EP0185727B1 - Underwater operating system - Google Patents
Underwater operating system Download PDFInfo
- Publication number
- EP0185727B1 EP0185727B1 EP85903072A EP85903072A EP0185727B1 EP 0185727 B1 EP0185727 B1 EP 0185727B1 EP 85903072 A EP85903072 A EP 85903072A EP 85903072 A EP85903072 A EP 85903072A EP 0185727 B1 EP0185727 B1 EP 0185727B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- underwater
- equipment
- vessel
- rail track
- platform
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
- 238000003860 storage Methods 0.000 claims abstract description 3
- 238000004519 manufacturing process Methods 0.000 claims description 34
- 238000003032 molecular docking Methods 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 claims description 2
- 210000001015 abdomen Anatomy 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 210000005069 ears Anatomy 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000238557 Decapoda Species 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Images
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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/01—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells specially adapted for obtaining from underwater installations
- E21B43/017—Production satellite stations, i.e. underwater installations comprising a plurality of satellite well heads connected to a central station
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/08—Underwater guide bases, e.g. drilling templates; Levelling thereof
Definitions
- the invention relates to an underwater operating system comprising an underwater platform, equipment on the platform mounted as replaceable units, a rail track on the platform and an intervention or handling unit which can move along the rail track for removing the replaceable units and replacing them, said handling unit having a manipulator by means of which an equipment unit may be isolated, grasped and placed in the handling unit, and by means of which a new equipment unit may be fetched from a storage in the handling unit and put in place on the platform.
- Such a system is known from NO-PS 139 323 (US-A-3 777 812), describing underwater production equipment for remote connection to underwater wells and for fluid production from wells under water.
- the underwater production equipment is built so that the components easily may be connected and disconnected and removed and/or replaced.
- the various sections of the platform and its equipment including manifold equipment, valves, power plant and other equipment units and the rail track on which the handling unit works, are removable by remote control and may be brought to the surface for repair and/or replacement of the underwater production equipment.
- a buoy is released by means of remote control. The buoy rises from the platform and brings along a line to the surface.
- the handling unit is launched from a vessel and is attached to the line.
- the handling unit sinks and pulls itself down to the underwater production equipment along the line attached to the buoy.
- the handling unit After having landed on the rail track, the handling unit is secured to the rail track.
- the handling unit By means of power supply from the surface through an electrical cable, the handling unit is supplied with electrical power for a motor which moves the handling unit along the rail track.
- a handling arm on the handling unit may be activated by power supply through said electrical cable. After having performed the necessary operations, the handling unit moves back to the landing point, the attachment is released and the handling unit returns to the surface along the line. If the maintenance work cannot be handled by remote control, a man may be lowered in a bell attached to the handling unit.
- the handling unit is provided with its own power supply system, making it able to move along the rail track if the power supply through the electrical cable to the surface should fail.
- the man in any bell used may, if necessary, release the handling unit or release the bell from the handling unit in order for the bell to float to the surface.
- An object of the present invention is to provide an underwater operating system which is remotely controlled during normal operation and where maintenance, replacement of units etc. may be performed within the framework of a total underwater system, i.e. one works without the necessity of surface contact, so that in fact one has an underwater system which is independent of the conditions on the surface.
- the equipment units are placed as such and/or their control means in typical axes and in typical planes, and the handling unit is designed as a load carrying, manned autonomous underwater vessel having docking feet for cooperation with the rail track, and with one or more external manipulators which are movably mounted on the vessel and adapted to the typical axes when the vessel is docked on the rail track.
- the invention is primarily developed for use with so-called production installations, but the expression underwater operating system is also meant to include other installations under water having need for maintenance, replacement of units etc.
- the load carrying manned autonomous underwater vessel is a central factor. Since it is load carrying, it can bring along equipment units and components from a base, which may be located in a suitable place, for instance on land. Since the vessel is manned, one obtains the advantage that all handling and manipulation can take place "manually", i.e. during direct surveillance (through suitable windows in the vessel). Also automatic or automatically and remotely controlled components may be surveyed. Since the underwater vessel is autonomous, i.e.
- the arrangement of the equipment units and their control means simplify the manipulating operations, and the positionable mounting of the manipulators on the vessel, adapted to said typical axes when the vessel is docked on the rail track, further adds to simplifying the manipulations to be performed.
- the meaning of axes and planes is that the components to be handled by the manipulator or manipulators on the underwater vessel, are fitted into a coordinate system which, in addition to said simplification of the manipulating operations, provides the possibility of mutual adaptation of components, tools and manipulators and also permits defined operations, particularly the use of a CAD system (the drawing of the equipment fed into a CAD system in the control so that the control system may "see” the equipment and any obstructions).
- CAD system the drawing of the equipment fed into a CAD system in the control so that the control system may "see” the equipment and any obstructions.
- the manipulator/tool will obtain reference data in its data assisted control. Addressing may take place based on known positioning of the tool with respect to the equipment.
- the new underwater operating system provides for shortening the "warranty period" of equipment units and components, i.e. one may leave the long term concept required -today because by using the underwater vessel one may quickly and relatively simply replace and repair/ maintain units and components. Seen as a whole, one thus obtains a system where in a wet environment one comes close to the working and operating conditions prevailing in a dry environment.
- a manifold area may be designed larger, i.e. be placed over a larger area covered by manipulators of the underwater vessel, and single components may be dimensioned and located in more accessible places.
- a so-called “pig launcher” may for instance be transported along with the underwater vessel and placed in the pipeline system as needed, this being possible without the connection to a vessel on the surface, as necessary today.
- Some components may be simplified since they only have to be made for direct handling. This is for instance true for valves for closing off sections where work/manipulations/replacements are to be performed.
- the production trees may advantageously be placed in line, with the manifold equipment placed along this line, the rail track extending above the manifold.
- the manipulators When the vessel is docked on the rail track, the manipulators may be used on both the production trees and the underlying manifold equipment.
- the rail track is placed parallel with said line.
- the underwater vessel may then be docked so that its longitudinal axis is perpendicular to the rail track and said line, and the underwater vessel may be moved transversally along the rail track.
- the production trees may be handled by manipulators in the front part of the vessel, while one or more manipulators under the vessel may service the manifold equipment, the vessel being docked on the rail track with the axis of the vessel parallel to the typical axes in the manifold.
- the rail track may comprise a portion outside the equipment area of the platform, so that the vessel may dock without fear of collision with the equipment units on the platform. This provides additional safety.
- the equipment units are to the greatest possible extent designed as modules in a containerized system, where each "container" module includes a frame structure with identical attachment and fixation points from one module to the other.
- the cargo room of the underwater vessel is provided with corresponding points for attachment or suspension of the modules during transit.
- each frame structure comprises at least one top frame, having attachment points for a lifting yoke and attachment/suspension points for cooperation with corresponding points in the cargo room.
- the rail track and the underwater vessel comprise mutually form closing drive means, for instance a rack and pinion.
- This may be advantageous, often also necessary, since slime deposits may prevent the necessary friction between rail track and supporting wheels.
- the underwater vessel will also be close to a buoyant condition, with corresponding low. surface pressure against the rail.
- the underwater vessel may preferably comprise locking means, e.g. claws, for locking to the rail.
- locking means e.g. claws
- the underwater platform shown in Figs. 1-3 is a production platform which is placed on the sea floor 1.
- the production platform 2 is in a conventional manner built from strong pipe elements 3 and beams 4, which are welded together so as to form a framework.
- the production platform shown includes four production trees 5, 6, 7 and 8. Each production tree is in the usual manner connected to a well.
- the number of production trees is here chosen quite incidentally, and an underwater platform may of course comprise a larger or smaller number of production trees.
- the production trees 5-8 are, as is apparent from Figs. 1-3, arranged on a line Y-Y. Each production tree has a vertical axis Z-Z, representing a so-called typical axis. From Figs. 2 and 3 it appears that each production tree, see production tree 5 in Fig. 2 and production tree 7 in Fig. 3, has its control means 9, 10 and 11, respectively, arranged in the typical axis and in typical planes A, B, C, D, E (Fig. 3). In Fig. 2 one may also regard the drawing plane as a typical plane where the control means 9 and 10 lie.
- X-X Another typical axis is X-X, see Fig. 1.
- the manifold equipment and other equipment units are arranged along such axes X-X in the plan view in Fig. 1.
- Fig. 3 the axis X-X lies in the paper plane, and the paper plane also represents a typical plane for locating equipment units.
- the underwater platform 2 is provided with a manifold equipment area 12.
- the equipment like the production trees, is known per se, and should need no further explanation.
- a rail track in the form of two rails 13 and 14 extends.
- the rail track 13, 14 extends parallel to the line of production trees 5-8.
- An underwater vessel 15 is shown docked on the rail track 13, 14 in a position adjacent the production tree 7.
- This underwater vessel 15 is a load carrying manned autonomous underwater vessel dimensioned and fitted to provide room for a larger crew, for instance 5-10 persons, and for longer stays in submerged condition (up to several weeks).
- the underwater vessel 15 is designed with a pressure hull 16 (see Figs. 3 and 4). Under the pressure hull 16 the underwater vessel has a cargo room 17, which outwardly is limited by side walls 18, 19 pivotable towards the outside. In the front part, in front of the forward end of the pressure hull 16, a room 20 is present, closed by bow ports 21.
- two rails 22, 23 extend, the rails forming a rail track for a trolley carriage 24.
- This trolley carriage 24 carries a belly manipulator 25.
- two rails 26, 27 are arranged under the belly for one or more travelling crabs 28 supporting a lifting yoke 29.
- Figs. 3 and 4 the manipulator 25 is shown inside the cargo room in a retracted rest/transit. position. A working position is shown in broken lines in Fig. 4.
- the travelling crab 28 and the lifting yoke 29 serve for handling equipment units suspended in the cargo room 17.
- the manipulator 25 is used for performing necessary work on the platform.
- two bow manipulators 30, 31 are arranged in the room 20 in the room 20. These manipulators may travel on vertical rails 32, 33.
- the rails 32, 33 may be moved horizontally in suitable guides 34, 35, as indicated with the double arrows in Fig 6.
- a large acrylic window 36 is arranged, providing a good view for the operator 37 controlling the manipulators from inside the accommodation of the pressure hull.
- Corresponding large windows are arranged in the belly of the pressure hull in order for the operators to have visual control of the belly manipulator 25 and the lifting yoke 29.
- each module lies inside a parallelepipedic "frame".
- Each such "container" module 38 may advantageously comprise a frame structure (not shown) having at least one top frame with the attachment point for the lifting yoke 29 and with attachment-suspension points for cooperation with corresponding points in the cargo room 17.
- Conventional locking and fixing techniques for conventional containers may advantageously be used.
- the frame structure may be provided with extending locking ears intended for locking cooperation with suitable hook attachments in the cargo room where the modules may be suspended during transit.
- FIG. 9 an example is shown of a frame structure with corresponding equipment unit.
- the frame structure is designated 41 and the equipment unit 42.
- the frame 41 and the integrated equipment unit 42 hang from the lifting yoke 29, which in turn is suspended for raising and lowering in the travelling crab 28 by means of lines 43.
- the manipulator 25 is used for controlling and orienting the equipment unit 42.
- Fig. 10 and 11 show schematically how a containerized unit 38 may be suspended and locked in transit position in suitable hooks in the cargo room, the unit 38 being provided with extending locking ears 45, designed as shown in Figs. 10 and 11.
- the locking ear 45 has a hole 46 for engagement of a locking pin 47.
- the locking pin 47 is driven by a small working cylinder 48.
- Corresponding hooks, possibly without a lock, may be used at a lower level for "parking" the equipment units.
- Fig. 5 shows a variant of the platform in Fig.1. The difference is that in Fig. 5 the rail track 13, 14 in Fig. 1 is extended by the rail sections 13', 14', so that the underwater vessel 15 may dock outside the equipment area of the platform, i.e. the area where the productions trees and manifold equipment etc. are located. The vessel 15 may thus dock without danger of collision with equipment units on the platform and may thereafter run inwards along the rail track.
- the underwater vessel is provided with four telescopic legs 39, which at their respective ends have running wheels 40 for engagement with the rails 13, 14.
- the position of the underwater vessel may be adjusted by means of the two telescoping legs 39, and by means of drive means (not shown) acting on the wheel sets 40 the underwater vessel may move along the rails 13, 14, In desired position adjacent a production tree 7, the underwater vessel may be locked to the rail track utilizing means not shown, which will be well known to the skilled person.
- the underwater platform may thus be the upper completion of a tower-like structure resting on the sea floor, by means of which one may reduce the working depth of the platform and the underwater vessel.
- a curved rail track for the underwater vessel. It would also be possible to dock the vessel on a rail track like a turn-table located centrally in an underwater platform.
Landscapes
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Earth Drilling (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO842544A NO160736C (no) | 1984-06-22 | 1984-06-22 | Undervanns-operasjonssystem. |
NO842544 | 1984-06-22 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0185727A1 EP0185727A1 (en) | 1986-07-02 |
EP0185727B1 true EP0185727B1 (en) | 1988-06-22 |
Family
ID=19887729
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP85903072A Expired EP0185727B1 (en) | 1984-06-22 | 1985-06-21 | Underwater operating system |
Country Status (9)
Country | Link |
---|---|
EP (1) | EP0185727B1 (no) |
JP (1) | JPS61502478A (no) |
DE (2) | DE3590303T1 (no) |
DK (1) | DK82386A (no) |
FI (1) | FI860739A (no) |
GB (1) | GB2177142A (no) |
NO (1) | NO160736C (no) |
SE (1) | SE8600768L (no) |
WO (1) | WO1986000353A1 (no) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NO159843C (no) * | 1986-05-23 | 1989-02-15 | Norske Stats Oljeselskap | Arbeidsverktoey for utfoerelse av arbeider under vann. |
GB2209361A (en) * | 1987-09-04 | 1989-05-10 | Autocon Ltd | Controlling underwater installations |
NO911838L (no) * | 1991-05-13 | 1992-11-16 | Norske Stats Oljeselskap | Fremgangsmaate og forbindelsesanordning for loesbar sammenkobling under vann. |
GB9324229D0 (en) * | 1993-11-25 | 1994-01-12 | Subsea Offshore Ltd | A control mechanism |
NO333245B1 (no) * | 2011-04-07 | 2013-04-15 | Oilfield Technology Group As | Anordning for operasjoner ved en undervannsinstallasjon |
BR102014016364A2 (pt) * | 2014-07-01 | 2016-02-10 | Fmc Technologies Do Brasil Ltda | sistema de atuação compartilhada |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3777812A (en) * | 1971-11-26 | 1973-12-11 | Exxon Production Research Co | Subsea production system |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3520358A (en) * | 1967-06-29 | 1970-07-14 | Mobil Oil Corp | Subsea production system |
US3698197A (en) * | 1971-02-22 | 1972-10-17 | Charles E Bodey | Submerged pier for moving a submarine under water |
US4120362A (en) * | 1976-11-22 | 1978-10-17 | Societe Nationale Elf Aquitaine (Production) | Subsea station |
US4190120A (en) * | 1977-11-18 | 1980-02-26 | Regan Offshore International, Inc. | Moveable guide structure for a sub-sea drilling template |
-
1984
- 1984-06-22 NO NO842544A patent/NO160736C/no unknown
-
1985
- 1985-06-21 EP EP85903072A patent/EP0185727B1/en not_active Expired
- 1985-06-21 WO PCT/NO1985/000039 patent/WO1986000353A1/en active IP Right Grant
- 1985-06-21 DE DE19853590303 patent/DE3590303T1/de not_active Withdrawn
- 1985-06-21 GB GB08604269A patent/GB2177142A/en not_active Withdrawn
- 1985-06-21 DE DE8585903072T patent/DE3563464D1/de not_active Expired
- 1985-06-21 JP JP60502737A patent/JPS61502478A/ja active Pending
-
1986
- 1986-02-19 FI FI860739A patent/FI860739A/fi not_active Application Discontinuation
- 1986-02-20 SE SE8600768A patent/SE8600768L/ not_active Application Discontinuation
- 1986-02-21 DK DK82386A patent/DK82386A/da not_active Application Discontinuation
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3777812A (en) * | 1971-11-26 | 1973-12-11 | Exxon Production Research Co | Subsea production system |
Also Published As
Publication number | Publication date |
---|---|
SE8600768D0 (sv) | 1986-02-20 |
NO160736B (no) | 1989-02-13 |
DK82386D0 (da) | 1986-02-21 |
JPS61502478A (ja) | 1986-10-30 |
DE3563464D1 (en) | 1988-07-28 |
FI860739A0 (fi) | 1986-02-19 |
FI860739A (fi) | 1986-02-19 |
NO842544L (no) | 1985-12-23 |
DK82386A (da) | 1986-02-21 |
WO1986000353A1 (en) | 1986-01-16 |
EP0185727A1 (en) | 1986-07-02 |
GB2177142A (en) | 1987-01-14 |
GB8604269D0 (en) | 1986-03-26 |
DE3590303T1 (de) | 1986-08-28 |
SE8600768L (sv) | 1986-02-20 |
NO160736C (no) | 1989-05-24 |
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