircraft (a flight data recorder).
  • An external port (not shown) is provided so that when the termination is brought in for service the battery can be recharged and the internally-stored data can be downloaded.
  • non-wired options are also possible for the battery charging and data downloading (such as an inductive connection).
  • FIG. 12 shows an embodiment in which strand 12 includes embedded sensing/communication elements 144. These elements are intended to be used in monitoring the condition of the cable (though they may possibly be used for communication as well). In the version shown, these elements are optical fibers that stretch from one end of the cable to the other. Light is applied to the far end of the cable. Sensor 146 measures the light transmitted and sensor lead 148 passes through the loading stud to carry this information to the processor (sensor lead 150 carries the load cell information). The optical fibers are sized to break as the strand is over-stressed.
  • Fiber optics could run through a jacket, down the center of the rope, etc.
  • electrical conductors could carry a similar function - providing either strain or pass/fail criteria for damage to the cable.
  • the termination may aid in collecting or transmitting the relevant information to determine the health of the lifting cable. In the event of a sensed problem, it could further be used to communicate the hazard to the surface vessel and / or other subsea equipment.
  • the sensing/comm elements 144 may only be included in this portion of the cable.
  • One approach is to embed a 20 meter loop of conductive material and then monitor for breaks in this material (such as by monitoring for increased resistance).
  • FIG. 14 illustrates a placement scenario where downward visibility is needed from payload 162.
  • Camera 170 is mounted on payload 162 in a position providing a good downward field of view.
  • Cable 168 attaches to camera 172 and to connector 166 on intelligent cable termination 132.
  • video data is fed into the instrument package(s) within the termination and then up cable 10 to a surface ship. The video data is used to guide the placement of the payload.
  • the camera and cable may be left with the payload when the payload is released from intelligent cable termination 132.
  • Connector 166 may facilitate this detachment (by being designed to reliably pull free upon the application of a specified detachment force).
  • FIGs. 15 and 16 show still another embodiment in which ROV’s (remotely operated vehicles) are used. It is common in undersea lifting operations to use ROV’s to guide and place a payload. These ROV’s are typically lowered and controlled using a cable other than the cable used for lifting the payload. Many ROV’s are lowered into a working position in a protective“ROV garage.” The ROV garage may contain a tether connected to the ROV. The tether often pays off a reel as needed. The tether may carry electrical power, bidirectional data signals, and air or fluid pressure. In recent years autonomous underwater vehicles (“AUV’s”) are replacing ROV’s in some applications.
  • ROV autonomous underwater vehicles
  • ROV shall be understood to encompass both ROV’s and AUV’s.
  • An AUV does not usually have a tether but it may still be deployed from a garage and it is often charged in that garage.
  • FIG. 15 shows an embodiment in which two ROV garages 172, 176 are connected to intelligent cable termination 132. Each ROV garage contains an ROV 174, 178. Using this system, the ROV’s are lowered with the payload.
  • the ROV’s may be used to manipulate the position and orientation of the payload, as well as operating other systems such as the mechanism that releases the payload from the cable.
  • the ROV’s may also provide video data so that a surface operator can see the state of the payload and its surroundings.
  • FIG. 16 shows the same assembly with ROV 174 having left its garage 172.
  • ROV 174 may be maneuvered as needed. It contains multiple thrusters that allow it to orient itself in a desired direction and provide force in a desired direction.
  • Information regarding the state of the ROV may be sent via tether 180 back to ROV garage 172. This information may then be fed into the instrument package(s) within intelligent cable termination 132 (and possibly back up cable 10).
  • electrical cable 184 connects connector 182 on the termination to connector 186 on the payload. If, for example, the payload contains a release mechanism, this connection may be used to instruct the payload to release itself from intelligent cable termination 132. Cable 184 would then detach itself as the intelligent cable termination is lifted away from the payload.
  • FIG. 17 depicts a more common configuration for a payload.
  • payload 162 rests atop a standard pallet 194 with four legs 196. Rigging is used to appropriately suspend the load.
  • four slings 190 extend along the sides of the payload and down to the pallet. The four slings are joined to tang 188, which is connected to the intelligent cable termination.
  • Release mechanism 192 is provided to selectively release tang 188.
  • release mechanism 192 When the assembly reaches its destination (such as the seabed), release mechanism 192 is actuated and the tang and slings fall free from the intelligent cable termination.
  • the release mechanism may be actuated by an instrument package in the termination. Alternatively, it may be released by an ROV.
  • the rigging may remain with the payload indefinitely. In the alternative, an ROV can be used to detach and retrieve the rigging.
  • an inventive intelligent cable module can be provided at any desired point along the cable.
  • the preceding examples have been located near the end of a cable.
  • an intelligent cable termination is provided at some point in between a cable’s terminations.
  • FIG. 18 shows an elevation view of a 12-strand braided cable. The individual strands 12 are interwoven to create the pattern sho ⁇ vn. As those skilled in the art will know, it is possible to loosen the construction of such a cable in order to provide access to the cable’s interior. This process is used when weaving a length of cable back into itself to form an eye (see, for example, commonly owned U.S. Patent No. 9,791 ,337).
  • FIG. 19 shows the cable of FIG. 18 after the strands have been loosened to reveal central void 198 within the cable. Many individual inter-strand voids 200 are also created by the loosening process.
  • FIG. 20 shows an embodiment of an intelligent cable module configured for insertion into the center of a braided cable.
  • Intelligent cable module 202 has a smoothly shaped module casing 208.
  • communication strand 204 runs down the center of a braided cable.
  • a connector 206 is provided on each end of module casing 208. These connectors connect the devices within module casing 208 to communication strand 204.
  • Module casing 208 typically contains a processor and other associated digital devices - such as shown in the diagram of FIG. 9.
  • FIG. 21 shows a view of intelligent cable module 202 installed within cable 10. The cable is cut away in the view (in the vicinity of the intelligent module). Communication strand 204 passes down the cable’s core and connects to module casing 208. Multiple intelligent cable modules may be provided along the cable’s length, with communication strand 204 providing communication between these modules and to devices external to the cable. Once the module is in place, the strands are laid over the module in the same configuration as the rest of the cable. The perimeter of the cable is shown in a phantom line in the view (bulging portion 210). From the cable’s exterior, a bulge is evident in the vicinity of the intelligent cable module. However, the intelligent cable module itself is protected within the strands.
  • an intelligent cable module such as shown in FIG. 21 can be installed.
  • One approach is to install the module(s) at the time the cable is created.
  • a cable braiding machine creates a braid of strands around a core. In some cases the core is empty (a spacing mandrel may be used during the manufacturing process). In other cases the core contains a“filler” strand. Communication strand can be fed into the core as the braid is created. Module casings can also be added at desired intervals. In this case it may be necessary to modify the braiding machine to have a larger core diameter in the vicinity of the intelligent cable module.
  • a second approach to installing an intelligent cable module is to add the module after the cable has been braided together with communication strand 204 at the core. FIG.
  • FIG. 26 shows cable 10 with the strands urged apart to reveal the interior void. A portion of communication strand 204 is exposed and then cut to leave two cut ends as shown. Communication strand 204 in this case is a simple bundle of electrical conductors in a jacket. Each of the conductors is made part of a connector 206 (such as shown in FIG. 21 ) and then slipped back into the void inside the cable. An intelligent cable module is slipped into the void as well, and the two connectors are then attached to the module to create an assembly such as shown in FIG. 21.
  • FIG. 21 shows the assembly of FIG. 21 with the addition of a pair of clamping collars 212.
  • Each clamping collar 212 is a split collar that clamps to the cable’s exterior.
  • the two clamping collars may be joined by a protective cover 214. Cover 214 keeps the two clamping collars from moving away from each other. The result is that module casing 208 is trapped between the two clamping collars.
  • FIG. 23 shows another approach to maintaining the longitudinal position of the intelligent cable module.
  • module casing 208 features an array of radial prongs 214. These protrude outward.
  • the reader will note how the braided strands 12 have intersections at regular intervals both laterally and longitudinally.
  • FIG. 19 shows how the strands can be urged apart.
  • module casing 208 is secured in the cable’s interior, inward pressure on the module casing can be correlated to cable tension. Thus, it is possible to measure tension at intermediate points along the length of the cable without interrupting any of the cable’s strands.
  • FIG. 24 shows another embodiment for the intelligent cable module.
  • the module is split into two halves 216, 218 that are clamped over the cable’s exterior.
  • This embodiment is configured for use on a fixed cable for a dragline crane.
  • the intelligent cable module contains tension monitoring instruments and a processor (with components similar to those depicted in FIG. 9). However, because this example operates in air, radio communication is preferred.
  • Antenna 220 is provided on the module’s exterior. This sends and receives radio signals.
  • FIG. 25 shows a single cable extending from a crane on board vessel 224 to payload 162 near the sea floor.
  • Multiple intelligent cable modules 202 are installed along the length of the cable. The density of modules is varied in this example, with more modules being provided adjacent to the payload.
  • FIGs. 27-28 depict an embodiment of an intelligent cable termination configured for this application.
  • Intelligent cable termination 202 is shown in an exploded state.
  • Housing 230 contains first instrument package 88, along with a processor, connectors, and communication hardware (such as depicted in FIG. 9).
  • cable 10 includes multiple individual strands. Each strand is attached to a strand termination 30. The strand terminations 30 on the right side in the view are attached to collector 34. The attachment for each strand includes load cells that monitor the tension on the strand.
  • Housing 230 and collector 34’ include an array of through holes 226. The components shown are secured together by passing bolts 80 through holes 226 and then applying and tightening nuts 228. This draws housing 230, collector 34, and collector 34’ tightly together. Middle strand collector 64 is then secured to collector 34 and middle strand collector 34’ is secured to collector 34’.
  • FIG. 28 shows a cable 10 with two intelligent cable modules 202 installed. In reality the two modules may be quite far apart (such as 1 km).
  • FIG. 29 shows an exemplary embodiment in which controlling computer 234 communicates directly with master nodes 230. Each master node 230 then communicates with several nodes 232.
  • FIG. 30 shows such a network in which multiple users (directly or indirectly) access a sensor network as embodied in the intelligent cable modules.
  • a network can be a mobile ad hoc network (“MANET”) where nodes come and go depending on availability.
  • MANET mobile ad hoc network
  • Communication in this example can be via sonic pulses. Those modules near the bottom may have good communication with the payload while the surface vessel does not.
  • each node can be configured to disseminate information to other available nodes, which then further disseminate the information. In this way information could be conveyed back up to the surface.
  • FIGs. 31 and 32 depict still another application for intelligent cable modules.
  • FIG. 31 shows a large vessel 240 moored alongside a quay.
  • Multiple mooring lines 244 locate the vessel with respect to the quay by securing it against mooring stay 250.
  • Each mooring line includes a sling 246 configured to encircle a bollard 242 on the quay.
  • the shipboard end of each mooring line is attached to a winch that can be controlled to apply tension as necessary.
  • the mooring lines travel with the vessel. They are an expensive piece of hardware that must be inspected, maintained, and periodically replaced. At present they are just visually inspected.
  • intelligent cable module 292 has been added to the transition 248 between mooring line 244 and sling 246.
  • This module can be configured to measure and transmit many different values, including (1) simple tension on the mooring line, (2) the“pinching” force imparted by the diverging legs of the sling, (3) motion of the module (via an on board 3-axis or greater measurement system, (4) the number of loading cycles, and (5) ambient conditions such as temperature and humidity.
  • FIG. 32 shows a plan view of the configuration of FIG. 31.
  • the shipboard end of each mooring line 244 is connected to a separate winch 254 on board the vessel.
  • the shore end of each mooring line is connected to a bollard on quay 252.
  • Controller 256 adjusts the tension on each mooring line (via its associated winch) to hold the vessel properly positioned against mooring stay 250.
  • Such automatic tensioning systems are known in the art. However, such prior art systems do not incorporate an intelligent cable module to monitor the condition of each mooring line.
  • the present inventive system preferably includes an intelligent cable module on each mooring line. These modules provide data (directly or via periodic downloads) to a remote processor which then assembles the data and presents it to a user.
  • the user interface can assume many forms.
  • FIG. 35 provides a simplified depiction of such an interface.
  • Monitor 270 presents a conventional windows-type display 272.
  • the display includes an identification of a particular mooring line selected by the user (line identification data 274).
  • the display also provides a list of significant parameters concerning the selected lint (monitoring parameters 276). In this specific example the monitoring parameters are:
  • the data selected will vary with the application.
  • the user interface preferably includes the ability for the user to make selections. As an example, for each parameter displayed the user could select the parameter and see more information. The user could be allowed, for example, to pull up a plot of peak loading cycles over time.
  • the previous examples have pertained to large, multi-stranded cables. The invention is by no means limited to such large cables and may in fact be applied to small cables as well.
  • FIGs. 33 and 34 provide an example of an application for a cable that is smaller than a mooring line.
  • cable 10 consists of a single strand (though that strand may still be a complex braided or twisting construction and may still incorporate a jacket).
  • Anchor 260 is affixed to an end of cable 10 to create termination 258.
  • Loading flange 262 is provided on anchor 260. The anchor is designed to rest in a hole through a plate. Loading flange 262 transmits load from the anchor to the plate.
  • An intelligent cable module is located within anchor 260. It transmits radio frequency signals using antenna 264.
  • FIG. 34 shows a sectional elevation view through the assembly of FIG. 33.
  • Anchor 260 is affixed to cable 10 in this example by potting.
  • a length of filaments near the end of the cable are placed within a hollow passage through the anchor’s interior. The filaments are then splayed apart.
  • Liquid potting compound is added to the splayed filaments (either before or after they are placed in the anchor’s cavity).
  • the term“potting compound” means any substance which transitions from a liquid to a solid over time.
  • a two-part epoxy is an example of a potting compound. Once the potting compound solidifies, the length of filaments within the anchor cavity is mechanically linked to the anchor. Potting transition 278 represents the transition from a composite mass of filaments locked within solidified potting compound to the freely flexing filaments within the cable.
  • strain gauges 266 are adhered to the interior wall of the anchor (within the hollow central cavity). Strain gauge 266 is connected to intelligent cable module 202 by electrical connection 268. The filaments near the end of cable 10 are placed within the cavity in the anchor and splayed apart. The filaments only extend up to filament limit 280. Above that level the anchor’s interior cavity is empty volume. Intelligent cable module 202 is suspended in this empty volume. Potting compound is then added until it ( 1 ) saturates all the filaments, and (2) covers some or all of intelligent cable module 202. The potting compound then solidifies to create a unified assembly (Note that the order of operations can be varied while still producing the same result).
  • Strain gauge 266 monitors the amount of elastic wall deformation of the anchor, and this value can be correlated to the tension on cable 10. Provide the correlation is performed properly, the strain gauge reading will very accurately provide the tension on the cable. The tension values may then be stored within intelligent cable module 202 and/or sent out to a separate control system.
  • intelligent cable module 202 can be programmed to send a radio signal only in the event of an“exceedance.”
  • An exceedance means an instance in which the cable tension has exceeded a defined warning limit.
  • this disclosure covers multiple concepts for synthetic fiber-based strength member systems used principally in high capacity and/or performance critical applications in conjunction with a termination and/or electronic module - whereby many more intelligent and connected synthetic rope-system technologies and overall data accumulation, communication, networking systems can be made possible.
  • While traditional strength members are passive in nature, the present invention seeks to collect important usage data - either directly or indirectly from the strength member and/or termination and/or connected module.
  • Traditional strength members incorporating synthetic fiber can easily incorporate fiber optics, wires, hoses, and other means of communicating, powering, or transmitting.
  • the traditional cable strength member can in fact include much more functionality than is presently included. This additional functionality enabled by incorporating either a rope-affixed module, or a rigid body termination (of any design - hereinafter mechanical termination) that can serve as a stable junction point for connecting, harnessing, and/or transmitting, power, data, fluid transfer, etc. This functionality has not traditionally been included as part of a high-load structural element.
  • a fiber optic or electrical wire cable may commonly include a synthetic fiber to act as the load bearing element, but this is only to support the fiber optic or electrical wire and not to support a significant external load.
  • the concepts of the inventive intelligent cable module generally include a multifunctional rope module (or modules) that offers a wide range of data collection, storage, computation, machine interfacing, communication, and/or networking options. These functions turn traditionally passive strength members into intelligent data gathering and dissemination devices.
  • the majority of lifting operations are monitored closely throughout the lifting operation to ensure the process is effectively executed.
  • the monitoring is achieved primarily by instrumentation located on the vessel lifting device such as the crane or winch system.
  • instrumentation located on the vessel lifting device such as the crane or winch system.
  • sensors used to control the descent and recovery speed and landing of the payload.
  • This also includes the motion reference sensors that control the winch and crane to reduce the effect of vessel rolling and pitching motions on the payload.
  • AHC active heave compensation
  • all of these sensors are located on the deployment vessel and all other external monitoring is carried out by secondary devices such as the ROV which require separate control systems and operators dedicated to this task.
  • secondary devices such as the ROV which require separate control systems and operators dedicated to this task.
  • motion reference units are attached to the payload as a method of monitoring the payload during descent.
  • intelligent cable module is one that is passive and standalone.
  • An example of this is where an internal battery, data processor, and transmitter are used. Alternately of course these could be data storage devices. As is probably evident, these devices could rest anywhere inside or outside a cable termination (or at some intermediate point along the cable).
  • a strain gauge, load cell, or series of devices are added to the cable module to accurately monitor the load and/or peak stress conditions.
  • the cost of failure during offshore lifting operations creates a need to develop the capability to record the operation at the interface point between the object under lift and the lift line interface (an intelligent cable module proximate the hook termination).
  • the module effectively becomes the equivalent of a flight data recorder used in commercial aircraft.
  • the presence of the module will enable the operator to record the complete operation at the payload.
  • Examples of data using integrated sensors or recorders are peak loads, load trends, stresses within the termination (such as strand termination loads), payload pitch/yaw/roll, position, acceleration, pressure, temperature, vibration, distance from another object, material contact point, etc.
  • Position and movement sensors could include multi-axis gyroscopes (whether of the physical or ring-laser type), accelerometers, etc. If going into something such as a downhole tool or pipe as another example it may include sensors that measure diameter, speed, distance, gases, material composition, time, etc. It could include video of the operation as yet another example, or use a 3D camera or ultra-sonic camera that can make certain measurements. Any number of sensors could be utilized.
  • the intelligent cable module can also incorporate communication tools for more automated operations.
  • Examples for lifting could be a location/position pinger, light transmitter, or other communication device for working with other devices or machines, such as an ROV or AUV.
  • the ROV need not use a traditional vision or camera system to do certain functions - it may be more easily automated as a machine-to-machine method of communication.
  • Such a tool could have significantly more precision and enable a more autonomous operation on the sea floor when coupled with other technologies.
  • the module may include a significant power source that can be used as a charging station or outlet for ROVs or AUVs. This could have a significant impact of the amount of secondary equipment deployed during any offshore lifting operation.
  • an intelligent cable module for rope systems which incorporate sensors, communication devices, and/or power in standalone form. These devices may be powered within the module (such as with batteries for example), or alternately the power may come from a separate source. This could be for example a wire running up the fiber rope, or a wire ported out the anchor and run separately to a power source. While the latter configuration is clearly not preferable for offshore lifting, in other applications such as a structural pendant, this would often be the most preferred means of powering the termination module.
  • sensors or communication devices are preferably mounted within a rigid housing. However, in some cases there may be some external affixation involved. For example a termination may include internal batteries but an external 3D camera or laser sensor mounted in a non- hazardous area.
  • the next level of sophistication is an“active” intelligent cable module.
  • a module can provide active data/power/communication, on a real-time basis, and/or be able to respond autonomously to certain conditions.
  • an acoustic pinger may signal pressure achievement, depth, position, etc, for other machines/tools to operate a certain function.
  • the termination hook or load pin may be released when receiving a signal from another device/machine, or alternately a communicated signal from the operator above water.
  • a graphical user interface can present current loading and recent peak loading for every strand of a 12 strand rope.
  • each of the rope’s primary strands has a load cell, and connecting hardwiring to this termination provides a real-time health monitoring tool.
  • any of the examples above may be further developed with the addition of active components whereby communication between machines (such as an AUV or other data collection devices) or the operator (such as the vessel crane operator or an ROV pilot), is made possible.
  • This real time information coming from the termination module can be used to automate industrial processes, improve safety, operating speed, and provide system integrity / health data.
  • Externally affixing or helically wrapping these components around the high load strength member is a possibility in certain static cases, such as structural pendants.
  • a“service line” is any line other than the strength member that is added to expand the service context of the strength member and termination - such as a fiber optic line used for communicating data from one intelligent cable module to the next in a string of interconnected mooring lines. Any number of service lines can be used to improve the capability of the termination and system as a whole.
  • Fiber optics, fluid or pressure hoses, electrical wires, etc. for data transfer, communication, gas or fluid exchange, etc.
  • the intelligent cable module may also be beneficial as a receiver, collecting data from other nearby devices and communicating this data through the included service line.
  • the high load tension member becomes the hub for a greater network of devices, not just the strength member itself. This could be a string of rope products, or entirely other machines such as AUVs, a subsea station that needs to report real-time data, etc.
  • this type of device may also be considered an active and instrumented hook.
  • This type of arrangement would allow for continuous communication with the hook during deployment and recovery to collect and send data from the hook to the operators on the vessel in real time. With the data from the hook in real time it would be possible to improve the AHC (active heave compensation) performance and reduce the actual load swings on the payload. This also gives the opportunity to monitor load positioning and many other instruments.
  • Yet another very powerful configuration based on the components above is the ability for the fiber rope termination to become a production / service tool - a machine at the rope that includes many potential service functions.
  • the incorporation of payload position thrusters (on or near the termination or payload) becomes a practical and unique option. Due to the ultra-low weight of synthetics in water, the payload can more easily be manipulated in the water column. Further, the lack of line weight allows for more tooling to be added to the end of the rope, such as battery packs for ROV or AUV charging, an ROV garage, integrated tools with actuators, etc.
  • thrusters are added to the termination to position payload, they may be powered internally by a battery source, since the fiber rope has displaced so much mass in the steel-to-fiber conversion. Alternately, based on examples provided previously, power or other key service lines could be run down the strength member. Such a configuration can in some cases displace the current ROV configuration. This active payload positioning becomes the next logical step for the concepts above.
  • the intelligent cable module in this version is used to both gather important information and
  • 985 guide the payload. If thrusters are added to the termination module, they could be manually driven like the ROV’s used in the process today, or fully automated like an AUV, where machine-to-machine communication can provide higher levels of production and safety. In the later example, communication between subsea machines may help to guide the payload into position, manipulate the payload, and/or make more automated connections possible.
  • the intelligent termination or module could include many forms of sensor technologies - creating near countless forms of data. Below are examples:
  • Relative Movement Sensors (3D camera, laser, etc)
  • the data communication to and from an intelligent cable module can assume many forms, including:
  • Wireless communications such as Wi-Fi, Bluetooth, Passive or Active RFID,
  • Wired communications such as conductive elements, fiber optic elements, and the like.
  • Data may be pushed / transmitted only, pulled / received only, or both. Transmit vs
  • Rope modules can include one or multiple methods of data transmission / communication.
  • the addition of a hardwired-access component will typically be preferred for items such as system redundancy, backup, big data transfer, programming, or debugging as examples.
  • the intelligent cable modules can be powered by a wide variety of sources, including:
  • Batteries may be designed for inductive charging, regular replacement, or life-use. System may be designed for ultra-low power consumption so that multi-year life is possible.
  • 1050 source (such as at the end or with conductors running down or around the rope), it is most common that there will also be a local battery or storage. For example, wired power may be used to power tools or maintain charge. Battery or stored power will likely be common to maintain data integrity and operate light ongoing functions.
  • the CPU or similar data-processing device(s), serves as the programmable device that 1055 can be used to define the module intelligence and logic. This includes managing information such as:
  • GPS Global Positioning System
  • the modules can incorporate different operator/system alerts, including:
  • Visual alerts such as a status light (see external display 222 in FIG. 27)
  • the electronic design could take on countless shapes/forms, depending on desired function.
  • the intelligent modules can achieve machine- to-machine interfacing in many different ways, including:
  • intelligence can come from many potential forms including some form of bodies ⁇ that house sensors and allow data to be managed. Generally speaking, this may be within the end (termination point), or anywhere along the
  • a termination is often at the end and used to transmit a load with a load connection point (such as an eye, hook, or stop)
  • a module / IoT module is any device that is connected to the rope assembly, regardless of proximity. While it may be in or around the termination, it many cases it is preferable to be along the rope to provide intelligence. An IoT module would not typically be used to transmit a load, although this can be made
  • a termination or module while having different end-purposes, should be considered synonymous in its ability to provide the disclosed smart services / intelligence.
  • Some ropes need only a smart module, some need a smart termination, some need both. In many cases the smart module rest inside or is adjacent to the termination. While the early disclosure was more focused on the termination point,
  • Variations for the intelligent cable module include: 1. An intelligent cable module can be applied (mounted/inserted/affixed)
  • a module may be one or several modules serving different functions or communicating with each other.
  • a module need not have a CPU or be independent - it may serve to function as a web to support other more intelligent devices or one central device.
  • a module in a termination may serve as an end-hub for several midspan modules that gather other data.
  • the mid span modules may simply provide load, position, temperature - they may be sensors alone and be used to interface with a CPU (such as in the termination), or otherwise a hub for data transfer means to another source (such as when hardwired).
  • An intelligent cable module can be connected to a cable in many different ways, including:
  • FIG. 21 provides an example of a single module casing 208 placed in the center of a cable. In this instance the
  • 1 135 cable shown is a braid of 12 separate strands. In some cases each of these strands will itself be a braid of 12 smaller sub-strands. A smaller module casing could be placed within each of the 12 strands by separating some of the sub-strands. Some of these modules can even incorporate a removable data cartridge.
  • the intelligent cable module may rest on a sacrificial tail alone (such as where one
  • 1 140 end has a termination and the opposing end is later spliced into another rope).
  • This configuration could be used to make a passive rope intelligent. It also allows the intelligence to be calibrated to the rope in a factory-controlled setting.
  • Monitoring examples include:
  • Termination drops or max shock. Rate of shock, duty cycles, cut strands, rope
  • Cycle Counting Using inertial module or a RFID or other position sensor to count machine cycles in a rope. For example a hoist device that goes up/down.
  • connection and load rating Used to detect and indicate whether
  • Chip or communicated data can signal operator or machine of any desired condition (load, depth, recommended operating hours, temperature overage, etc)
  • LCD panel or nearby tablet could identify peak conditions for inspection /
  • Exemplary applications for the inventive intelligent cable modules include:
  • Towing lines commercial fishery lines, nets, etc.
  • Floating structure moorings oil platforms, vessels, windfarms, wave energy, commercial docks, boats, etc.
  • the technology could also be deployed in miniature and/or simplified form into small cable assemblies, such as used in fitness equipment, aircraft control cables, automotive control cables, safety tethers, boat lifts, medical devises, etc.
  • the intelligent module(s) and/or terminations will commonly be linked to a greater network of devices.
  • the intelligent module(s) and/or terminations will commonly be linked to a greater network of devices.
  • the intelligent module(s) and/or terminations will commonly be linked to a greater network of devices.
  • 1180 devices when linked in some way can be viewed as rope networking modules - turning a physical rope system into a digital tool by which entirely new service functions may be derived.
  • a vessel mooring system that has been digitized not only allows an operator to understand each individual unit, but also how the system as a whole is functioning as well as stress that is imparted to the winches and other vessel components.
  • multiple modules may communicate with one central collection device. They may be hardwired or wirelessly linked.
  • 1195 network can be configured in many ways, such as spoke and hub, pier to pier, multi-hub with boosters, interconnected, work through a gateway IoT module, a hybrid, etc.
  • This may be considered as a distributed sensing network, and include items such as a smart hub, a digitized operator tablet to perform certain functions.
  • This may be a slave or master network design - depending on the data collected, pushed, or pulled, and the overall system goal.
  • Scanners may be used to ping for data. Technologies such as RFID allow a passive system to ping the regional network to gather certain data. For example this may be a ping to communicate peak loads on an hourly basis, whereas other data is stored and removed in other ways. 17.
  • the network rope loT devices may all be interconnected and/or independently
  • the network may simply be a single operator interface, such as a ruggedized tablet that can be brought onto a particular site to monitor data in real time or extract historical / stored data on an as-needed bases. Additionally, these devices may be used to program or reprogram the networked modules.
  • The“payload end” of the cable is the end to which the termination is attached.
  • a cable is often paid off a drum on a surface vessel.
  • Information applied to the cable at the payload end must be extracted at some point distal to the payload
  • This extraction point may simply be the opposite end of the cable. However, it may also be some intermediate point where the information carrying components of the cable depart the load carrying components.
  • An objective of the present invention is to use the instrument package many times in the deployment of multiple payloads, so it is undesirable to place the instrument package in a position where it is difficult to“bring home” with the termination when the payload is released.
  • the payload release point may be in the vicinity of the intelligent cable
  • the release mechanism may lie 20 meters below the termination. This will be true where long slings connect the termination to the payload and the release mechanism is located on the payload end of the long slings.
  • the instrument package may transmit the sensed forces directly or record them for subsequent transmission.
  • the preferred embodiments will all include a processor and the ability to transmit digital signals. However, it is possible to implement the invention using only analog components and no processor. As an example, a very simple version might include only load
  • the instrument package ideally includes an inertial measurement system. Such a system, combined with real-time (or near real-time) data transmission back to the
  • the camera such as shown in FIG. 14 may be a stereo camera, a laser scanner, or some other suitable device capable of allowing the intelligent termination to“home” on a
  • a visual fiducial might be provided as the desired placement point on an undersea platform.
  • a stereo camera could be used to guide the payload onto this target.
  • a 3D object could be used as a target for a laser scanner.
  • the camera could also be provided on the intelligent termination itself (perhaps offset on a lateral boom).
  • the inertial system may be used to get the payload“in the ballpark” and the visual guidance system could then take over for the final placement.
  • the combination of the two systems allows for greater accuracy while holding down costs.
  • the memory may be used to log strand loads for future analysis regarding needed cable maintenance and possible removal from service.
  • Communication and power wires may not travel through the core of the cable but rather may travel externally. As an example, they might be embedded in the cable’s jacket or wrapped helically around the cable.
  • the collector and housing could be made as one integral unit.
  • the instrument package functionality can be applied to a cable having only a single strand (rather than a multi-stranded cable incorporating a collector).
  • the instrument package may be included as part of a ruggedized ROV garage.

Abstract

L'invention concerne un câble comprenant un module de câble intelligent intégré. Le module comprend de préférence un ensemble d'instruments intégré. L'ensemble d'instruments peut prendre de nombreuses formes et remplir de nombreuses fonctions. Dans un mode de réalisation préféré, le module comprend un système de détermination de position et un processeur embarqué. Le processeur détermine une position actuelle du module dans l'espace d'après les informations qu'il reçoit. Ces informations de position peuvent ensuite être envoyées à un récepteur externe. Le module inclut également de préférence des fonctionnalités de suivi de charge et d'enregistrement. Ces caractéristiques agissent en tant que « boîte noire » pour le câble, en surveillant ses performances et en rapportant (en temps réel ou ultérieurement) tout dépassement ou toute détérioration de performance ou d'intégrité structurelle.
PCT/US2020/012483 2019-01-24 2020-01-07 Terminaison de câble à fibre intelligente, module et technologies de mise en réseau WO2020154093A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20744777.2A EP3914835A4 (fr) 2019-01-24 2020-01-07 Terminaison de câble à fibre intelligente, module et technologies de mise en réseau
SG11202108001TA SG11202108001TA (en) 2019-01-24 2020-01-07 Intelligent fiber rope termination, module and networking technologies
AU2020212495A AU2020212495A1 (en) 2019-01-24 2020-01-07 Intelligent fiber rope termination, module and networking technologies
CA3127876A CA3127876A1 (fr) 2019-01-24 2020-01-07 Terminaison de cable a fibre intelligente, module et technologies de mise en reseau

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/255,913 2019-01-24
US16/255,913 US11162855B2 (en) 2016-02-29 2019-01-24 Intelligent fiber rope termination, module, and networking technologies

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WO2020154093A1 true WO2020154093A1 (fr) 2020-07-30

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AU (1) AU2020212495A1 (fr)
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US20070022675A1 (en) * 2005-06-24 2007-02-01 Simon Weisman Apparatus and method to measure cable tension
US20110251803A1 (en) * 2010-04-09 2011-10-13 Lucas Teurlay Assembly, system, and method for cable tension measurement
US20120301085A1 (en) * 2011-05-25 2012-11-29 Tyco Electronics Corporation Cable anchoring system
US8371015B2 (en) 2009-09-24 2013-02-12 Bright Technologies, Llc Method of terminating a stranded synthetic filament cable
WO2016175906A1 (fr) 2015-04-27 2016-11-03 Campbell Richard V Procédés et conceptions avancés permettant d'équilibrer un ensemble de terminaison de brin
US20170299450A1 (en) 2016-02-29 2017-10-19 Richard V. Campbell Intelligent Fiber Rope Termination
US9835228B2 (en) 2014-04-27 2017-12-05 Bright Technologies, Llc Advanced methods and designs for balancing a stranded termination assembly

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Publication number Priority date Publication date Assignee Title
US20070022675A1 (en) * 2005-06-24 2007-02-01 Simon Weisman Apparatus and method to measure cable tension
US8371015B2 (en) 2009-09-24 2013-02-12 Bright Technologies, Llc Method of terminating a stranded synthetic filament cable
US20110251803A1 (en) * 2010-04-09 2011-10-13 Lucas Teurlay Assembly, system, and method for cable tension measurement
US20120301085A1 (en) * 2011-05-25 2012-11-29 Tyco Electronics Corporation Cable anchoring system
US9835228B2 (en) 2014-04-27 2017-12-05 Bright Technologies, Llc Advanced methods and designs for balancing a stranded termination assembly
WO2016175906A1 (fr) 2015-04-27 2016-11-03 Campbell Richard V Procédés et conceptions avancés permettant d'équilibrer un ensemble de terminaison de brin
US20170299450A1 (en) 2016-02-29 2017-10-19 Richard V. Campbell Intelligent Fiber Rope Termination

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Title
See also references of EP3914835A4

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EP3914835A1 (fr) 2021-12-01
SG11202108001TA (en) 2021-08-30
EP3914835A4 (fr) 2022-10-19
CA3127876A1 (fr) 2020-07-30
AU2020212495A1 (en) 2021-09-16

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