WO2023002424A1 - Système et procédé de manipulation d'opérations dans un corps d'eau - Google Patents

Système et procédé de manipulation d'opérations dans un corps d'eau Download PDF

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Publication number
WO2023002424A1
WO2023002424A1 PCT/IB2022/056737 IB2022056737W WO2023002424A1 WO 2023002424 A1 WO2023002424 A1 WO 2023002424A1 IB 2022056737 W IB2022056737 W IB 2022056737W WO 2023002424 A1 WO2023002424 A1 WO 2023002424A1
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WO
WIPO (PCT)
Prior art keywords
activities
execution
mission
risk
control module
Prior art date
Application number
PCT/IB2022/056737
Other languages
English (en)
Inventor
Paolo Bonel
Diego Lazzarin
Giovanni Massari
Paolo Vielmo
Original Assignee
Saipem S.P.A.
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 Saipem S.P.A. filed Critical Saipem S.P.A.
Priority to EP22751161.5A priority Critical patent/EP4373738A1/fr
Publication of WO2023002424A1 publication Critical patent/WO2023002424A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the present invention relates to a system and to a method for handling operations in a body of water.
  • said operations are carried out by an unmanned underwater vehicle that can be carried by an unmanned floating vehicle.
  • Said underwater facilities may take different configurations on a bed of a body of water depending on the use for which they are intended and may be placed in shallow water or in very deep water or at varying distances from land.
  • underwater facilities provide numerous advantages, however the construction, the maintenance and the control of an underwater facility presents increasing criticalities as the depth at which it is installed and/or the environmental context in which it operates increases.
  • ROV Remote Operated Vehicle
  • AUV Automatic Unmanned Vehicle
  • a first type of underwater operations comprises the installation of underwater infrastructures such as extraction wells, platforms and pipings. Said operations are typically assisted by unmanned underwater vehicles, which perform activities, for example through tools, manipulators and power modules, and collect data, for example through sensors and cameras. Further operations that can be carried out at a later stage after the installation step comprise interventions of repair, monitoring and maintenance of the facility.
  • a second type of underwater operations is related to handling the underwater facility and aimed at maintaining the production by monitoring the status of the underwater facility in order to allow the updating of the prediction models developed during the design of the underwater facility.
  • a third type of operations is related to unforeseeable events or accidents, such as rupture of a pipe, gas leak, leakage of acids from a well or a fire, for which it is essential to be able to intervene close to the event to remedy this event.
  • said underwater operations are carried out using multi-purpose floating manned vehicles with technical personnel on board.
  • Said floating vehicles carry at least one unmanned underwater vehicle and comprise a hull provided with a pool for releasing into water the underwater vehicle and/or underwater equipment and launch and recovery systems for the underwater vehicle itself.
  • the unmanned systems of known type generally comprise an unmanned floating vehicle, which is configured to carry an unmanned underwater vehicle and to handle the operations of the underwater vehicle.
  • the unmanned systems of the prior art are not capable of handling the floating vehicle and the underwater vehicle in a coordinated manner so as to ensure the efficiency of the underwater operations and the safety of the underwater vehicle under all operating conditions.
  • Aim of the present invention is to realize a system for handling operations in a body of water that can overcome the drawbacks of the prior art.
  • one aim of the present invention is to realize a system for handling operations in a body of water capable of controlling in a coordinated manner the floating vehicle and the underwater vehicle so as to ensure the efficiency of the underwater operations and the safety of the underwater vehicle under all operating conditions.
  • a system for handling operations in a body of water comprising: an unmanned floating vehicle configured to navigate on the body of water and to perform first activities from a surface of the body of water; at least one intervention/inspection device, configured to perform second activities in/on the body of water; a first control module, configured to acquire first data related to the execution of the first activities, to simulate the execution of the first activities according to the first acquired data and to control the execution of the first activities according to the first acquired data; a second control module, configured to acquire second data related to the execution of the second activities, to simulate the execution of the second activities according to the second acquired data and to control the execution of the second activities according to the second acquired data; and a mission control unit in communication with the first and the second control modules and configured to assign respective first activities to the first control module and respective second activities to the second control module according to a mission prediction model and to control in a coordinated manner the execution of the first assigned activities and the second assigned activities according to the simulation of the first and the second activities.
  • the present invention it is possible to control the floating vehicle and the intervention/inspection device in a coordinated manner so as to ensure maximum efficiency of the operations in the body of water, while minimising the risk of damaging or losing the floating vehicle and the intervention/inspection device.
  • the first control module is configured to determine a first risk associated with the execution of the first assigned activities based on the simulation of the first assigned activities; and wherein the second control module is configured to determine a second risk associated with the execution of the second assigned activities based on the simulation of the second assigned activities; the mission control unit being configured to determine a combined risk based on the first risk and the second risk.
  • the first control module is configured to determine a first opportunity associated with the execution of the first assigned activities based on the simulation of the first assigned activities; and wherein the second control module is configured to determine a second opportunity associated with the execution of the second assigned activities based on the simulation of the second assigned activities.
  • the mission control unit is able to assess the opportunities associated with each activity in order to control the status of the mission while ensuring its maximum efficiency.
  • the mission control unit is able to handle the mission taking into account the risks and opportunities associated with each activity.
  • the mission control unit can control the various steps of a mission by finding an appropriate compromise between the need to complete each mission as efficiently as possible and the need to ensure the safety of the intervention/inspection device and of the floating vehicle.
  • the intervention/inspection device is an unmanned underwater vehicle configured to navigate in the body of water.
  • the first and second control modules are configured to continuously acquire respectively the first data and the second data through respectively a first and a second assembly of sensors, so as to handle each mission in real time and adapt the operations to the changed environmental conditions. In this way, by way of example, it is possible to carry out the recovery of equipment following occurred adverse weather conditions.
  • the first and the second assemblies of sensors respectively comprise a first and a second position sensor for detecting the position and/or the speed of the floating vehicle and the underwater vehicle respectively; the mission control unit being configured to issue commands to the first and the second control modules according to the position and/or the speed detected by the first and the second position sensors so as to control in a coordinated manner the navigation of the floating vehicle and the underwater vehicle.
  • the coordinated handling of the navigation of the floating vehicle and of the underwater vehicle allows the operational limits of the underwater vehicle to be extended and enables a rapid recovery of the underwater vehicle when adverse weather conditions occur.
  • the floating vehicle comprises an automatic launch and recovery device of the underwater vehicle; the mission control unit being configured to control the launch and recovery operations of the launch and recovery device according to the mission prediction model and to the first and second data acquired by the first and by the second control modules, respectively.
  • the system comprises an underwater station, which is carried by the floating vehicle, is connected to the floating vehicle by an umbilical cable and is configured to house the underwater vehicle during downtimes of the underwater vehicle.
  • an underwater station which is carried by the floating vehicle, is connected to the floating vehicle by an umbilical cable and is configured to house the underwater vehicle during downtimes of the underwater vehicle.
  • the underwater station has the function of recharging the underwater vehicle.
  • the system comprises a remote control station in communication with the mission control unit and configured to monitor the status of each mission.
  • the floating vehicle comprises at least a hull; and a launching pool, which is configured to launch the underwater vehicle and/or underwater equipment.
  • the floating vehicle is of the catamaran type. In this way, the stability of the floating vehicle can be increased and the underwater vehicle and/or floating equipment can be launched and recovered quickly and easily through the launching pool.
  • the intervention/inspection device is an unmanned air vehicle configured to fly over the body of water. In this way, air inspection activities of surface offshore facilities can be carried out.
  • the system comprises a plurality of interchangeable intervention/inspection devices having different characteristics; each intervention/inspection device being operatively couplable to the floating vehicle.
  • the system is of the modular type and, in use, different intervention/inspection devices are selectively coupled to the floating vehicle depending on the particular type of operations to be performed in/on the body of water.
  • a further aim of the present invention is to realize a method for handling operations in a body of water that can overcome the drawbacks of the known art.
  • a method for handling operations in a body of water comprises the steps of:
  • an unmanned floating vehicle configured to navigate on the body of water and to perform first activities from a surface of the body of water; providing at least one intervention/inspection device configured to perform second activities in/on the body of water;
  • FIG. 1 is a schematic side elevation view of an underwater facility and of a system for handling operations in a body of water realized in accordance with the present invention
  • FIG. 2 is a schematic side elevation view of an underwater facility and of the system of Figure 1 in a further operational configuration
  • FIG. 3 is a schematic side elevation view of a surface facility and of the system of Figure 1 in a further operational configuration
  • FIG. 4 is a perspective view, with parts removed for clarity's sake and parts schematised, of an unmanned floating vehicle of the system of Figure 1;
  • FIG. 5 is a block diagram of the system of Figure 1;
  • FIG. 6 is a flow chart of an operating condition of the system of Figure 1.
  • Number 1 in Figure 1 denotes a system for handling operations carried out on an underwater facility 2 in a body of water 3.
  • the underwater facility 2 is arranged on a bed 4 of the body of water 3 and is used for the extraction and/or production of hydrocarbons from wells, not shown in the accompanying figure, which are realized in the bed 4 of the body of water 3 and are integral parts of the underwater facility 2 itself.
  • hydrocarbon production means the extraction of hydrocarbons, the processing of hydrocarbons, the processing of fluids related to hydrocarbon production, and subsequent transportation.
  • the underwater facility 2 may comprise infrastructures for the exploitation of energy from renewable sources, such as infrastructures necessary for the installation and handling of a wind turbine park installed on the bed 4 of the body of water 3.
  • the system 1 comprises a floating unmanned vehicle 5 configured to navigate on the body of water 3 and to perform first activities from a surface of the body of water 3; at least one intervention/inspection device 7 configured to perform second activities in/on the body of water 3; a control module 6, configured to acquire first data related to the execution of the first activities and to control the execution of the first activities according to the first acquired data; a second control module 8, configured to acquire second data related to the execution of the second activities and to control the execution of the second activities according to the second acquired data; and a mission control unit 9 in communication with the control module 6 and the control module 8 and configured to assign respective first activities to the control module 6 and respective second activities to the control module 8 according to a mission prediction model and to control the execution of the first and second activities assigned in combination .
  • the intervention/inspection device 7 is an unmanned underwater vehicle 7 configured to navigate in the body of water 3.
  • the system 1 comprises a remote control station 10, preferably arranged on the mainland, which is in communication with the mission control unit 9 and is configured to monitor the status of each mission.
  • the entire supervision of the system 1 is performed by the remote control station 10, which is provided with monitors, not shown in the accompanying figures.
  • the remote control station 10 is configured to remotely control the activities of the system 1.
  • the mission control unit 9 in the event that the mission control unit 9 detects through the first and second acquired data potential dangerous circumstances that could jeopardise the integrity of the system 1, the mission control unit 9 reports these circumstances to the remote control station 10, which establishes whether to continue the execution of the current mission or to abort the current mission and issues the related commands to the mission control unit 9.
  • the remote control station 10 is arranged on board a further floating vehicle.
  • the first and the second data comprises data and signals related to the navigation of the floating vehicle 5 or of the underwater vehicle 7, such as the position and/or the speed of the floating vehicle 5 and of the underwater vehicle 7 and/or the power required by the floating vehicle 5 and by the underwater vehicle 7; data related to the weather and/or environmental conditions, such as the wind strength and/or the intensity of underwater currents; data related to the status of the floating vehicle 5 and/or of the intervention/inspection vehicle 7; and data related to the intervention or inspection activities of the intervention/inspection vehicle 7.
  • the mission prediction model comprises for each mission a list of activities that the floating vehicle 5 and the underwater vehicle 7 have to carry out and a sequence of said activities.
  • the mission prediction model may be stored in the mission control unit 9 and is configured to estimate the probability of completing a determined activity and/or to assess the status of the floating vehicle 5 and of the intervention/inspection device 7.
  • the operational parameters are associated with each activity to be carried out, which are provided to the control module 6 and to the control module 8 and are used by them to control the floating vehicle 5 and the underwater vehicle 7 according to the activity to be carried out.
  • one activity may involve the monitoring carried out by the underwater vehicle 7 of a pipeline of the underwater facility 2 in order to prevent any leakages of the fluid flowing within said pipeline.
  • Said monitoring activity is associated with parameters such as the position of the underwater vehicle 7 and the position of the floating vehicle 5.
  • the control module 6 and the control module 8 use said parameters to control the relative position of the underwater vehicle 7 with respect to the floating vehicle 5 in order to prevent the underwater vehicle 7 from moving too far away from the floating vehicle 5 during said monitoring activity.
  • the mission control unit 9 is arranged on the floating vehicle 5.
  • the mission control unit 9 can be placed in the remote control station 10.
  • the system 1 comprises an underwater station 11, which is carried by the floating vehicle 5, is connected to the floating vehicle 5 by an umbilical cable 12 and is configured to house the underwater vehicle 7 during downtimes of the underwater vehicle 7.
  • the underwater station 11 exchanges signals with the floating vehicle 5 and with the mission control unit 9 and is powered by the floating vehicle 5 by the umbilical cable 12.
  • the floating vehicle 5 comprises an automatic launch and recovery device 13, which is controlled by the mission control unit 9 and is configured to launch and recover the underwater vehicle 7, the underwater station 11 and additional equipment for handling the underwater facility 2.
  • the mission control unit 9 is configured to control the launch and recovery device 13 according to the mission prediction model and the data acquired by the control module 6 and the control module 8.
  • the system 1 comprises an assembly of sensors 14 and an assembly of sensors 15, each of which is configured to acquire the first and the second data, respectively and to transmit the first and the second acquired data to the control module 6 and to the control module 8, respectively.
  • each assembly of sensors 14, 15 is configured to acquire data relating to the navigation of the respective floating vehicle 5 and of the underwater vehicle 7 respectively, and comprises for example a gyrocompass; a speed sensor; accelerometers; acoustic positioning systems; and an acoustic or electromagnetic type system to avoid obstacles.
  • the assembly of sensors 14 and the assembly of sensors 15 comprise a position sensor 16 and a position sensor 17, respectively, each of which is configured to detect the position and/or the speed of the floating vehicle 5 and of the underwater vehicle 7, respectively .
  • the mission control unit 9 is configured to issue commands to the control module 6 and the control module 8 according to the position and/or speed detected by the position sensors 16 and 17 so as to control in a coordinated manner the navigation of the floating vehicle 5 and the underwater vehicle 7.
  • said coordinated navigation makes it possible to prevent the underwater vehicle 7 from moving too far away from the floating vehicle 5 when carrying out a determined mission.
  • the underwater vehicle 7 is of the ROV type and is connected to the underwater station 11 via a cable 18, through which the underwater vehicle 7 exchanges data and signals with the underwater station 11 and is powered by the underwater station 11.
  • the position sensor 17 may be a sensor that takes into account the unwinding and/or pulling of the cable 18 to determine the relative position of the underwater vehicle 7 with respect to the floating vehicle 5.
  • the underwater vehicle 7 is of the AUV type and, consequently, is without the cable 18.
  • the underwater vehicle 7 comprises an energy accumulator, not shown in the accompanying figures, configured to electrically power the underwater vehicle 7; and a wireless communication device, not shown in the accompanying figures, which is controlled by the control module 8 and is configured to communicate with the underwater station 11.
  • the wireless communications are of a hybrid type and comprise communications of acoustic type, optical type, and electromagnetic type.
  • the underwater station 11 is configured to recharge the accumulator of the underwater vehicle 7 if necessary.
  • the intervention/inspection device 7 is an unmanned air vehicle configured to fly over the body of water 3 and carry out air inspection operations on a surface facility 19.
  • the floating vehicle 5 is without the underwater station 11 and the relative umbilical cable 12.
  • the system comprises a plurality of interchangeable intervention/inspection devices 7 having different characteristics.
  • Each intervention/inspection device 7 is operatively couplable to the floating vehicle
  • each intervention/inspection device 7 is configured to achieve a structural and functional coupling with the floating vehicle 5.
  • the intervention/inspection device 7 may be a seismic wave detection apparatus or a water sampling apparatus or a body of water bed coring apparatus 3 or an apparatus for limiting hydrocarbon spills from underwater wells or an apparatus for extinguishing fires.
  • the floating vehicle 5 comprises a hull 20; a hull 21; and a launching pool 22, which is arranged between the hull 20 and the hull 21 and is configured to launch through the launch and recovery device 13 (Figures 1 and 2) the underwater vehicle 7 ( Figures 1 and 2) and/or the underwater station 11 ( Figures 1 and 2) and/or additional underwater equipment.
  • the floating vehicle 5 has a catamaran type conformation and further comprises a cabin 23 which is arranged between the hulls 20 and 21, is connected to the hulls 20 and 21 and is configured to house the underwater vehicle 7 ( Figures 1 and 2) and additional underwater equipment.
  • the floating vehicle 5 may assume any conformation that allows the floating vehicle 5 to navigate on the body of water 3 and to carry out the first activities from the surface of the body of water 3.
  • the floating vehicle 5 is of the monohull type.
  • FIG. 5 a block diagram of the system 1 is shown, in which the mission control unit 9 is in communication and exchanges data and signals with the control module 6, with the control module 8 and with the launch and recovery device 13.
  • the system comprises a plurality of control modules 8, each of which is associated with a respective intervention/inspection device 7.
  • the mission control unit 9 is in communication and exchanges data and signals with the control module 8 through the underwater station 11.
  • the assembly of sensors 14 is in communication with the control module 6 and the assembly of sensors 15 is in communication with the control module 8.
  • the mission control unit 9 is in communication with the remote control station 10 via a radio frequency and/or satellite connection.
  • each control module 6, 8 is configured to simulate the execution of the first and second assigned activities respectively (block 24) according to the first and second acquired data, and to determine a first and second risk (block 25) associated with the execution of the first and second assigned activities based on the simulation of the first and second assigned activities.
  • the mission control unit 9 is configured to assume the role of centralised supervisor of a determined mission and to determine a combined risk (Block 27) based on the first risk, on the second risk and on the simulation of the first and on the second activities assigned in combination.
  • each control module 6, 8 is configured to determine a first and second opportunity (block 28) respectively associated with the execution of the first and the second assigned activities based on the simulation of the first and the second assigned activities.
  • Each control module 6, 8 is configured to cyclically detect the presence or absence of risks and opportunities during the performance of a mission and to associate a respective class of risk 29 and a respective level of risk 30 to each risk and a respective opportunity class 31 and a respective opportunity level 32 to each opportunity.
  • control modules 6 and 8 are configured to continuously detect the presence of risks and/or opportunities through the assembly of sensors 14 and the assembly of sensors 15, respectively.
  • a risk is the possibility of the occurrence of any harmful event that could affect the safety and/or the integrity of the components of system 1 in the performance of a determined mission.
  • the risks that the system 1 could encounter during a mission comprise the loss of the underwater vehicle 7 (in particular in the presence of adverse weather conditions), the collision of the floating vehicle 5 with obstacles, the exhaustion of the energy accumulators, the loss of the connection between the underwater vehicle 7 and the underwater station 11.
  • the presence or the absence of the risks associated with the activities of a mission is determined based on the data and signals detected by the assemblies of sensors 14, 15 and the mission prediction model, as described in detail below.
  • Each detected risk is associated with a class of risk chosen from a first class of risk and a second class of risk, when the risk is detected and is identified as either independently manageable by the system 1 or not manageable independently, respectively, so that the intervention of remote personnel in the remote control station 10 is required.
  • Each detected risk is also associated with a respective level of risk, which is determined based on values of the data and signals detectable through the assemblies of sensors 14, 15, on respective safety ranges of the data and signals and on correlations between the detected data and signal values.
  • the term “opportunities” refers to the operational benefits that can be achieved in the course of a mission by carrying out determined activities or groups of activities.
  • the opportunities determined by the modules 6 and 8 comprise the probability of completing a determined activity within a determined time interval, such as inspecting a component of the underwater facility 2 before adverse weather conditions occur, and/or the possibility of achieving energy savings by coordinating the activities of the floating vehicle 5 and of the underwater vehicle 7.
  • each control module 6, 8 is configured to determine a plurality of first parameters indicative of the class of risk 29, which is associated with a determined type of risk, and a plurality of second parameters indicative of the level of risk 30, which is associated with the degree of risk determined. Further, each control module 6, 8 is configured to receive data and signals from the mission control unit 9 and from the respective assembly of sensors 14, 15 and to process said received data and signals so as to determine a plurality of third parameters indicative of the opportunity class 31, which is associated with a determined type of opportunity, and a plurality of fourth parameters indicative of the opportunity level 32, which is associated with the determined degree of opportunity .
  • the system comprises a plurality of control modules 8, each of which is associated with a respective intervention/inspection device 7.
  • the remote control station 10 plans each mission (block 26) and sends the data and signals related to the planned mission to the mission control unit 9, which proceeds with the mission simulation and the assignment of the activities (block 33) to each control module 6, 8 for the performance of determined operations in the body of water 3 based on the mission prediction model.
  • the mission simulation (block 33) is carried out using a global system model (block 34), which is implemented in the mission control unit 9, and according to a global validation of the mission (block 35).
  • Each control module 6, 8 simulates the respective assigned activities (block 24) using a model of the system (block 37) and according to the first or the second acquired data and to a local validation of the activities assigned (block 38) by the mission control unit 9.
  • each control module 6, 8 monitors the execution of the activities (block 39) and assesses the risks (block 25) and the opportunities (block 28) associated with each activity.
  • the risk assessment step (block 25) carried out by each control module 6, 8 outputs first and second estimated parameters, which are indicative respectively of a respective class and a respective level of risk (blocks 29 and 30)
  • the opportunity assessment step (block 28) outputs third and fourth estimated parameters, which are indicative of a respective class of opportunity and a respective level of opportunity (blocks 31 and 32).
  • each control module 6, 8 assesses whether the risk exceeds a determined risk threshold (block 40). In detail, each control module 6, 8 compares the first and second estimated parameters with respective threshold values and determines whether said parameters are higher than the respective threshold values.
  • each control module 6, 8 reports to the mission control unit 9 that the level of risk exceeds a threshold level. In such a circumstance, the mission control unit 9 proceeds to re-plan the activities assigned to the mission so as to reduce the level of risk.
  • each control module 6, 8 proceeds independently and implements the necessary measures to minimise the detected risk (block 41).
  • each control module 6, 8 modifies the operational parameters associated with each mission so as to modify the first and the second estimated parameters, indicative of the class and of the level of risk, respectively.
  • each control module 6, 8 based on the class and level of opportunity detected, identifies possible variations (block 42) to the previously planned activities .
  • the control module 8 detects the opportunity to interrupt the inspection activity to start a pipe repair activity that involves, for example, the closure of a determined valve of the underwater facility 2. Once the pipe repair activity has been completed, the mission control unit 9 commands the control module 8 to resume the inspection activity.
  • each control module 6, 8 Based on the measures implemented in step 41 and the possible variations identified (block 42), each control module 6, 8 detects the local impact (block 43) of the planned activities, assessing in particular whether the risk associated with the simulated activities exceeds a determined risk threshold.
  • each control module 6, 8 again simulates the planned activities (block 24) and sends data and signals relating to the local impact of the planned activities to the mission control unit 9.
  • the assemblies of sensors 14 and 15 continuously detect a series of parameters (block 44), such as the environmental conditions, the residual mission time or the distance travelled by the floating vehicle 5 and by the underwater vehicle 7, and send said detected parameters respectively to the control module 6 and to the control module 8.
  • a series of parameters such as the environmental conditions, the residual mission time or the distance travelled by the floating vehicle 5 and by the underwater vehicle 7, and send said detected parameters respectively to the control module 6 and to the control module 8.
  • each control module 6, 8 estimates the status of the respective system (block 45).
  • the results of the estimation of step 45 are used as input signals both for the simulation of the planned activities (block 24) and for the monitoring of the execution of the activities (block 39) in order to update the assessment of the risks and of the opportunities in real time.
  • each control module 6, 8 Downstream of the activity simulation step (block 24), each control module 6, 8 outputs high-level instructions, which are converted (block 46) into low-level instructions.
  • the signals in output from the assemblies of sensors 15 and 16 and the low-level instructions are provided to a respective operating controller (block 47), which controls the actuators (block 48) of the floating vehicle 5 and of the intervention/inspection device 7, respectively.
  • the mission control unit 9 monitors the execution of the activities (block 49) during the performance of the mission.
  • the mission control unit 9 evaluates the impact of any interference (block 50) among the activities assigned to each control module 6, 8 and evaluates the overall risk associated with said interferences (block 27), providing an overall risk parameter as output.
  • the mission control unit 9 compares said overall parameter with a respective overall threshold value (block 52) and determines whether said overall parameter is higher than said overall threshold value.
  • the mission control unit 9 detects possible risks of interference between the activities simulated by each control module 6, 8
  • the mission control unit 9 sends a signal indicative of the risk of interference to the remote control station 10, which proceeds to re-plan the activities to be assigned to each control module 6, 8 (block 26).
  • the mission control unit 9 implements the necessary measures to minimize the risk detected (block 53).
  • the mission control unit 9 assesses the opportunities (block 54) associated with the performance of the activities assigned to each control module 6, 8 and identifies possible variations (block 55) to the previously planned activities.
  • the mission control unit 9 Based on the measures implemented in step 53 and on the possible variations identified (block 55), the mission control unit 9 detects the global impact (block 56) of the planned activities, assessing in particular whether the risk associated with the simulated activities exceeds a determined risk threshold.
  • the mission control unit 9 sends a signal to the remote control station 10 with the request to re-plan the mission.
  • the system 1 evaluates whether to command the recovery of the underwater vehicle 7 on board the floating vehicle 5 or whether to continue with the regular performance of the mission.
  • the option of continuing the regular operation of the mission is an opportunity, which is opposed to the risk posed by adverse weather conditions.
  • the assemblies of sensors 14 and 15 detect the change in the weather conditions and send data and signals respectively to the control module 6 and to the control module 8, which simulate the activities assigned based on the data received in order to determine the plurality of first and second estimated parameters, which are indicative respectively of the class 29 and of the level 30 of risk, and the plurality of third and fourth estimated parameters, which are indicative respectively of the class 31 and of the level 32 of opportunity.
  • each module 6, 8 compares the estimated parameters with the respective threshold values. In the event that the first and/or the second parameters estimated by one of the modules 6, 8 exceed the threshold value, said module 6, 8 sends a risk signal to the mission control unit 9, which commands the interruption of the mission and the recovery of the underwater vehicle 7 on board the floating vehicle 5.
  • system 1 is associated with an underwater facility 2 for the production of hydrocarbons, it being understood that the underwater vehicle 7 and the system 1 claimed can find other applications in the offshore environment.
  • system 1 may comprise more than one underwater vehicle 7 and/or more underwater stations 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Probability & Statistics with Applications (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système pour manipuler des opérations dans un corps d'eau ayant un véhicule flottant sans pilote (5) configuré pour effectuer des premières activités à partir d'une surface du corps d'eau (3) ; au moins un dispositif d'intervention/inspection (7) configuré pour effectuer des secondes activités dans/sur le corps d'eau (3) ; un premier module de commande (6), configuré pour commander les performances des premières activités selon des premières données acquises ; un second module de commande (8), configuré pour commander les performances des secondes activités selon des secondes données acquises ; et une unité de commande de mission (9) en communication avec le premier et le second module de commande (6, 8) et configurée pour attribuer des premières activités respectives au premier module de commande (6) et des secondes activités respectives au second module de commande (8) selon un modèle de prédiction de mission et pour commander les performances des première et seconde activités attribuées en combinaison.
PCT/IB2022/056737 2021-07-23 2022-07-21 Système et procédé de manipulation d'opérations dans un corps d'eau WO2023002424A1 (fr)

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EP22751161.5A EP4373738A1 (fr) 2021-07-23 2022-07-21 Système et procédé de manipulation d'opérations dans un corps d'eau

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IT202100019691 2021-07-23
IT102021000019691 2021-07-23

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2281871A1 (fr) * 1974-08-16 1976-03-12 Mcdermott & Co J Ray Appareillage pour la recuperation en mer d'objets flottants tels que bouees
WO2000071415A1 (fr) * 1999-05-19 2000-11-30 Studio 3 Ingegneria S.R.L. Dispositif d'amarrage pour vehicules sous-marins autonomes et automoteurs
WO2007143457A2 (fr) * 2006-05-31 2007-12-13 Shell Oil Company Système de production de pétrole et/ou de gaz
US20170300054A1 (en) * 2011-05-12 2017-10-19 Unmanned Innovations, Inc. Systems and methods for payload integration and control in a multi-mode unmanned vehicle
US20180162504A1 (en) * 2016-12-13 2018-06-14 Oceaneering International, Inc. System and Method For Using A Combination Of Multiple Autonomous Vehicles With Different Abilities, Working Together As A System For Subsea Oil and Gas Exploration

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2281871A1 (fr) * 1974-08-16 1976-03-12 Mcdermott & Co J Ray Appareillage pour la recuperation en mer d'objets flottants tels que bouees
WO2000071415A1 (fr) * 1999-05-19 2000-11-30 Studio 3 Ingegneria S.R.L. Dispositif d'amarrage pour vehicules sous-marins autonomes et automoteurs
WO2007143457A2 (fr) * 2006-05-31 2007-12-13 Shell Oil Company Système de production de pétrole et/ou de gaz
US20170300054A1 (en) * 2011-05-12 2017-10-19 Unmanned Innovations, Inc. Systems and methods for payload integration and control in a multi-mode unmanned vehicle
US20180162504A1 (en) * 2016-12-13 2018-06-14 Oceaneering International, Inc. System and Method For Using A Combination Of Multiple Autonomous Vehicles With Different Abilities, Working Together As A System For Subsea Oil and Gas Exploration

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