NL2025169B1 - Assembly and method for installing a pile into a seabed - Google Patents

Abstract

The present invention relates to an assembly for installing a pile in a seabed, the assembly comprising a vessel comprising a positioning system for keeping the vessel at an 5 installation location relative to the seabed, the positioning system having a positioning stiffness; a pile guiding system configured to guide the pile during installation thereof, the pile guiding system comprising a base provided on the vessel; a first guiding device connected to the base, the first guiding device being configured to accommodate the pile during installation thereof; a resilient member for providing a resilient connection between the vessel and the 10 pile during installation thereof for allowing relative motions between the pile and the vessel, the resilient member having a connection stiffness, wherein the resilient member is configured and intended to keep a natural period of a pivoting movement of the pile about the seabed caused by waves during installation thereof longer than a dominant wave period of a wave spectrum at the installation location by providing the resilient connection with a low 15 connection stiffness.

Description

P34262NLO0/WHA Title: Assembly and method for installing a pile into a seabed

FIELD OF THE INVENTION The invention relates to the field of pile installation in a seabed, in particular to an assembly and method for installing a pile in a seabed.

The invention further relates to a pile guiding system configured to be connected to a vessel.

The invention yet further relates to a pile guiding system configured to be connected to a floating vessel and configured to assist in keeping the floating vessel at an installation location during installation of a pile into a seabed at the installation location and a corresponding method.

BACKGROUND OF THE INVENTION Installation of piles into a seabed is often required when installing wind turbines. The foundation of wind turbines usually comprises a monopile which is driven into the seabed at an installation location.

The installation of the piles into the seabed is complex since the piles tend to fall over during installation and narrow installation tolerances are set on verticality. It becomes increasingly difficult with increasing pile dimensions. Currently 12 MegaWatt wind turbines are being developed. Even larger wind turbines are expected. Dimensions of the monopile foundation will increase accordingly, in particular the diameter and height of the pile.

When a monopile foundation is installed the pile is lifted vertically by a crane and positioned on the desired installation location on the seabed. By self-weight the pile will sink and penetrate itself partly into the soil. This is called self-weight penetration. The crane is subsequently disconnected and a hammer is put on top of the pile to drive the pile further into the ground until the predetermined penetration depth is reached, i.e. final penetration.

Between the self-weight penetration and the final penetration the monopile is not stable in a first phase. The monopile therefore needs to be held upright until it is driven far enough into the ground that the monopile remains stable by itself.

A pile guiding system provided on the vessel is often used to hold the pile.

As the pile extends above and below the sea water level the pile will experience the sea state at the installation location.

In particular the waves will cause the pile to move when the pile is not yet at its final, stable penetration depth.

The pile tends to pivot about its bottom end which is positioned in the seabed.

Said movements are taken up by the pile guiding system and subsequently transferred to the vessel.

These loads can be large, hence the connection between the pile guiding system and the vessel has to be strong.

Said strength requirement results in heavy structures.

With increasing pile dimensions the loads increase accordingly, in particular quadratically, resulting in even heavier structures.

Traditionally monopiles are installed using jack-up vessels which are standing on the seabed and can hold the pile without being pushed from position.

However, there is a growing desire to install wind turbines using a floating vessel.

A floating vessel tends to be faster.

A floating vessel can install piles in greater water depths.

A floating vessel is not limited by seabed soil conditions, because the jack-up vessel stands on the seabed.

A disadvantage of floating vessels compared to jack-up vessels is that floating vessels are more prone to the sea state than jacked-up vessels.

Wind, wave and current forces act on the floating vessel, thereby pushing the vessel from position.

A positioning system is meant to keep the vessel at a predetermined position.

In addition, when the pile is held by a floating vessel, horizontal forces exerted on the pile will also act on the vessel, pushing the floating vessel from position.

This needs to be counteracted by the positioning system.

The pile will push with increasing force on the floating vessel when a pivot angle, or the inclination of the pile increases.

The floating vessel therefore has to provide an increasing restoring force on the pile in order to pivot the pile back to its predetermined, desired orientation.

This is usually a vertical orientation.

Beyond a certain pivot angle the force of the pile on the vessel will become so large that the floating vessel is unable to provide the required force for pivoting the pile back to said desired orientation.

Instead, or in addition to a pivoting movement of the pile, the floating vessel itself may, due to wave loads, move from its desired position while holding the pile.

As the floating vessel is holding the pile, the pile will pivot together with the movement of the floating vessel.

Moving the floating vessel back to its desired position therefore becomes increasingly difficult, because of the force the pile in turn exerts on the floating vessel.

OBJECT OF THE INVENTION It is an object of the invention to provide an improved method of installing a pile in a seabed.

It is an object of the invention to provide an improved method of installing a pile in a seabed using a floating vessel.

It is an object of the invention to provide a more versatile pile guiding system configured to be provided on a vessel.

It is an object of the invention to provide a more effective pile guiding system which is suitable for increasing pile dimensions.

SUMMARY OF THE INVENTION In order to achieve at least one object in a first aspect of the invention an assembly is provided for installing a pile in a seabed, the assembly comprising: - avessel comprising: o a positioning system for keeping the vessel at an installation location relative to the seabed, the positioning system having a positioning stiffness, - a pile guiding system configured to guide the pile during installation thereof, the pile guiding system comprising: o a base provided on the vessel, o a first guiding device connected to the base, the first guiding device being configured to accommodate the pile during installation thereof, o aresilient member for providing a resilient connection between the vessel and the pile during installation thereof for allowing relative motions between the pile and the vessel, the resilient member having a connection stiffness, wherein the resilient member is configured and intended to keep a natural period of a pivoting movement of the pile about the seabed caused by waves during installation thereof longer than a dominant wave period of a wave spectrum at the installation location by providing the resilient connection with a low connection stiffness.

The invention also relates to the pile guiding system itself.

The connection stiffness has to be low enough to keep the natural period of a pivoting movement of the pile about the seabed longer than the dominant wave period.

The resilient member provides a resilient, or flexible connection between the pile and the vessel. The resilient connection allows for motions of the pile introduced by first order waves. As a result of the resilient connection the loads on the pile guiding system, in particular on the connection between the first guiding device and the vessel are lower compared to a more rigid connection. This effect becomes increasingly relevant for increasing pile dimensions.

In an embodiment of the assembly or the pile guiding system, the resilient member is configured and intended to keep said natural period longer than 1.5 times the dominant wave period of the wave spectrum at the installation location.

In an embodiment of the assembly or the pile guiding system, the connection stiffness is low enough to keep the natural period of the pivoting movement of the pile longer than the dominant wave period, and high enough to provide stability to the pile.

In an embodiment of the assembly or the pile guiding system, the resilient member is provided between the base and the first guiding device and/or between the vessel and the base, and/or wherein the resilient member is provided on the first guiding device for providing the resilient connection between the first guiding device and the pile.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises a first actuator for moving the first guiding device relative to the base in a first direction.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises a second actuator for moving the first guiding device relative to the base in a second direction, the second direction being perpendicular to the first direction.

In an embodiment of the assembly, the vessel is a floating vessel configured to float during installation of the pile.

In an embodiment of the assembly, the positioning system is a dynamic positioning system (hereafter. DP system) or a mooring system or a combination of both.

Assemblies or pile guiding systems of the prior art provide a more rigid connection 5 between the vessel and the pile. Floating vessels are held in position by a mooring or a DP system. When the pile is held by a floating vessel, horizontal forces exerted on the pile will also act on the floating vessel pushing it from position. It could happen that when the pile is held more rigidly the DP system becomes unstable. This DP instability is mitigated with the present invention because of the resilient connection the resilient member provides.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises a second guiding device located at a distance above or below the first guiding device, wherein the first and second guiding device define a guiding opening for accommodating the pile, wherein the first guiding device and the second guiding device are configured to engage an outer surface of the pile for holding the pile.

The distance between the first guiding device and second guiding device is at least one diameter as defined by the guiding opening, preferably at least two diameters.

The second guiding device is able to provide a restoring force when the floating vessel is drifting away from the installation location due to environmental loads and/or tilting of the pile. The tilting of the pile will push the floating vessel away. The second guiding device thus prevents the floating vessel from moving further. In essence the force required to restore the pile verticality does not have to be delivered only by the thrusters of for example the DP system. The second guiding device assists in keeping the floating vessel at the installation location In an embodiment of the assembly or the pile guiding system, the first guiding device and second guiding device are configured to together apply a moment about a horizontal axis to the pile for reorienting the pile from a non-aligned orientation to a predetermined, first orientation, the moment being applied by exerting a first force to the pile in a direction towards the predetermined, first orientation by the first guiding device, and by exerting a second force opposite to the first force to the pile via the second guiding device.

Pile guiding systems of the prior art usually interact with the DP system of the floating vessel by exerting, mainly horizontal, translational loads and substantially no rotational loads, i.e. moments. As a DP system is setup to counter horizontal forces and not rotational loads,

pile guiding systems of the prior art are generally required to be coupled with the DP system of the floating vessel.

In the present invention it was found that by applying a restoring moment instead of a restoring force, i.e. a translational loads, to the pile, there is no reaction force pushing the installation vessel from location. This allows for the pile guiding system to not have an interface with the DP system, because the DP system is not sensitive to the loads resulting from the moment applied to the pile. The moment is counteracted by the stability of the vessel.

In an embodiment of the assembly or the pile guiding system, the first guiding device and the second guiding device are configured to exert the respective first force and the second force horizontally on the pile.

In an embodiment of the assembly or the pile guiding system, a resilient member is provided on the second guiding device for providing a resilient connection between the second guiding device and the pile.

In an embodiment the assembly comprises a control unit which is coupled to the pile guiding system, wherein the control unit comprises a sensor for measuring the orientation of the pile during installation, wherein the control unit is configured to move the first guiding device towards the predetermined orientation when the sensor measures a non-alignment of the pile relative to said predetermined, first orientation.

In an embodiment of the assembly, the control unit comprises a sensor for measuring the rate of change of the non-alignment, wherein the control unit comprises a PID controller which actuates the pile guiding system to apply the moment to the pile based on the first orientation as setpoint.

In an embodiment of the assembly, the control unit is not coupled with the dynamic positioning system of the floating vessel.

In an embodiment of the assembly or the pile guiding system, the first guiding device and/or the second guiding device comprises a plurality of engaging members for engaging the pile during installation, wherein in particular the engaging members are placed at regular intervals around the circumference of the pile.

In an embodiment of the assembly or the pile guiding system, wherein the engaging members are connected to their corresponding guiding device via an engaging actuator for moving the engaging member inwardly and outwardly relative to a centre of the guiding opening between a first, outward position, wherein the engaging members do not engage the pile, and a second, inward position, wherein the engaging members engage the pile.

In an embodiment of the assembly or the pile guiding system, the engaging member comprises the resilient member for providing a resilient pile connection between the pile and the respective guiding device. This provides a simple construction.

In an embodiment of the assembly or the pile guiding system, each engaging member comprises a roller.

The roller may be the resilient member. This embodiment is particularly simple and cost effective.

In an embodiment of the assembly or the pile guiding system, a stiffness of the resilient member is adjustable via an adjusting member, wherein the adjusting member is configured to decrease the stiffness to a lower stiffness during a downward moving of the pile into the seabed as the stiffness of the soil increases.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises an opening member for opening and closing the guiding opening, the opening member being movable between an open position for positioning the pile in the guiding opening, and a closed position wherein the pile is enclosed by the pile guiding system. This way, the pile can be positioned inside the pile guiding system, and also the vessel can move towards and away from the pile when the opening member is in the open position.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises a shielding member for limiting wave loads on the pile by shielding the pile from waves.

Also the shielding tends to act as a barrier for the shock waves or sound generated during pile driving.

In an embodiment of the assembly or the pile guiding system, the shielding member comprises a shielding wall surrounding the first guiding device and/or second guiding device.

In an embodiment of the assembly or the pile guiding system, the shielding wall is closed, and wherein at a lower end of the shielding wall a bubble generating unit is provided, the bubble unit being provided inside an inner volume defined by the shielding wall and around the guiding opening, the bubble generating unit being configured to form a bubble screen around the guiding opening. The bubble screen reduces noise during installation, in particular during pile driving.

Where a bubble screen, when unshielded, will drift off an require a relatively large amount of air, when shielded, the bubble screen will require less volume air to be umped.

In an embodiment of the assembly or the pile guiding system, a plurality of through holes are provided in the shielding wall. This way, water can flow in and out the inner volume defined by the shielding member.

In an embodiment of the assembly or the pile guiding system, the guiding opening of the pile guiding system extends beyond a contour of the floating vessel in top view.

In an embodiment of the assembly, the vessel is a jack-up vessel configured to be jacked-up above a waterline during installation of the pile, the positioning stiffness being substantially infinite.

In an embodiment of the assembly or the pile guiding system, the second guiding device is movable relative to the first guiding device in the first direction via a third actuator and/or in the second direction via a fourth actuator. This embodiment provides versatility to the assembly or pile guiding system.

In an embodiment of the assembly or the pile guiding system, the second guiding device is rigidly connected to the floating vessel or the base. This embodiment provides a simple construction.

In an embodiment of the assembly or the pile guiding system, the pile guiding system comprises a main frame, wherein the first guiding device and second guiding device are connected to each other via the main frame, and wherein the first guiding device and second guiding device are connected to the base frame via the main frame, wherein the main frame is freely movable relative to the base frame in the first direction and/or the second direction.

In an embodiment of the assembly or the pile guiding system, the main frame is connected to the base frame via an intermediate frame, wherein the main frame is connected to the intermediate frame via a first intermediate actuator and/or a second intermediate actuator, wherein the main frame is rotatable relative to the intermediate frame about a first axis by the first intermediate actuator and/or a second axis by the second intermediate actuator.

In an embodiment of the assembly or the pile guiding system, the first direction defines the first axis, and wherein the second direction defines the second axis, and wherein the first direction and second direction are horizontal or substantially horizontal.

In an embodiment of the assembly or the pile guiding system, the first intermediate actuator and the second intermediate actuator extend upwards from the intermediate frame towards the main frame.

In an embodiment of the assembly or the pile guiding system, the first intermediate actuator comprises a first resilient member, and wherein the second intermediate actuator comprises a second resilient member.

In an embodiment of the assembly or the pile guiding system, the pile guiding system is configured to apply the moment to the pile by rotating the main frame about the first axis with the first intermediate actuator and/or the second axis with the second intermediate actuator.

The upward orientation of the first and second intermediate actuator allow the forces that constitute the moment to be applied upwards, or vertically. The first guiding device and second guiding device thereby exert the first force and second force substantially horizontally on the pile. The upward, or vertical application of the forces by the first and second intermediate actuator allow a further decoupling between the pile guiding system and the DP system, because the vessel compensates vertical loads easier than horizontal loads.

In an embodiment the assembly or the pile guiding system comprises a dampening member for dampening the motions between the pile and the vessel.

In an embodiment of the assembly or the pile guiding system, the pile guiding system extends above the deck of the floating vessel and/or below a keel of the floating vessel.

The first aspect of the invention also relates to a method for installing a pile with a vessel, the method comprising the steps: a) providing an assembly according to any one of the preceding assembly claims at an installation location, b) positioning the pile in an upright orientation in the pile guiding system, c) lowering the pile to the sea bed, d) installing the pile into the seabed, wherein the natural period of the pivoting moment of the pile during a phase of installation in which the pile has not reached a self-stabilizing penetration depth is kept longer than the dominant wave period at the installation location by the pile guiding system.

In an embodiment of the method, the natural period of the pivoting movement of the pile during installation is kept longer than the dominant wave period at the installation location by adjusting the connection stiffness of the resilient member.

In an embodiment of the method, the natural period of the pivoting moment of the pile is brought from a natural period higher than the dominant wave period to a natural period lower than the dominant wave period when the pile has reached a predetermined penetration depth.

In an embodiment of the method, a dampening member is used for dampening the pile motions, and/or wherein negative stiffness is provided for achieving a natural period lower than the dominant wave period.

In a second aspect the invention provides a method of installing a pile into a seabed with a floating vessel, the method comprising the steps: a) providing the floating vessel and a pile guiding system connected to said floating vessel via a base frame at an installation location, wherein the pile guiding system comprises a guiding opening for accommodating the pile during pile installation, b) positioning the pile in the guiding opening of the pile guiding system, c) lowering the pile to the sea bed, d) fixing a bottom end of the pile to the seabed in a horizontal direction, e) moving the pile downwards into the seabed in a predetermined, first orientation, in particular a vertical orientation, by exerting a downward force on the pile wherein at least during step e) or after step d) when the pile becomes non-aligned with the predetermined first orientation, the pile is reoriented from a second non-aligned orientation back to the predetermined first orientation by applying a moment about a horizontal axis on the pile with the pile guiding system.

By applying a restoring moment instead of a restoring force, the reaction force is not pushing the floating vessel from position.

In an embodiment of the method, the guiding system comprises a first guiding device and a second guiding device located at a distance above or below the first guiding device, wherein the first and second guiding device define the guiding opening, wherein the first guiding device and the second guiding device are configured to engage an outer surface of the pile for holding the pile, wherein the moment is applied to the pile by exerting a first force to the pile via the first guiding device in a direction towards the first orientation, and exerting a second force opposite to the first force to the pile via the second guiding device, wherein the first force and the second force together constitute the moment.

In an embodiment of the method, the first force and the second force act horizontally on the pile.

In an embodiment of the method, a pile connection between the pile guiding system and the pile and/or a vessel connection between the pile guiding system and the floating vessel comprises one or more resilient members for allowing relative motions between the pile and the floating vessel.

In an embodiment of the method, the first guiding device is connected to the base frame and movable relative to the base frame via a first actuator in a first direction and/or a second actuator in a perpendicular, second direction, wherein during step e) or after step d) the first actuator and/or the second actuator are configured to keep the first guiding device substantially stationary relative to the installation location in a plane defined by the first direction and the second direction while moving the first guiding device relative to the floating vessel In an embodiment of the method, the first guiding device is configured to apply a predetermined force on the pile, wherein the magnitude of the predetermined force is based on the deviation of the pile from the predetermined first orientation.

In an embodiment of the method, the second guiding device is rigidly connected to the floating vessel, wherein during the reorientation the first guiding device is configured to apply the first force to the pile and the second guiding device exerts the second force on the pile.

In an embodiment of the method, the second guiding device is movable relative to the first guiding device via a third actuator and/or a fourth actuator in the first direction and/or second direction, respectively, wherein during the reorientation the second guiding device moves in the opposite direction of the first guiding device.

In an embodiment of the method, a control unit is provided which is coupled to the pile guiding system, wherein the control unit comprises a sensor for measuring the orientation of the pile during installation, wherein when during step €) or after step d) the sensor measures a non-alignment of the pile with the predetermined first orientation the control unit actuates the pile guiding system to apply the moment to the pile.

In an embodiment of the method, the control unit comprises a sensor for measuring the rate of change of the non-alignment, wherein the control unit comprises a PID controller which actuates the pile guiding system to apply the moment to the pile based on the first orientation as set point.

In an embodiment of the method, the first force is exerted on the pile by moving the first guiding device relative to the base frame by the first actuator and/or second actuator in the direction of the predetermined, first orientation.

In an embodiment of the method, the first orientation is a vertical orientation or a substantially vertical orientation.

In an embodiment of the method, the pile guiding system comprises an opening member for opening and closing the guiding opening, the opening member being movable between an open position for positioning the pile in the guiding opening, and a closed position for enclosing the pile when the pile is positioned in the guiding opening, wherein prior to step b) the opening member is in the open position, and wherein after step d) the opening member is in the closed position.

In an embodiment of the method, the floating vessel comprises a positioning system configured to keep the floating vessel within a predetermined area, wherein the first guiding device is movable relative to the floating vessel over the predetermined area via the first actuator and/or the second actuator. In an embodiment of the method, the positioning system is a dynamic positioning system. In an embodiment of the method, the positioning system is a spread mooring system. In an embodiment of the method, during step d) the bottom end of the pile is fixed in the horizontal direction by allowing the bottom end of the pile to penetrate the sea bed by using self-weight of the pile or by positioning the bottom end of the pile in a retaining device, the retaining device being located on the seabed at the installation location and configured to prevent horizontal movements of the bottom end of the pile.

In an embodiment of the method, the guiding opening of the pile guiding system extends beyond a contour of the floating vessel in top view.

In an embodiment of the method, the first guiding device and/or the second guiding device comprises a plurality of engaging members for engaging the pile during installation, wherein in particular the engaging members are placed at regular intervals around the circumference of the pile during step e).

In an embodiment of the method, the engaging members are connected to the corresponding guiding device via an engaging actuator for moving the engaging member inwardly and outwardly relative to a centre of the guiding opening between a first position, wherein the engaging members do not engage the pile, and a second position, wherein the engaging members engage the pile.

In an embodiment of the method, the engaging member comprises the resilient member for providing the resilient pile connection between the pile and the respective guiding device.

In an embodiment of the method, each engaging member comprises a roller.

In an embodiment of the method, a stiffness of the resilient member is adjustable via an adjusting member, wherein the adjusting member decreases the stiffness to a lower stiffness during the downward moving of the pile into the seabed when the stiffness of the soil increases.

In an embodiment of the method, the first guiding device and the second guiding device are connected to each other via a main frame, wherein the main frame is connected to the base frame and freely movable relative to said base frame in a first direction and/or a transverse, second direction.

In an embodiment of the method, the main frame is connected to the base frame via an intermediate frame, wherein the main frame is connected to the intermediate frame via a first intermediate actuator and/or a second intermediate actuator, wherein the main frame is rotatable relative to the intermediate frame about a first axis by the first intermediate actuator and/or a transverse, second axis by the second intermediate actuator, wherein during step e) or after step d) the first intermediate actuator and/or the second intermediate actuator are configured to keep the main frame substantially stationary relative to the pile while moving the main frame relative to the floating vessel. In an embodiment of the method, the first direction defines the first axis, and wherein the second direction defines the second axis. In an embodiment of the method, the pile guiding system is configured to apply the moment to the pile by rotating the main frame about the first axis with the first intermediate actuator and/or the second axis with the second intermediate actuator. In an embodiment of the method, step b) is performed by an on board crane provided on the floating vessel. In an embodiment of the method, step b) is performed by an upending device for upending the pile from a substantially horizontal orientation on deck to the upright orientation. In an embodiment of the method, the pile guiding system extends above the deck of the floating vessel and/or below a keel of the floating vessel.

In an embodiment of the method, step e) is performed by a hammering tool. In a third aspect of the invention a pile guiding system is provided configured to be connected to a floating vessel and configured to assist in keeping the floating vessel at an installation location during installation of a pile into a seabed at the installation location, wherein the pile guiding system comprises: - a base via which the pile guiding system is configured to be connected to the vessel,

- afirst guiding device connected to the base, the first guiding device being configured to hold the pile during installation thereof, wherein the first guiding device is movable relative to the base in a horizontal plane and configured to be kept substantially stationary relative to the installation location during installation of the pile, - afirst actuator and a second actuator connected to the first guiding device for moving the first guiding device relative to the base in the horizontal plane for keeping the first guiding device substantially stationary relative to the installation location during installation of the pile, - a second guiding device located at a distance above or below the first guiding device, the second guiding device being connected to the floating vessel or to the base, wherein the second guiding device comprises a resilient member for providing a resilient connection between the pile and the second guiding device during installation thereof, wherein the first and second guiding device define a guiding opening for accommodating the pile, wherein the first guiding device is movable relative to the second guiding device in the horizontal plane.

In an embodiment of the pile guiding system, the first guiding device is configured to rigidly hold the pile.

In an embodiment of the pile guiding system, the second guiding device is substantially rigidly connected to the floating vessel or to the base and configured to remain stationary relative to the vessel or to the base.

The third aspect further relates to a method for assisting to keep a floating vessel at an installation location during installation of a pile into a seabed at the installation location, the method comprising the steps: a) providing the floating vessel and a pile guiding system according to any one of claims 70-72 connected to said floating vessel via the base frame at the installation location, b) positioning the pile in the guiding opening of the pile guiding system, c) lowering the pile to the sea bed, d) fixing a bottom end of the pile to the seabed in a horizontal direction, e) keeping the first guiding device substantially stationary relative to the installation location,

wherein when the vessel moves away from the installation location, in particular due to environmental forces and/or the forces exerted on the first guiding device by the pile, the second guiding device assists in moving the floating vessel back to the installation location by a force induced by the pile on the second guiding device in a direction towards the installation location.

These and other aspects of the invention will be more readily appreciated as the same becomes better understood by reference to the following detailed description and considered in connection with the accompanying drawings in which like reference symbols designate like parts.

BRIEF DESCRIPTION OF THE FIGURES Figure 1 schematically shows a perspective view of an embodiment of an assembly according to a first aspect of the invention.

Figure 2 schematically shows a perspective view of the assembly of figure 1 in a second position.

Figures 3-17 schematically show perspective views of an embodiment of an assembly and a method according to a first, second and third aspect of the invention.

Figures 18 and 19 schematically show perspective views of an embodiment of a guiding device.

Figures 20 and 21 schematically show in perspective views an embodiment of the pile guiding system according to the invention.

Figures 22 and 23 schematically show perspective views of another embodiment of an assembly according to the invention.

Figures 24 and 25 schematically show perspective views of the embodiment of a pile guiding system as shown in figures 22 and 23, in particular with a shielding member.

Figures 26 — 29 schematically show perspective views of yet another embodiment of an assembly, a pile guiding system, and a method according to the invention.

Figure 30 schematically shows a perspective view of another embodiment of an assembly according to the invention, in particular with a spread mooring system.

Figure 31 schematically shows a perspective view of another embodiment of an assembly according to the invention, in particular with a jack-up vessel.

Figure 32 schematically shows an embodiment of a method according to the invention.

Figure 33 schematically shows an embodiment of another embodiment of a method according to the invention.

Figure 34 schematically shows a method for moving a pile to its predetermined, first orientation.

Figure 35 schematically shows an embodiment of a method according to the invention for keeping a vessel at an installation location during installation of a pile.

Figure 36 schematically shows a graph of a wave spectrum at an installation location.

Figure 37 schematically shows a mass-spring system resembling an embodiment according to an assembly as shown in figures 1 and 2.

Figure 38 schematically shows a mass-spring system resembling an embodiment of an assembly according to the invention.

DETAILED DESCRIPTION OF THE FIGURES.

Turning to figures 1 and 2, an embodiment of an assembly 1 for installing a pile 2 in a seabed 3 according to a first aspect of the invention is shown. The assembly 1 comprises a floating vessel 23 with a positioning system for keeping the vessel 4 at an installation location 6 relative to the seabed 3 (see figures 32-35). The floating vessel 23 in the shown embodiment is a semi-submersible vessel 4. The positioning system has a positioning stiffness defined between the installation location 6 and the vessel 4.

The positioning system can be a dynamic positioning system, wherein the floating vessel 23 is kept at the installation location 6 using a control system activating thrusters provided below the vessel 4. For a dynamic positioning system the positioning stiffness is usually programmed in the control system, wherein the thrusters provide increasing thrust when the vessel 4 moves, or drifts, further away from the installation location.

The positioning system may also be a spread mooring system 25 deployed by a floating vessel 23, wherein the positioning stiffness is defined by the tension in the mooring lines. See figure 30 for an assembly 1 with a spread mooring system 25.

In case a jack-up vessel 61 is used, the positioning stiffness is substantially infinite, because the vessel 4 is standing on the seabed 3 with jack-up legs during installation. See figure 31 for an assembly 1 with a jack-up vessel 61, wherein the complete hull of the jack-up vessel 61 is above a not shown waterline 62.

The pile guiding system 8 extends above the deck 85 of the vessel 4 and/or below a keel 86 of the vessel 4. See for example figure 31, wherein the shielding wall 55 of the pile guiding system 8 extends below a keel 86 of the jack-up vessel 61, and wherein the first guiding device 10 extends above the deck 85.

The assembly 1 further comprises a pile guiding system 8 configured to guide the pile 2 during installation thereof. The pile guiding system 8 itself is also part of the invention. The pile guiding system 8 comprises a base 9 provided on the vessel 4. A first guiding device 10 is connected to the base 9. The first guiding device 10 is configured to accommodate the pile 2 during installation thereof.

A resilient member 11 provides a resilient connection between the vessel 4 and the pile 2 during installation thereof. The resilient connection allows relative motions between the pile 2 and the vessel 4. The resilient member 11 has a connection stiffness.

The first guiding device 10 comprises the resilient member 11 for providing the resilient connection between the first guiding device 10 and the pile 2. The resilient member 11 may also, or instead be provided between the base 9 and the first guiding device 10 and/or between the vessel 4 and the base 9.

Figure 37 is a schematic depiction of the assembly 1 of figures 1 and 2. The vessel 4 can be seen as connected to the installation location 6 via a positioning system 5 having a positioning stiffness 7. The positioning system 5 can be for example a DP system, a mooring system, or a jack-up system. For the jack-up system the positioning stiffness 7 will be substantially infinite. The pile 2 is connected to the vessel 4 via the pile guiding system 8, in particular via the first guiding device 10. The resilient member 11 in this embodiment is provided between the first guiding device and the vessel, and between the first guiding device and the pile. The pile 2 is presented as an inverted pendulum and can move as such until it has reached a sufficiently deep penetration depth. A dampening member 73 may also be provided in the assembly 1 or pile guiding system 8 to dampen the pile motions between the vessel and the pile 2.

The resilient member 11 is configured and intended to keep a natural period 205 of a pivoting movement 15 of the pile 2 about the seabed 3 caused by waves during installation thereof longer than a dominant wave period 203 of a wave spectrum 200 at the installation location 6 by providing the resilient connection with a low connection stiffness.

This is further explained with respect to the graph as shown in figure 36, wherein a wave spectrum 200 is shown for a chosen installation location 6. The horizontal axis 201 shows the occurring wave periods. The vertical axis 202 shows the spectral density. The peak associated with line 203 shows the dominant, or governing wave period 203 at the installation location 6. The pivoting of the pile 2 tends to be dictated by the waves in the period of said dominant wave period 203. When a natural period 205 of the pivoting movement 15 of the pile 2 coincides with the dominant wave period 203 this can lead to resonance of the pile 2 motions. The dominant wave period 203 depends on the exact installation location, but tends to be in the range of 6-10 seconds during installation. The pile may thus resonate because of the dominant wave period 203. This is to be avoided. Assemblies or pile guiding systems of the prior art avoid resonance by keeping the natural period 204 of the pile motions lower than the dominant wave period 203. This is achieved by providing a substantially stiff or rigid connection between the pile and the vessel. A disadvantage is that the loads between the pile guiding system and the vessel because of the first order wave forces become large, resulting in a heavy construction. In the present invention it was recognized that providing a resilient connection between pile and vessel allows the natural period 205 of the pile motions to move away from the dominant wave period 203. This way, the pile is allowed to move relative to the vessel, or the pile guiding system, reducing the loads on the pile guiding system.

The pivoting, or oscillating movement of the pile 2 about the seabed 3 is mainly induced by the first order waves at the installation location. The forces on the pile guiding system 8 related to the pivoting movement 15 of the pile 2 can become considerable.

Currently available pile guiding systems solve the problem of the pivoting pile 2 by holding the pile 2 in a stiff manner, i.e. substantially no resilience in the connection between the vessel 4 and the pile 2. This can be beneficial, because the pivoting motions of the pile 2 are kept minimal and no resonance of the pile 2 occurs. Pile stability can be provided by the positioning system. However, a disadvantage of the stiff connection is that the pile guiding system experiences high loads. The high loads have to be taken up by the pile guiding system, resulting in a heavy and cumbersome construction. With increasing pile dimensions, the loads will become higher resulting in even heavier and more cumbersome constructions.

Whereas for the currently available pile guiding systems the natural period 205 of the pivoting movement 15 of the pile 2 is kept lower than the dominant wave period 203 at the installation location, the present invention is based on the insight that the natural period 205 of the pivoting can be kept longer than the dominant wave period 203 by providing a resilient connection between the pile 2 and the vessel 4, wherein the resilient connection has a low stiffness. When the natural period 205 of the pivoting movement 15 of the pile 2 is kept longer than the dominant wave period 203, resonance is prevented. The pile guiding system 8 with a resilient pile 2-vessel 4 connection will experience lower loads compared to the currently available pile guiding system 8 with stiff pile 2-vessel 4 connections. An advantage is that the pile guiding system 8 according to the invention can have a less heavy and less cumbersome construction. With increasing pile dimensions, this positive effect becomes more prominent.

Hence, the resilient member 11 is able to prevent resonance of the pile 2 motions while limiting said pile 2 motions at the same time.

The resilient member 11 is configured and intended to keep said natural period 205 longer than 1.5 times the dominant wave period 203 of the wave spectrum 200 at the installation location.

The connection stiffness is low enough to keep the natural period 205 of the pivoting movement of the pile 2 longer than the dominant wave period 203, and high enough to provide stability to the pile 2.

The pile guiding system 8 comprises a first actuator 19 for moving the first guiding device 10 relative to the base 9 in a first direction 20.

The pile guiding system 8 comprises a second actuator 21 for moving the first guiding device 10 relative to the base 9 in a second direction 22, the second direction 22 being perpendicular to the first direction 20. See for example figure 9B or figure 10B.

The vessel 4 is a floating vessel 23 configured to float during installation of the pile 2.

The pile 2 is intended to be installed in a predetermined, first orientation 33 (figure 1). This usually is a vertical orientation, but may also be a slightly angled orientation. When the pile 2 during installation tilts to an orientation which is non-aligned with the predetermined, first orientation 33, the pile 2 has to be moved back to the predetermined, first orientation 33. Moving the pile 2 back from the non-aligned orientation 32 (figure 2) to the predetermined, first orientation 33 can be done by moving the first guiding device 10 relative to the base 9, or vessel 4. The first actuator 19 and the second actuator 21 may be used for moving the first guiding device 10 towards the predetermined, first orientation 33. The first guiding device 10 thereby exerts a first force 34 on the pile 2 in a direction 35 towards the predetermined orientation.

Moving the pile 2 back to the predetermined orientation 33 may also be done by moving the floating vessel 23 in a direction 35 towards the predetermined orientation. A combination of moving the first guiding device 10 and moving the floating vessel 23 is also possible.

Turning to figures 3 to 17, another embodiment of an assembly 1 according to the invention is shown together with a method according to the invention for installing a pile 2 at an installation location 6.

The assembly 1 comprises a pile guiding system 8 as described in relation to figure 1. In addition the pile guiding system 8 comprises a second guiding device 26 located at a distance 27 below the first guiding device 10. Providing the second guiding device 26 above the first guiding device 10 is also possible.

The distance 27 between the first guiding device and second guiding device is at least one diameter D1 as defined by the guiding opening, preferably at least two diameters D1. The distance 27 may also be defined in terms of pile diameters D2, wherein the distance 27 is at least one pile diameter D2, preferably at least two pile diameters D2, see figure 9B.

Figure 38 is a schematic depiction of the assembly 1 comprising a pile guiding system 8 with a first guiding device 10 and second guiding device 26. The second guiding device 26 is depicted as spring. The vessel 4 can be seen as connected to the installation location 6 via a positioning system 5 having a positioning stiffness 7. The positioning system 5 can be for example a DP system, a mooring system, or a jack-up system. For the jack-up system the positioning stiffness 7 will be substantially infinite. The pile 2 is connected to the vessel 4 via the pile guiding system 8, in particular via the first guiding device 10 and the second guiding device 26. The resilient member 11 in this embodiment is provided between the first guiding device and the vessel, between the first guiding device 10 and the pile and between the pile 2 and the vessel via the second guiding device 26. The pile 2 is presented as an inverted pendulum and can move as such until it has reached a sufficiently deep penetration depth. A dampening member 73 may also be provided in the assembly 1 or pile guiding system 8 to dampen the pile motions between the vessel and the pile 2.

The first and second guiding device 10, 26 define a guiding opening 28 for accommodating the pile 2. Said first and second guiding devices 10, 26 are configured to engage an outer surface 29 of the pile 2 for holding the pile 2.

The guiding opening 28 of the pile guiding system 8 extends beyond a contour 81 of the floating vessel 23 in top view, see for example the top view of figure 10B. The first guiding device 10 and second guiding device 26 are configured to together apply a moment 30 about a horizontal axis 31 to the pile 2 for reorienting the pile 2 from a non-aligned orientation 32 to a predetermined, first orientation 33. Said moment 30 is applied by exerting a first force 34 and a second force 36 to the pile 2. The first force 34 is exerted in a direction 35 towards the predetermined, first arientation 33 by the first guiding device 10. The second force 36 is exerted via the second guiding device 26. The direction of the second force 36 is opposite to the first force 34. This will be further explained in relation with figure

32. The first guiding device 10 and the second guiding device 26 exert the respective first force 34 and the second force 36 horizontally on the pile 2.

The second guiding device 26 may have a resilient member 11 for providing a resilient connection between the second guiding device 26 and the pile 2. The assembly 1 comprises a control unit (not shown) which is coupled to the pile guiding system 8. The control unit comprises a sensor for measuring the orientation of the pile 2 during installation. When the sensor measures a non-alignment of the pile 2 relative to said predetermined, first orientation 33 the control unit is configured to move the first guiding device 10 towards the predetermined orientation via the first 19 and/or second actuator 21. The control unit may comprise a sensor for measuring the rate of change of the non- alignment, wherein the control unit comprises a PID controller 48 which actuates the pile guiding system 8 to apply the moment 30 to the pile 2 based on the first orientation 33 as setpoint. The control unit may or may not be coupled with the dynamic positioning system of the floating vessel 23. The first guiding device 10 and/or the second guiding device 26 comprises a plurality of engaging members 41 for engaging the pile 2 during installation. In the shown embodiments there are four engaging members 41 per guiding device. A different amount of engaging members 41 is also possible.

The engaging members 41 are placed at regular intervals around the circumference of the pile 2, i.e. around the guiding opening 28.

The engaging members 41 are connected to their corresponding guiding device via an engaging actuator 43. The engaging members 41 are shown in figures 18 and 19 for the second guiding device 26. These may be similar for the first guiding device 10. The engaging actuator 43 moves the engaging member 41 inwardly and outwardly relative to a centre 44 of the guiding opening 28 between a first, outward position 45 (figure 9B), wherein the engaging members 41 do not engage the pile 2, and a second, inward position 46 (figure 9C), wherein the engaging members 41 engage the pile 2.

The engaging member 41 comprises the resilient member 11 for providing a resilient pile 2 connection between the pile 2 and the respective guiding device.

Each engaging member 41 comprises a roller 48. The roller 48 may be the resilient member 11.

The resilient member 11 may comprise a hydraulic cylinder, a pneumatic cylinder, and/or an electric actuator.

A stiffness of the resilient member 11 may be adjustable via an adjusting member 49. The adjusting member 49 is configured to decrease the stiffness to a lower stiffness during a downward 50 moving of the pile 2 into the seabed 3 as the stiffness of the soil increases.

Depending on the soil conditions the natural period 205 of the pivoting movement 15 of the pile 2 will generally decrease when the pile 2 penetrates deeper into the seabed 3. In a sense the pile 2 becomes stiffer. This added stiffness influences the total stiffness of the assembly 1. In order to prevent that the natural period 205 of the pivoting movement 15 of the pile 2 becomes too close to the dominant wave period 203, it may be required that the connection stiffness is decreased. This can be achieved by decreasing the stiffness of the resilient member 11.

The adjusting member 49 can for example be incorporated in the engaging actuator 43, wherein the engaging actuator 43 is configured to provide different levels of resilience.

The pile guiding system 8 comprises an opening member 51 for opening and closing the guiding opening 28. The opening member 51 is movable between an open position 52

(figure 20) and a closed position 53 (figure 21). The open position 52 allows a pile 2 to be positioned in the guiding opening 28, see figures 3 to 5. The open position 52 also allows the vessel 4 to move horizontally away from the pile 2, as shown in figure 17. The closed position 53 of the opening member 51 is for example shown in figure 6 for the first guiding device 10. For both the first and second guiding device 26 the closed position 53 is shown in for example figures 7-15. In the closed position 53 the pile 2 is enclosed by the pile guiding system 8.

The opening member 51 can be moved by opening actuators 88, as shown in figures 20 and 21. The opening member 51 comprises two arms 89 which can pivot about respective pivot axes between the open position 52 and closed position 53. The opening actuators 88 are connected to the arms 89 and the frame. Each arm 89 comprises an engaging member

41.

The second guiding device 26 may be movable relative to the first guiding device 10 in the first direction 20 via a third actuator (not shown) and/or in the second direction 22 via a fourth actuator 64. In figures 18 and 19 two fourth actuators 64 are shown for moving the second guiding device 26 toward and away from the vessel 4, i.e. in the second direction 22.

Figure 19 shows the second guiding device 26 in a position outward from the vessel 4 relative to the position of the second guiding device 26 as shown in figure 18. The fourth actuator 64 can be connected to a base 9 or to the vessel 4 itself.

The second guiding device 26 is movable independently from the first guiding device

10. Hence, the second guiding device 26 can move relative to the first guiding device 10.

In another embodiment the second guiding device 26 is rigidly connected to the floating vessel 23 or the base 9. This way, the second guiding device 26 remains stationary relative to the vessel 4.

Figures 22 to 25 show another embodiment of the assembly 1 and pile guiding system 8 according to the invention. The assembly 1 may comprise the same features as the assembly 1 and pile guiding system 8 of the previous figures. The embodiment as shown in figures 20-23 further comprises a shielding member 54 for limiting wave loads on the pile 2 by shielding the pile 2 from waves.

The shielding member 54 comprises a shielding wall 55 surrounding the second guiding device 26. The shielding member 54 may also surround the first guiding device 10.

The shielding wall 55 may be closed, i.e. no water can flow through the wall. It may also be possible to provide a plurality of through holes in the shielding wall 55.

At a lower end 56 of the shielding wall 55 a bubble generating unit is provided, see figure 23 wherein a part of the shielding wall 55 is removed to show the bubbles generated by the bubble unit. The bubble generating unit is provided inside an inner volume 58 defined by the shielding wall 55 and around the guiding opening 28, i.e. around the pile 2. The bubble generating unit forms a bubble screen 59 around the guiding opening 28. The bubble screen 59 helps to reduce noise during pile 2 driving. Noise reduction is beneficial, because often the time window for installing piles is limited to for example daylight because of noise regulations. After daylight the maximum allowed noise is lower. With the bubble screen it is possible to reduce installation noise to within the allowed noise after daylight, extending the workability.

Turning to figures 26-29 another embodiment of the assembly 1 and pile guiding system 8 according to the invention are shown. The assembly 1 comprises a vessel 4 and a pile guiding system 8. The vessel 4 shown in the figures is a floating vessel 23, in particular a semi-submersible vessel 4. A jack-up vessel 61 is also possible.

The pile guiding system 8 comprises a main frame 65. The first guiding device 10 and second guiding device 26 are connected to each other via the main frame 65. The first guiding device 10 and second guiding device 26 are connected to the base frame 9 via the main frame 65. The main frame 65 is freely movable relative to the base frame 9 in the first direction 20 and/or the second direction 22.

Freely movable means that no actuators are required to move the main frame 65 relative to the base frame 9. When the pile 2 moves relative to the vessel 4, the main frame 65 can be moved by the pile 2 such that the main frame 65 moves freely relative to the base frame 9 in at least one direction 20, 22.

The main frame 85 is connected to the base frame 9 via an intermediate frame 66.

The main frame 65 may also be freely movable relative to the intermediate frame 66. This way, the main frame 65 can freely move relative to the base frame 9 in at least two directions.

The first direction 20 defines a first axis 69 (figure 28B). The second direction 22 defines a second axis 70. The first direction 20 and second direction 22 are horizontal or substantially horizontal.

The main frame 65 is connected to the intermediate frame 66 via a first intermediate actuator 87 and/or a second intermediate actuator, one of which is shown in figure 28B. The other intermediate actuator is provided at a distance behind the shown first intermediate actuator 67. The first and second intermediate actuator are configured to rotate the main frame 65 relative to the intermediate frame 66 about a first axis 69 by the first intermediate actuator 67 and/or a second axis 70 by the second intermediate actuator.

When the first and second intermediate actuator both move from a retracted position to an extended position 90 as shown in figure 28B, or vice versa, the main frame 65 pivots about the first axis 69 parallel to the first direction 20. The main frame 65 pivots about a pivoting point 81 as shown in figure 28B. The pivoting point 91 could be a ball joint.

When the first intermediate actuator 67 moves relative to the second intermediate actuator the main frame 65 pivots about the second axis 70 (figure 29B). It is also possible to pivot the main frame 65 about another axis within the plane defined by the first axis 69 and second axis 70 by the first and second intermediate actuators. This can for example be achieved by a, in top view, triangular configuration between the first intermediate actuator 67, the second intermediate actuator and the pivoting point.

The first intermediate actuator 67 and the second intermediate actuator extend upwards, preferably vertically, from the intermediate frame 66 towards the main frame 65.

A resilient member 11 may be provided next to the first and/or second intermediate actuators, wherein the one or more resilient members 11 connect the main frame 65 to the intermediate frame 66 or base frame 9.

A resilient member 11 may instead or in addition be provided on the first and/or second guiding devices 10, 26, similar to the embodiments as shown in figures 1-25. A resilient roller may serve as resilient member 11.

The stiffness of the resilient members 11 may be chosen such that the natural period 205 of the pivoting movement 15 of the pile 2 remains longer than the dominant wave period

203.

The first intermediate actuator 67 may comprises a first resilient member 11 and the second intermediate actuator may comprises a second resilient member 11. The resilient function can be integrated in the actuators.

The upwardly or vertically extending intermediate actuators 67 and/or resilient members 11 result in an embodiment wherein the loads are taken up mainly vertically by the vessel 4. A vessel 4 can handle vertical loads better than horizontal loads. Horizontal loads have to be actively countered by thrusters of the vessel 4, whereas vertical loads can be countered by the buoyancy of the vessel 4.

The pile guiding system 8 is configured to apply the moment 30 to the pile 2 by rotating the main frame 65 about the first axis 69 with the first intermediate actuator 67 and/or the second axis 70 with the second intermediate actuator. This way the first guiding device 10 exerts a first force 34 on the pile 2 and the second guiding device 26 exerts the opposite, second force 36 on the pile 2.

In all embodiments a dampening member may be provided for dampening the motions between the pile 2 and the vessel 4. The dampening function may be integrated in one or more of the actuators.

The dampening member 73 is useful when during installation the pile reaches a penetration depth at which the pile become stable by itself, i.e. wherein the pile does not need to be held in order to remain standing upright. There comes a point during installation wherein the natural period of the pile motions will move from natural period 205 towards natural period 204, as indicated in figure 36 with arrow 206. That is because the behaviour of the pile will become stiffer with increasing penetration depth. The pile motions will have to go through the dominant wave period. In order to guide this process without incurring resonance the pile motions can be dampened by the dampening member. Providing negative stiffness for bringing the natural period 205 to natural period 204 is also possible The main frame 65 comprises an opening member 51 for opening and closing the guiding opening 28. The opening member 51 is in the form of a door which can pivot about a door pivot axis 92.

A counterweight 93 may be provided at an end 94 of the main frame 65. This may provide a restoring force for keeping the main frame 65 upright, thereby keeping the pile 2 upright. The counterweight is located at or near the intermediate actuators 67, at a distance from the pivoting point 91. The pile guiding system 8 as described in relation to figures 3-30 is also suitable to assist in keeping the floating vessel 23 at an installation location 6 during installation of a pile 2 into a seabed 3 at the installation location. The pile guiding system 8 comprises a base 9 via which the pile guiding system 8 is connected to the vessel 4. The first guiding device 10 connected to the base 9 and the first guiding device 10 is configured to hold the pile 2 during installation thereof. The first guiding device 10 is movable relative to the base 9 in a horizontal plane and configured to be kept substantially stationary relative to the installation location 6 during installation of the pile 2. A first actuator 19 and a second actuator 21 connected to the first guiding device 10 can move the first guiding device 10 relative to the base 9 in the horizontal plane for keeping the first guiding device 10 substantially stationary relative to the installation location 6 during installation of the pile 2. A second guiding device 26 is provided and located at a distance 27 below the first guiding device 10. The second guiding device 26 may instead be located above the first guiding device 10. The second guiding device 28 is connected to the floating vessel 23 or to the base 9. The second guiding device 26 is an effective add-on to existing pile guiding systems which have only the first guiding device 10, because the second guiding device 26 provides an anchoring effect between the seabed 3 and the vessel 4 via the pile 2 when the vessel 4 moves away from the installation location. The anchoring effect reduces the power required by the dynamic positioning system or spread mooring positioning system for keeping the floating vessel 23 at the installation location.

The second guiding device 26 comprises a resilient member 11 for providing a resilient connection between the pile 2 and the second guiding device 26 during installation thereof. The first guiding device 10 is movable relative to the second guiding device 26 in the horizontal plane.

The first guiding device 10 may be configured to rigidly hold the pile 2 while moving relative to the vessel 4, or base 9.

The second guiding device 26 is substantially rigidly connected to the floating vessel 23 orto the base 9 and configured to remain stationary relative to the vessel 4 or to the base

9. When the vessel 4 moves away from position, the second guiding device 26 will engage the pile 2. The vessel 4 thus pushes the pile 2 via the second guiding device 26 with the previously described second force 36. Because the first guiding device 10 remains stationary relative to the installation location, the pushed pile 2 experiences a first force 34 exerted by the first guiding device 10, which is similar to the first force 34 as previously described. The combination of the first guiding device 10 and the second guiding device 26 thus helps in preventing the vessel 4 from moving away. This will work when the bottom end of the pile 2 is horizontally fixed and increases with increasing penetration depth of the pile 2 into the seabed 3. Operation The assembly 1 and the pile guiding system 8 according to the invention comprising a first guiding device 10 and a second guiding device 26 have multiple applications.

A first application relates to a method wherein the pile guiding system 8 comprises a resilient member 11 for keeping the natural period 205 of the pivoting moment 30 of the pile 2 longer than the dominant wave period 203 at the installation location.

The method comprising the steps of providing an assembly 1 according to the invention at an installation location. The method comprises positioning the pile 2 in an upright orientation 74 in the pile guiding system 8, as shown in figures 3 and 4. A lifting tool 94 is connected to the pile 2 and a crane 82 lifts and positions the pile 2 in the pile guiding system

8. The opening members 51 are in the open position 52 so that the pile 2 can be positioned in the guiding opening 28 defined by the first and second guiding devices 10, 26.

A next step is lowering the pile 2 to the sea bed, as shown from figure 4 to figure 5.

The opening member 51 is still in the open position 52. It is also possible to lower the pile 2 to the seabed 3 with the opening member 51 in the closed position 53.

Next the pile 2 is installed into the seabed 3, sea figures 13 and 14. The opening members 51 are in the closed position 53. A pile driving tool 87, e.g. a hammer, is attached to a top of the pile 2 via a crane 82. The pile driving tool 87 drives the pile 2 into the seabed 3 to a target depth.

When the pile 2 has reached its target depth, the pile 2 driving tool is removed from the top of the pile 2. Figures 15 to 17 show the next steps of removing the pile driving tool and moving the opening members 51 to the open position 52 and moving the vessel 4 away from the installed pile 2 (figure 17B).

The natural period 205 of the pivoting moment 30 of the pile 2 during installation is kept longer than the dominant wave period 203 at the installation location 6 by the pile guiding system 8.

During installation of the pile 2 the natural period 205 of the pivoting movement 15 of the pile 2 during installation is kept longer than the dominant wave period 203 at the installation location 6 by adjusting the connection stiffness of the resilient member 11. This is shown in figures 9 to 12, wherein the pile 2 pivots relative to the vessel 4.

The second guiding device 26 in the figures 9 to 12 is rigidly connected to the vessel

4. Hence, the second guiding device 26 remains stationary. The second guiding device 26 comprises resilient members 11 for keeping the natural period 205 of the pivoting movement 15 of the pile 2 longer than the dominant wave period 203. For the method it is also possible that the second guiding device 26 is movable relative to the vessel 4 and/or relative to the first guiding device 10.

In figure 9 the pile 2 is in a substantially vertical position. This is the desired and predetermined, first orientation 33 in which orientation the pile 2 is to be installed. The engaging members 41 are moved from a non-engaging position (figure 9B) to an engaging position (figure 9C) wherein the engaging member 41 engage the pile 2.

Figure 10 shows the pile 2 in a pivoted position, i.e. non-aligned position 32. The first guiding device 10 has moved in the first direction 20.1 relative to the base 9. Figure 10B shows the two resilient members 11 in the form of first actuators 19 between the base 9 and the first guiding device 10 being moved inwardly and outwardly by the pressure of the pile 2, respectively. The resilient members 11 provided in the engaging member 41 are moved inward. The diametrically opposing engaging members 41 may be idle at this point. They do not have to contact the pile 2 as shown in figure 10B.

Figure 11 shows a pivoting movement 15 of the pile 2 in a direction 20.2 opposite to the direction 20.1 in Figure 10B.

Figure 12 shows the pile 2 being pivoted away from the vessel 4. The second actuators 21, and/or resilient members 11, between the intermediate frame 66 and the first guiding device 10 allow the first guiding device 10 to move outwardly together with the pile 2.

The resilient member 11 allows relative motions between the pile 2 and the pile guiding system 8, as shown in figures 9-12. This leads to lower loads on the vessel 4 compared to a pile guiding system 8 according to the prior art in which the pile 2 is more rigidly held.

The pile guiding systems 8 as described in relation to figures 22-25 and figures 26-29 are also suitable to perform the above described method. A positioning system can be a dynamic positioning system, a spread mooring system 25, or a jack-up system 95.

A second application relates to a method of installing a pile 2 into a seabed 3 with a floating vessel 23, wherein a moment 30 is applied to the pile 2 for reorienting a pile 2 from a non-aligned orientation 32 to a predetermined orientation.

The method comprises the steps: a) providing the floating vessel 23 and a pile guiding system 8 connected to said floating vessel 23 via a base frame 9 at an installation location, wherein the pile guiding system 8 comprises a guiding opening 28 for accommodating the pile 2 during pile installation, b) positioning the pile 2 in the guiding opening 28 of the pile guiding system 8, see figures 3 and 4, c) lowering the pile 2 to the sea bed, see figure 5, d) fixing a bottom end of the pile 2 to the seabed 3 in a horizontal direction (not shown), e) moving the pile 2 downwards into the seabed 3 in a predetermined, first orientation 33, in particular a vertical orientation, by exerting a downward force on the pile 2, see figures 13 and 14,

When during at least step e) or after step d) the pile 2 becomes non-aligned with the predetermined first orientation 33, the pile 2 is reoriented from a second non-aligned orientation 32 back to the predetermined first orientation 33 by applying a moment 30 about a horizontal axis 31 on the pile 2 with the pile guiding system 8.

For the installation of wind turbines the first orientation 33 will generally be a vertical orientation, or a substantially vertical orientation.

Step b) can be performed by an on board crane 82 provided on the floating vessel 23.

Step b) can also be performed by an upending device (not shown) for upending the pile 2 from a substantially horizontal orientation on deck 85 to the upright orientation 74.

Step e) can be performed by a hammering tool 87, for example a vibrating hammering tool 87. Other known tools are also possible.

During step d) the bottom end of the pile 2 can be fixed in the horizontal direction by allowing the bottom end of the pile 2 to penetrate the sea bed by using self-weight of the pile

2. The pile 2 will penetrate itself into the seabed 3, thereby fixing the bottom of the pile 2 in a horizontal plane. It is also possible to fix the bottom end of the pile 2 by positioning the bottom end of the pile 2 in a retaining device (not shown). The retaining device is located on the seabed 3 at the installation location 6 and configured to prevent horizontal movements of the bottom end of the pile 2. A known retaining device is for example a mudmat.

In order to apply the moment 30 the first guiding device 10 and the second guiding device 26 engage an outer surface 29 of the pile 2 for holding the pile 2. The moment 30 is then applied to the pile 2 by exerting a first force 34 to the pile 2 via the first guiding device 10 in a direction 35 towards the first orientation 33, and exerting a second force 36 opposite to the first force 34 to the pile 2 via the second guiding device 26. The first force 34 and the second force 36 together constitute the moment 30.

The first force 34 is exerted on the pile 2 by moving the first guiding device 10 relative to the base frame 9 by the first actuator 19 and/or second actuator 21 in the direction of the predetermined, first orientation 33.

The first force 34 and the second force 36 act substantially horizontally on the pile 2.

The first force 34 which the first guiding device 10 exerts on the pile 2 can be a predetermined force. The magnitude of said predetermined force is based on the deviation of the pile 2 from the predetermined first orientation 33. When the deviation of the pile 2 becomes larger, the predetermined force becomes greater, and vice versa.

In order to measure the orientation, and thereby the deviation of the pile 2 from the predetermined first orientation 33 a control unit (not shown) is provided which is coupled to the pile guiding system 8. The control unit comprises a sensor (not shown) for measuring the orientation of the pile 2 during installation. When during step e) or after step d) the sensor measures a non-alignment of the pile 2 with the predetermined first orientation 33 the control unit actuates the pile guiding system 8 to apply the moment 30 to the pile 2. The control unit may comprise a sensor (not shown) for measuring the rate of change of the non-alignment. The control unit then further comprises a PID controller (not shown) which actuates the pile guiding system 8 to apply the moment 30 to the pile 2 based on the first orientation 33 as set point. During at least step e) or after step d), or after step d) the first actuator 19 and/or the second actuator 21 may be configured to keep the first guiding device 10 substantially stationary relative to the installation location 6 in a plane defined by the first direction 20 and the second direction 22 while moving the first guiding device 10 relative to the floating vessel

23. This helps in keeping the vessel 4 in position, i.e. at the installation location. The floating vessel 23 comprises a positioning system configured to keep the floating vessel 23 within a predetermined area. The first guiding device 10 is movable relative to the floating vessel 23 over the predetermined area via the first actuator 19 and/or the second actuator 21. The positioning system can be a dynamic positioning system, or a spread mooring system

25. In the embodiment where the second guiding device 28 is rigidly connected to the floating vessel 23 during the reorientation the first guiding device 10 applies the first force 34 to the pile 2 and the second guiding device 26 exerts the second force 36 on the pile 2. The second guiding device 26 in this case passively exerts the second force 36 on the pile 2, because the first guiding device 10 pushes the pile 2 against the second guiding device 26. In a sense the pile 2 exerts the second force 38 on the second guiding device 26. Because action is reaction, the second guiding device 26 exerts the second force 36 on the pile 2 in the direction opposite to the first force 34 exerted by the first guiding device 10. In the embodiment where the second guiding device 26 is movable relative to the first guiding device 10 via a third actuator 63 and/or a fourth actuator in the first direction 20 and/or second direction 22, respectively, during the reorientation the second guiding device 26 moves in the opposite direction of the first guiding device 10. Compared to the embodiment where the second guiding device 26 is rigidly connected to the floating vessel 23, this embodiment allows the second guiding device 26 to actively exert the second force 36 on the pile 2.

Prior to step b} the opening member 51 is in the open position 52, and wherein after step d) the opening member 51 is in the closed position 53.

Prior to step b) the engaging members 41 may be in a first, outward position 45, i.e. a non-engaging position (figure 9A). When the pile 2 is positioned in the guiding opening 28 the engaging members 41 are then moved radially inward to their second, engaging position 46 (figure 9B) by respective engaging actuators 43 for engaging the outer surface 29 of the pile

2. The engaging members 41 are preferably moved to their engaging position once the opening member 51 is in its closed position 53 enclosing the pile 2.

During step e) the engaging members 41 are placed at regular intervals around the circumference 42 of the pile 2.

When step e) has finished, the engaging member 41 are moved back to their first position.

When the pile 2 has reached its target depth, i.e. when step e) has finished, the opening member 51 is moved to the open position 52. This way, the vessel 4 is able to move away from the pile 2.

Each engaging member 41 may comprise a resilient member 11 for providing the resilient pile 2 connection between the pile 2 and the respective guiding device.

When during step e) the pile 2 is driven deeper and deeper into the seabed 3 this will generally have an effect on the stiffness of the pile 2, i.e. the pile 2 will act stiffer. This has an effect on the pile motions and the natural period 205 thereof. In order to allow the natural period 205 of the pile motions to remain longer than the dominant wave period 203 the resilient member 11 is adjustable via an adjusting member 49. The adjusting member 49 can decrease the stiffness to a lower stiffness during the downward 50 moving of the pile 2 into the seabed 3 when the stiffness of the soil, and thus the pile 2 increases. This can be done based on predetermined soil calculations, wherein for each penetration depth a connection stiffness is predetermined.

The method can also be performed by an embodiment as described in relation to figures 26 to 29, wherein the first guiding device 10 and the second guiding device 26 are connected to each other via a main frame 65. The main frame 65 is connected to the base frame 9 and freely movable relative to said base frame 9 in a first direction 20 and/or a transverse, second direction 22.

The main frame 65 is rotatable relative to the intermediate frame 66 about a first axis 69 by the first intermediate actuator 67 and/or a transverse, second axis 70 by the second intermediate actuator. During step e) or after step d) the first intermediate actuator 67 and/or the second intermediate actuator keep the main frame 65 substantially stationary relative to the pile 2 while moving the main frame 65 relative to the floating vessel 23.

The pile guiding system 8 with the main frame 85 applies the moment 30 to the pile 2 by rotating the main frame 65 about the first axis 69 with the first intermediate actuator 67 and/or the second axis 70 with the second intermediate actuator 68, see also figure 33.

In another application a method is provided for assisting to keep a floating vessel 23 at an installation location 6 during installation of a pile 2 into a seabed 3 at the installation location. The method comprises the steps: a) providing the floating vessel 23 and a pile guiding system 8 comprising a first guiding device 10 and a second guiding device 26 connected to said floating vessel 23 at the installation location, b) positioning the pile 2 in the guiding opening 28 of the pile guiding system 8, see figure 3 and 4, c) lowering the pile 2 to the sea bed, see figure 4 to figure 5, d) fixing a bottom end of the pile 2 to the seabed 3 in a horizontal direction, e) keeping the first guiding device 10 substantially stationary relative to the installation location, wherein when the vessel 4 moves away from the installation location 6 the second guiding device 26 assists in moving the floating vessel 23 back to the installation location 6 by a force induced by the pile 2 on the second guiding device 26 in a direction 35 towards the installation location.

An advantage of this method is that when the floating vessel 23 comprises a dynamic positioning system for keeping the vessel 4 within a predetermined area, a control unit that may be provided for controlling the first guiding device 10 does not have to be coupled with the dynamic positioning system of the floating vessel 23. The method for moving the non-aligned pile 2 back to the predetermined, first orientation 33 is schematically shown in figure 32 for a pile guiding system 8 as shown in figures 3 to 25. Said method is schematically shown in figure 33 for a pile guiding system 8 comprising a main frame as shown in figures 26-29. Figure 32A shows the pile 2 in the predetermined, first orientation 33. The vessel 4 is positioned at the installation location 6. The pile 2 is horizontally fixed in the soil, i.e. the seabed 3. The first guiding device 10 and the second guiding device 26 are in a begin position, i.e. at the installation location.

Figure 32B shows the pile 2 in a tilted position, i.e. the non-aligned position 32. The first guiding device 10 and the second guiding device 26 are still in the begin position. The pile 2 engages the first guiding device 10 which results in a pushing away of the vessel 4.

Figure 32C shows the pile 2 in the non-aligned position 32 and the vessel 4 in a position away from the installation location. The vessel 4 has been moved due to the force of the pile 2 on the first guiding device 10 as shown in figure 32B.

In order to move the pile 2 back to the predetermined, first orientation 33 the first guiding device 10 is moved towards the installation location. The right side of the first guiding device 10 thereby exerts the first force 34 on the right side of the pile 2. The movement of the first guiding device 10 relative to the second guiding device 26 results in the exertion of the second force 36 on the pile 2. The second force 36 is exerted on the left side of the pile 2 with a left side of the second guiding device 28. First force 34 and the second force 36 together constitute the moment 30 applied on the pile 2. The pile 2 will be moved back to the predetermined, first orientation 33. In addition, the floating vessel 23 will also be moved back towards the installation location.

Figure 33 schematically shows the pile 2 and the vessel 4 in the same position as shown in figure 32C. The moment 30 is however applied via vertical forces via resilient members and/or third and fourth actuators 67,68 instead of via horizontal forces, i.e. vertical forces are exerted on the vessel 4, while the forces exerted on the pile 2 are horizontal forces.

Figure 34 schematically shows an example of an assembly 1 comprising a floating vessel 23 and a pile guiding system 8 having only a first guiding device 10 and not a second guiding device 26. When the pile 2 tilts, the vessel 4 is pushed away from the installation location. In order to move the pile 2 back to the predetermined, first orientation 33, the vessel 4 has to provide all the force via its thrusters 96.

Figure 35 schematically shows the pile guiding system 8 and the method for assisting in keeping the vessel 4 at the installation location. In figure 35 the vessel 4 is shown in a position away from the installation location. The bottom end of the pile 2 is horizontally fixed in the seabed 3. In order to move the vessel 4 back to the installation location, the first guiding device 10 is kept stationary relative to the installation location. When the vessel 4 moves the second guiding device 26 moves with it. When the vessel 4, and thus the second guiding device 26 move beyond a predetermined position this will result in the second force 36 on the second guiding device 26 which is exerted by the pile 2. The second force 36 is exerted on a left side of the second guiding device 26 with a left side of the pile 2. The first guiding device 10 exerts the first force 34. This will keep the vessel 4 at the installation location, or at least prevents the vessel 4 to move beyond a predetermined position. The invention reduces the amount of power required by the thrusters to keep the vessel 4 at the installation location.

As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various farms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention.

The terms “a” or “an”, as used herein, are defined as one or more than one. The term another, as used herein, is defined as at least a second or more. The terms including and/or having, as used herein, are defined as comprising (i.e, open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.

The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims (81)

CONCLUSIESCONCLUSIONS 1. Samenstel (1) voor het installeren van een paal (2) in een zeebodem (3), waarbij het samenstel omvat: - een vaartuig (4) omvattende: o een positioneringssysteem (5) om het vaartuig op een installatielocatie (6) te houden ten opzichte van de zeebodem, waarbij het positioneringssysteem (5) een positioneringsstijfheid (7) heeft, - een paalgeleidingssysteem (8) ingericht om de paal te geleiden tijdens de installatie daarvan, waarbij het paalgeleidingssysteem omvat: o een basis (9) op het vaartuig, o een eerste geleidingsinrichting (10) verbonden met de basis, waarbij de eerste geleidingsinrichting is ingericht om de paal te accommoderen tijdens de installatie daarvan, o een veerkrachtig orgaan (11) voor het verschaffen van een veerkrachtige verbinding tussen het vaartuig en de paal tijdens de installatie daarvan om relatieve bewegingen tussen de paal en het vaartuig mogelijk te maken, waarbij het veerkrachtige orgaan een verbindingsstijfheid (13) heeft, waarbij het veerkrachtige orgaan is ingericht en bedoeld om een natuurlijke periode (205) van een zwenkbeweging van de paal rond de zeebodem veroorzaakt door golven tijdens de installatie daarvan langer te houden dan een dominante golfperiode (203) van een golfspectrum (200) bij de installatielocatie door de veerkrachtige verbinding te voorzien van een lage verbindingsstijfheid.Assembly (1) for installing a pile (2) in a seabed (3), the assembly comprising: - a vessel (4) comprising: o a positioning system (5) around the vessel at an installation location (6) relative to the seabed, the positioning system (5) having a positioning stiffness (7), - a pile guiding system (8) arranged to guide the pile during its installation, the pile guiding system comprising: o a base (9) on the vessel, o a first guiding device (10) connected to the base, the first guiding device being adapted to accommodate the pole during its installation, o a resilient member (11) for providing a resilient connection between the vessel and the pile during its installation to allow relative movements between the pile and the vessel, the resilient member having a connection stiffness (13), the resilient member is arranged and intended to maintain a natural period (205) of a swinging motion of the pile around the seabed caused by waves during its installation longer than a dominant wave period (203) of a wave spectrum (200) at the installation site by the resilient connection with low connection stiffness. 2. Samenstel volgens conclusie 1, waarbij het veerkrachtige orgaan is ingericht en bedoeld is om genoemde natuurlijke periode langer dan 1,5 maal de dominante golfperiode van het golfspectrum bij de installatielocatie te houden.An assembly according to claim 1, wherein the resilient member is arranged and adapted to maintain said natural period longer than 1.5 times the dominant wave period of the wave spectrum at the installation location. 3. Samenstel volgens conclusie 1 of 2, waarbij de verbindingsstijfheid laag genoeg is om de natuurlijke periode van de zwenkbeweging van de paal langer te houden dan de dominante golfperiode, en hoog genoeg om de paal stabiliteit te geven.Assembly according to claim 1 or 2, wherein the connection stiffness is low enough to keep the natural period of the swinging movement of the pile longer than the dominant wave period, and high enough to give the pile stability. 4. Samenstel volgens een van de voorgaande conclusies, waarbij het veerkrachtige orgaan is aangebracht tussen de basis en de eerste geleidingsinrichting en / of tussen het vaartuig en de basis, en / of waarbij de eerste geleidingsinrichting het veerkrachtige orgaan omvat voor het verschaffen van de veerkrachtige verbinding tussen de eerste geleidingsinrichting en de paal.An assembly according to any one of the preceding claims, wherein the resilient member is disposed between the base and the first guiding device and/or between the vessel and the base, and/or wherein the first guiding device comprises the resilient member for providing the resilient connection between the first guiding device and the pile. 5. Samenstel volgens een van de voorgaande conclusies, waarbij het paalgeleidingssysteem een eerste actuator (19) omvat voor het in een eerste richting (20) verplaatsen van de eerste geleidingsinrichting ten opzichte van de basis.An assembly according to any one of the preceding claims, wherein the pile guiding system comprises a first actuator (19) for displacing the first guiding device (20) relative to the base in a first direction (20). 6. Samenstel volgens de voorgaande conclusie, waarbij het paalgeleidingssysteem een tweede actuator (21) omvat voor het in een tweede richting (22) verplaatsen van de eerste geleidingsinrichting ten opzichte van de basis, waarbij de tweede richting dwars, in het bijzonder loodrecht op de eerste richting staat.Assembly according to the preceding claim, wherein the pile guiding system comprises a second actuator (21) for displacing the first guiding device in a second direction (22) relative to the base, wherein the second direction is transverse, in particular perpendicular to the first direction. 7. Samenstel volgens een van de voorgaande conclusies, waarbij het vaartuig een drijvend vaartuig (23) is, ingericht om te drijven tijdens installatie van de paal.An assembly according to any one of the preceding claims, wherein the vessel is a floating vessel (23), adapted to float during installation of the pile. 8. Samenstel volgens de voorgaande conclusie, waarbij het positioneringssysteem een dynamisch positioneringssysteem of een afmeersysteem (25) of een combinatie van beide is.An assembly according to the preceding claim, wherein the positioning system is a dynamic positioning system or a mooring system (25) or a combination of both. 9. Samenstel volgens een van de voorgaande conclusies, waarbij het paalgeleidingssysteem een tweede geleidingsinrichting (26) omvat die zich op een afstand (27) boven of onder de eerste geleidingsinrichting bevindt, waarbij de eerste en tweede geleidingsinrichting een geleidingsopening (28) definiëren voor het opnemen van de paal, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting zijn ingericht om aan te grijpen op een buitenoppervlak (29) van de paal voor het vasthouden van de paal.An assembly according to any one of the preceding claims, wherein the pile guiding system comprises a second guiding device (26) spaced (27) above or below the first guiding device, the first and second guiding devices defining a guiding opening (28) for the receiving the pole, wherein the first guiding device and the second guiding device are adapted to engage an outer surface (29) of the pole for retaining the pole. 10. Samenstel volgens de voorgaande conclusie, waarbij de eerste geleidingsinrichting en tweede geleidingsinrichting zijn ingericht om samen een moment (30) om een horizontale as (31) op de paal aan te brengen voor het heroriënteren van de paal vanuit een niet-uitgelijnde oriëntatie (32) naar een vooraf bepaalde, eerste oriëntatie (33), waarbij het moment wordt aangebracht door een eerste kracht (34) op de paal uit te oefenen in een richting (35) naar de vooraf bepaalde, eerste oriëntatie door de eerste geleidingsinrichting, en door een tweede kracht op de paal uit te oefenen (36) die tegengesteld is aan de eerste kracht via de tweede geleidingsinrichting.An assembly according to the preceding claim, wherein the first guiding device and second guiding device are arranged to together apply a moment (30) about a horizontal axis (31) to the pile for reorienting the pile from a misaligned orientation ( 32) to a predetermined, first orientation (33), the moment being applied by applying a first force (34) to the pile in a direction (35) to the predetermined, first orientation by the first guide device, and by applying a second force to the pile (36) opposite to the first force via the second guide device. 11. Samenstel volgens de voorgaande conclusie, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting zijn ingericht om de respectievelijke eerste kracht en de tweede kracht horizontaal op de paal uit te oefenen.Assembly according to the preceding claim, wherein the first guiding device and the second guiding device are arranged to exert the respective first force and the second force horizontally on the pile. 12. Samenstel volgens conclusie 10 of 11, waarbij op de tweede geleidingsinrichting een veerkrachtig orgaan is aangebracht voor het verschaffen van de veerkrachtige verbinding tussen de tweede geleidingsinrichting en de paal.An assembly according to claim 10 or 11, wherein a resilient member is arranged on the second guide device for providing the resilient connection between the second guide device and the post. 13. Samenstel volgens een van de conclusies 10-12, waarbij het samenstel een regeleenheid omvat die is gekoppeld aan het paalgeleidingssysteem, waarbij de regeleenheid een sensor omvat voor het meten van de oriéntatie van de paal tijdens installatie, waarbij de regeleenheid is ingericht om de eerste geleidingsinrichting naar de vooraf bepaalde oriëntatie te bewegen wanneer de sensor een niet-uitlijning van de paal ten opzichte van de vooraf bepaalde eerste oriëntatie meet.An assembly according to any one of claims 10-12, wherein the assembly comprises a control unit coupled to the pile guiding system, the control unit comprising a sensor for measuring the orientation of the pile during installation, the control unit being arranged to move the first guide device to the predetermined orientation when the sensor measures a non-alignment of the pole relative to the predetermined first orientation. 14. Samenstel volgens de voorgaande conclusie, waarbij de regeleenheid een sensor omvat voor het meten van de snelheidsverandering van de niet-uitlijning, waarbij de regeleenheid een PID-controller omvat die het paalgeleidingssysteem activeert om het moment toe te passen op de paal gebaseerd op de eerste oriëntatie als setpoint.An assembly according to the preceding claim, wherein the control unit comprises a sensor for measuring the speed change of the misalignment, the control unit comprising a PID controller which activates the pile guiding system to apply the torque to the pile based on the first orientation as setpoint. 15. Samenstel volgens conclusie 13 of 14, waarbij de regeleenheid niet is gekoppeld aan het dynamische positioneringssysteem van het drijvende vaartuig.An assembly according to claim 13 or 14, wherein the control unit is not coupled to the dynamic positioning system of the floating vessel. 16. Samenstel volgens een van de voorgaande conclusies, waarbij de eerste geleidingsinrichting en / of de tweede geleidingsinrichting meerdere aangrijporganen (41) omvat voor het aangrijpen op de paal tijdens installatie, waarbij in het bijzonder de aangrijporganen op regelmatige intervallen rond de omtrek van de paal zijn geplaatst.An assembly according to any one of the preceding claims, wherein the first guide device and/or the second guide device comprises a plurality of engaging members (41) for engaging the pile during installation, in particular the engaging members at regular intervals around the periphery of the pile are placed. 17. Samenstel volgens de voorgaande conclusie, waarbij de aangrijporganen zijn verbonden met hun overeenkomstige geleidingsinrichting via een aangrijpactuator (43) om het aangrijporgaan naar binnen en naar buiten te bewegen ten opzichte van een midden (44) van de geleidingsopening tussen een eerste, naar buiten gerichte positie (45), waarbij de aangrijporganen niet op de paal aangrijpen, en een tweede, naar binnen gerichte positie (46), waarbij de aangrijporganen op de paal aangrijpen.An assembly according to the preceding claim, wherein the engaging members are connected to their corresponding guide device via an engaging actuator (43) to move the engaging member in and out with respect to a center (44) of the guide opening between a first, outwardly oriented position (45), wherein the engaging members do not engage the pile, and a second, inwardly directed position (46), wherein the engaging members engage the pile. 18. Samenstel volgens conclusie 16 of 17, waarbij het aangrijporgaan het veerkrachtige orgaan omvat voor het verschaffen van een veerkrachtige paalverbinding tussen de pool en de respectievelijke geleidingsinrichting.An assembly according to claim 16 or 17, wherein the engaging member comprises the resilient member for providing a resilient pole connection between the pole and the respective guide device. 19. Samenstel volgens de voorgaande conclusie, waarbij elk aangrijporgaan een roller omvat.An assembly according to the preceding claim, wherein each engaging member comprises a roller. 20. Samenstel volgens een van de voorgaande conclusies, waarbij een stijfheid van het veerkrachtige orgaan instelbaar is via een verstelorgaan (49), waarbij het verstelorgaan is ingericht om de stijfheid te verminderen tot een lagere stijfheid tijdens een neerwaartse (50) beweging van de paal in de zeebodem naarmate de stijfheid van de grond toeneemt.An assembly according to any one of the preceding claims, wherein a stiffness of the resilient member is adjustable via an adjusting member (49), the adjusting member being adapted to reduce the stiffness to a lower stiffness during downward (50) movement of the pole in the seabed as the stiffness of the soil increases. 21. Samenstel volgens een van de voorgaande samenstelconclusies, waarbij het paalgeleidingssysteem een openingsorgaan (51) omvat voor het openen en sluiten van de geleidingsopening, waarbij het openingsorgaan beweegbaar is tussen een open positie (52) voor het positioneren van de paal in de geleidingsopening en een gesloten positie (53) waarin de paal wordt omsloten door het paalgeleidingssysteem.An assembly according to any one of the preceding assembly claims, wherein the pile guiding system comprises an opening member (51) for opening and closing the guiding opening, the opening means being movable between an open position (52) for positioning the pile in the guiding opening and a closed position (53) in which the pile is enclosed by the pile guiding system. 22. Samenstel volgens een van de voorgaande conclusies, waarbij het paalgeleidingssysteem een afschermorgaan (54) omvat voor het beperken van golfbelastingen op de paal door de paal af te schermen tegen golven.An assembly according to any one of the preceding claims, wherein the pile guiding system comprises a shielding member (54) for limiting wave loads on the pile by shielding the pile from waves. 23. Samenstel volgens de voorgaande conclusie, waarbij het afschermorgaan een afschermwand (55) omvat die de eerste geleidingsinrichting en / of tweede geleidingsinrichting omgeeft.An assembly according to the preceding claim, wherein the shielding member comprises a shielding wall (55) surrounding the first guiding device and/or second guiding device. 24. Samenstel volgens de voorgaande conclusie, waarbij de afschermwand is gesloten, en waarbij aan een ondereinde (56) van de afschermwand een bellengenererende eenheid (57) is voorzien, waarbij de bellengenererende eenheid is aangebracht in een binnenvolume (58) gedefinieerd door de afschermwand en rond de geleidingsopening, waarbij de bellengenererende eenheid is ingericht om een bellenscherm (59) te vormen rond de geleidingsopening.An assembly according to the preceding claim, wherein the shield wall is closed, and wherein a bubble generating unit (57) is provided at a lower end (56) of the shield wall, the bubble generating unit being arranged in an inner volume (58) defined by the shield wall. and around the guide opening, the bubble generating unit being arranged to form a bubble shield (59) around the guide opening. 25. Samenstel volgens conclusie 23 of 24, waarbij in de afschermwand een veelheid doorlopende gaten is verschaft.An assembly according to claim 23 or 24, wherein a plurality of through holes are provided in the shielding wall. 26. Samenstel volgens een van de voorgaande conclusies, met uitzondering van conclusie 7 of 8, waarbij het vaartuig een opvijzelvaartuig (61) is dat is ingericht om te worden opgevijzeld boven een waterlijn (62) tijdens installatie van de paal, waarbij de positioneringsstijfheid in hoofdzaak oneindig is.An assembly according to any one of the preceding claims, with the exception of claim 7 or 8, wherein the vessel is a jack-up vessel (61) adapted to be jacked up above a waterline (62) during installation of the pile, wherein the positioning stiffness in essentially infinite. 27. Samenstel volgens een van de conclusies 5-26, waarbij de tweede geleidingsinrichting beweegbaar is ten opzichte van de eerste geleidingsinrichting in de eerste richting via een derde actuator en / of in de tweede richting via een vierde actuator (64).An assembly according to any one of claims 5-26, wherein the second guiding device is movable relative to the first guiding device in the first direction via a third actuator and/or in the second direction via a fourth actuator (64). 28. Samenstel volgens een van de conclusies 12-26, waarbij de tweede geleidingsinrichting star is verbonden met het drijvende vaartuig of de basis.An assembly according to any one of claims 12-26, wherein the second guiding device is rigidly connected to the floating vessel or the base. 29. Samenstel volgens een van de conclusies 10-26, waarbij het paalgeleidingssysteem een hoofdframe (65) omvat, waarbij de eerste geleidingsinrichting en tweede geleidingsinrichting via het hoofdframe met elkaar zijn verbonden, en waarbij de eerste geleidingsinrichting en tweede geleidingsinrichting via het hoofdframe zijn verbonden met het basisframe, waarbij het hoofdframe vrij beweegbaar is ten opzichte van het basisframe in de eerste richting en / of de tweede richting.An assembly according to any one of claims 10-26, wherein the pile guiding system comprises a main frame (65), wherein the first guiding device and second guiding device are connected to each other via the main frame, and wherein the first guiding device and second guiding device are connected via the main frame. with the base frame, the main frame being freely movable relative to the base frame in the first direction and/or the second direction. 30. Samenstel volgens de voorgaande conclusie, waarbij het hoofdframe via een tussenframe (66) met het basisframe is verbonden, waarbij het hoofdframe via een eerste tussenactuator (67) en / of een tweede tussenactuator (68) met het tussenframe is verbonden, waarbij het hoofdframe roteerbaar is ten opzichte van het tussenframe om een eerste as (69) door de eerste tussenactuator en / of een tweede as (70) door de tweede tussenactuator.An assembly according to the preceding claim, wherein the main frame is connected to the base frame via an intermediate frame (66), wherein the main frame is connected to the intermediate frame via a first intermediate actuator (67) and/or a second intermediate actuator (68), wherein the main frame is rotatable relative to the intermediate frame about a first axis (69) through the first intermediate actuator and/or a second axis (70) through the second intermediate actuator. 31. Samenstel volgens conclusie 29 of 30, waarbij de eerste richting de eerste as definieert, en waarbij de tweede richting de tweede as definieert, en waarbij de eerste richting en de tweede richting horizontaal of in hoofdzaak horizontaal zijn.An assembly according to claim 29 or 30, wherein the first direction defines the first axis, and wherein the second direction defines the second axis, and wherein the first direction and the second direction are horizontal or substantially horizontal. 32. Samenstel volgens conclusie 30 of 31, waarbij de eerste tussenactuator en de tweede tussenactuator zich vanaf het tussenframe naar het hoofdframe omhoog uitstrekken.An assembly according to claim 30 or 31, wherein the first intermediate actuator and the second intermediate actuator extend upwards from the intermediate frame to the main frame. 33. Samenstel volgens een van de conclusies 30-32, waarbij de eerste tussenactuator een eerste veerkrachtig orgaan omvat, en waarbij de tweede tussenactuator een tweede veerkrachtig orgaan omvat.An assembly according to any one of claims 30-32, wherein the first intermediate actuator comprises a first resilient member, and wherein the second intermediate actuator comprises a second resilient member. 34. Samenstel volgens een van de conclusies 30-33, waarbij het paalgeleidingssysteem is ingericht om het moment op de paal aan te brengen door het hoofdframe rond de eerste as te roteren met de eerste tussenactuator en / of om de tweede as met de tweede tussenactuator.An assembly according to any one of claims 30-33, wherein the pile guiding system is adapted to apply the moment to the pile by rotating the main frame about the first axis with the first intermediate actuator and/or about the second axis with the second intermediate actuator. . 35. Samenstel volgens een van de voorgaande conclusies, verder omvattende een demporgaan (73) voor het dempen van de bewegingen tussen de paal en het vaartuig.An assembly according to any one of the preceding claims, further comprising a damping member (73) for damping the movements between the pile and the vessel. 36. Paalgeleidingssysteem (8) dat is ingericht om te worden verbonden met een drijvend vaartuig, waarbij het paalgeleidingssysteem is ingericht om een paal vast te houden tijdens paalinstallatie, waarbij het paalgeleidingssysteem omvat: - een basis (9) via welke het paalgeleidingssysteem is ingericht om te worden verbonden met het vaartuig, - een eerste geleidingsinrichting (10} verbonden met de basis, waarbij de eerste geleidingsinrichting is ingericht om de paal te accommoderen tijdens de installatie daarvan, - een veerkrachtig deel (11) voor het verschaffen van een veerkrachtige verbinding tussen het vaartuig en de paal tijdens installatie daarvan om relatieve bewegingen tussen de paal en het vaartuig mogelijk te maken, waarbij het veerkrachtige deel een verbindingsstijfheid heeft, waarbij het veerkrachtige onderdeel is ingericht en bedoeld om een natuurlijke periode (205) van een zwenkbeweging van de paal rond de zeebodem veroorzaakt door golven tijdens de installatie daarvan langer te houden dan een dominante golfperiode (203) van een golfspectrum op de installatielocatie door de veerkrachtige verbinding te voorzien van een lage verbindingsstijfheid.36. Pile guidance system (8) adapted to be connected to a floating vessel, the pile guiding system being arranged to retain a pile during pile installation, the pile guiding system comprising: - a base (9) via which the pile guiding system is arranged to to be connected to the vessel, - a first guiding device (10} connected to the base, the first guiding device being adapted to accommodate the pile during its installation, - a resilient member (11) for providing a resilient connection between the vessel and the pile during installation thereof to allow relative movements between the pile and the vessel, the resilient member having a connection stiffness, the resilient member being arranged and intended to accommodate a natural period (205) of pivotal movement of the pile around the seabed caused by waves during its installation long r then maintain a dominant wave period (203) of a wave spectrum at the installation site by providing the resilient link with a low link stiffness. 37. Paalgeleidingssysteem volgens de voorgaande conclusie, waarbij het paalgeleidingssysteem een tweede geleidingsinrichting (26) omvat die zich op afstand boven of onder de eerste geleidingsinrichting bevindt, waarbij de eerste en tweede geleidingsinrichting een geleidingsopening definiëren voor het accommoderen van de paal, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting zijn ingericht om aan te grijpen op een buitenoppervlak (29) van de paal om de paal vast te houden, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting zijn ingericht om samen een moment (30) om een horizontale as aan te brengen op de paal voor het heroriénteren van de paal vanuit een niet-uitgelijnde oriëntatie naar een vooraf bepaalde, eerste oriëntatie, waarbij het moment wordt aangebracht door een eerste kracht (34) op de paal uit te oefenen in een richting naar de vooraf bepaalde, eerste oriëntatie door de eerste geleidingsinrichting, en door een tweede kracht (36) tegengesteld aan de eerste kracht op de paal uit te oefenen via de tweede geleidingsinrichting.The pile guiding system of the preceding claim, wherein the pile guiding system comprises a second guiding device (26) spaced above or below the first guiding device, the first and second guiding devices defining a guiding opening for accommodating the pile, the first guiding device and the second guiding device is adapted to engage an outer surface (29) of the pole to retain the pole, the first guiding device and the second guiding device being adapted to apply a moment (30) together about a horizontal axis on the pile for reorienting the pile from a misaligned orientation to a predetermined, first orientation, the moment being applied by applying a first force (34) to the pile in a direction toward the predetermined, first orientation by the first guiding device, and by a second force (36) t opposite to exerting the first force on the pile via the second guiding device. 38. Werkwijze voor het installeren van een paal met een vaartuig, waarbij de werkwijze de stappen omvat van: a) het verschaffen van een samenstel volgens een van de voorgaande samenstel- conclusies op een installatielocatie (6), b) het rechtop plaatsen van de paal in het paalgeleidingssysteem, c) het laten zakken van de paal naar de zeebodem, d} het installeren van de paal in de zeebodem, waarbij de natuurlijke periode van het zwenkmoment van de paal tijdens een installatiefase waarin de paal geen zelfstabiliserende penetratiediepte heeft bereikt langer wordt gehouden dan de dominante golfperiode op de installatielocatie door het paalgeleidingssysteem.A method of installing a pile with a vessel, the method comprising the steps of: a) providing an assembly according to any one of the preceding assembly claims at an installation location (6), b) placing the said upright pile in the pile guiding system, c) lowering the pile to the seabed, d} installing the pile in the seabed, extending the natural period of the pile slewing moment during an installation phase where the pile has not reached a self-stabilizing depth of penetration than the dominant wave period at the installation site by the pile guiding system. 39. Werkwijze volgens conclusie 38, waarbij de natuurlijke periode van de zwenkbeweging van de paal tijdens installatie langer wordt gehouden dan de dominante golfperiode op de installatielocatie door het aanpassen van de verbindingsstijfheid van het veerkrachtige orgaan.The method of claim 38, wherein the natural period of the pivotal movement of the pile during installation is kept longer than the dominant wave period at the installation site by adjusting the connection stiffness of the resilient member. 40. Werkwijze volgens conclusie 38 of 39, waarbij de natuurlijke periode van het zwenkmoment van de paal wordt gebracht van een natuurlijke periode (205) hoger dan de dominante golfperiode naar een natuurlijke periode (204) lager dan de dominante golfperiode ( 203) wanneer de paal een vooraf bepaalde penetratiediepte heeft bereikt.The method of claim 38 or 39, wherein the natural period of the pile slewing moment is moved from a natural period (205) higher than the dominant wave period to a natural period (204) lower than the dominant wave period (203) when the pile has reached a predetermined penetration depth. 41. Werkwijze volgens de voorgaande conclusie, waarbij een demporgaan wordt gebruikt voor het dempen van de paalbewegingen, en / of waarbij een negatieve stijfneid wordt verschaft voor het bereiken van een natuurlijke periode (204) lager dan de dominante golfperiode.A method according to the preceding claim, wherein a damper is used to damp the pile movements, and/or wherein a negative stiffness is provided to achieve a natural period (204) lower than the dominant wave period. 42. Werkwijze om een paal met een drijvend vaartuig in een zeebodem te installeren, waarbij de werkwijze de volgende stappen omvat:42. A method of installing a floating vessel pile in a seabed, the method comprising the steps of: a) het verschaffen van het drijvende vaartuig en een met een drijvend vaartuig via een basisframe verbonden paalgeleidingssysteem op een installatielocatie, waarbij het paalgeleidingssysteem een geleidingsopening omvat voor het accommoderen van de paal tijdens paalinstallatie, b) het positioneren van de paal in de geleidingsopening van het paalgeleidingssysteem, c) het laten zakken van de paal naar de zeebodem, d) het in horizontale richting fixeren van een ondereinde van de paal met de zeebodem, e) het naar beneden bewegen van de paal in de zeebodem in een vooraf bepaalde eerste oriëntatie, in het bijzonder een verticale oriëntatie, door het uitoefenen van een neerwaartse kracht op de paal, waarbij ten minste tijdens stap e) of na stap d) wanneer de paal niet-uitgelijnd raakt met de vooraf bepaalde eerste oriëntatie, de paal opnieuw wordt georiënteerd van een tweede niet-uitgelijnde oriëntatie terug naar de vooraf bepaalde eerste oriëntatie door een moment aan te brengen rond een horizontale as op de paal met het paalgeleidingssysteem.a) providing the floating vessel and a pile guiding system connected to a floating vessel via a base frame at an installation site, the pile guiding system comprising a guide opening for accommodating the pile during pile installation, b) positioning the pile in the guiding opening of the pile guiding system, c) lowering the pile to the seabed, d) fixing a lower end of the pile to the seabed in a horizontal direction, e) moving the pile down into the seabed in a predetermined first orientation, in particular a vertical orientation, by applying a downward force to the pile, whereby at least during step e) or after step d) when the pile becomes misaligned with the predetermined first orientation, the pile is reoriented from a second misaligned orientation back to the predetermined first orientation by applying a moment about a horizon solar axis on the pile with the pile guiding system. 43. Werkwijze volgens conclusie 42, waarbij het geleidingssysteem een eerste geleidingsinrichting en een op afstand boven of onder de eerste geleidingsinrichting gelegen tweede geleidingsinrichting omvat, waarbij de eerste en tweede geleidingsinrichting de geleidingsopening definiëren, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting zijn ingericht om aan te grijpen op een buitenoppervlak van de paal voor het vasthouden van de paal, waarbij het moment wordt aangebracht op de paal door een eerste kracht op de paal uit te oefenen via de eerste geleidingsinrichting in een richting naar de eerste oriëntatie, en door een tweede kracht die tegengesteld is aan de eerste kracht op de paal uit te oefenen via de tweede geleidingsinrichting, waarbij de eerste kracht en de tweede kracht samen het moment vormen.The method of claim 42, wherein the guiding system comprises a first guiding device and a second guiding device spaced above or below the first guiding device, the first and second guiding devices defining the guiding opening, the first guiding device and the second guiding device being adapted to act on gripping an outer surface of the pole for holding the pole, wherein the moment is applied to the pole by applying a first force to the pole through the first guide device in a direction toward the first orientation, and by a second force which is opposite to the first force on the pile via the second guide device, the first force and the second force together forming the moment. 44. Werkwijze volgens conclusie 43, waarbij de eerste kracht en de tweede kracht horizontaal op de paal inwerken.The method of claim 43, wherein the first force and the second force act horizontally on the pile. 45. Werkwijze volgens een van de voorgaande conclusies 42-44, waarbij een paalverbinding tussen het paalgeleidingssysteem en de paal en / of een vaartuigverbinding tussen het paalgeleidingssysteem en het drijvende vaartuig een of meer veerkrachtige organen omvat om relatieve bewegingen tussen de paal en het drijvende vaartuig toe te staan.A method according to any one of the preceding claims 42-44, wherein a pile connection between the pile guiding system and the pile and/or a vessel connection between the pile guiding system and the floating vessel comprises one or more resilient members to prevent relative movements between the pile and the floating vessel. to allow. 46. Werkwijze volgens een van de conclusies 43-45, waarbij de eerste geleidingsinrichting is verbonden met het basisframe en beweegbaar is ten opzichte van het basisframe via een eerste actuator in een eerste richting en / of via een tweede actuator in een loodrechte, tweede richting, waarbij tijdens stap e) of na stap d) de eerste actuator en / of de tweede actuator zijn ingericht om de eerste geleidingsinrichting in hoofdzaak stationair te houden ten opzichte van de installatielocatie in een vlak dat wordt gedefinieerd door de eerste richting en de tweede richting terwijl de eerste geleidingsinrichting ten opzichte van het drijvende vaartuig beweegt.A method according to any one of claims 43-45, wherein the first guide device is connected to the base frame and is movable relative to the base frame via a first actuator in a first direction and/or via a second actuator in a perpendicular, second direction wherein during step e) or after step d) the first actuator and/or the second actuator are arranged to keep the first guide device substantially stationary with respect to the installation location in a plane defined by the first direction and the second direction while the first guide device moves relative to the floating vessel. 47. Werkwijze volgens een van de conclusies 42-45, waarbij de eerste geleidingsinrichting is ingericht om een vooraf bepaalde kracht op de paal uit te oefenen, waarbij de grootte van de vooraf bepaalde kracht is gebaseerd op de afwijking van de paal van de vooraf bepaalde eerste oriëntatie.A method according to any one of claims 42-45, wherein the first guiding device is arranged to exert a predetermined force on the pile, the magnitude of the predetermined force being based on the deviation of the pile from the predetermined first orientation. 48. Werkwijze volgens conclusies 46 of 47, waarbij de tweede geleidingsinrichting star verbonden is met het drijvende vaartuig, waarbij tijdens de heroriëntatie de eerste geleidingsinrichting ingericht is om de eerste kracht op de paal uit te oefenen en de tweede geleidingsinrichting de tweede kracht uitoefent op de paal.A method according to claims 46 or 47, wherein the second guiding device is rigidly connected to the floating vessel, wherein during the reorientation the first guiding device is arranged to exert the first force on the pile and the second guiding device exerts the second force on the pile. pole. 49. Werkwijze volgens conclusie 46 of 47, waarbij de tweede geleidingsinrichting beweegbaar is ten opzichte van de eerste geleidingsinrichting via respectievelijk een derde actuator en / of een vierde actuator in de eerste richting en / of tweede richting, waarbij tijdens de heroriëntatie de tweede geleidingsinrichting in de tegengestelde richting van de eerste geleidingsinrichting beweegt.A method according to claim 46 or 47, wherein the second guiding device is movable relative to the first guiding device via a third actuator and/or a fourth actuator in the first direction and/or second direction, respectively, wherein during the reorientation the second guiding device is in moves in the opposite direction of the first guiding device. 50. Werkwijze volgens een van de voorgaande conclusies 42-49, waarbij een regeleenheid is verschaft die is gekoppeld met het paalgeleidingssysteem, waarbij de regeleenheid een sensor omvat voor het meten van de oriëntatie van de paal tijdens installatie, waarbij wanneer tijdens stap e) of na stap d) de sensor een niet- uitlijning van de paal met de vooraf bepaalde eerste oriëntatie meet, de regeleenheid het paalgeleidingssysteem actueert om het moment op de paal aan te brengen.A method according to any one of the preceding claims 42-49, wherein a control unit is provided coupled to the pile guiding system, the control unit comprising a sensor for measuring the orientation of the pile during installation, wherein when during step e) or after step d) the sensor measures a non-alignment of the pile with the predetermined first orientation, the control unit actuates the pile guiding system to apply the torque to the pile. 51. Werkwijze volgens de voorgaande conclusie, waarbij de regeleenheid een sensor omvat voor het meten van de snelheidsverandering van de niet-uitlijning, waarbij de regeleenheid een PID-controller omvat die het paalgeleidingssysteem activeert om het moment aan te brengen op de paal op basis van de eerste oriëntatie als instelpunt.A method according to the preceding claim, wherein the control unit comprises a sensor for measuring the speed change of the misalignment, the control unit comprising a PID controller which activates the pile guiding system to apply torque to the pile based on the first orientation as set point. 52. Werkwijze volgens een van de conclusies 43-52, waarbij de eerste kracht op de paal wordt uitgeoefend door de eerste geleidingsinrichting ten opzichte van het basisframe door de eerste actuator en / of tweede actuator in de richting van de vooraf bepaalde, eerste oriëntatie te bewegen.A method according to any one of claims 43-52, wherein the first force is applied to the pile by the first guiding device relative to the base frame by moving the first actuator and/or second actuator in the direction of the predetermined, first orientation. to move. 53. Werkwijze volgens een van de voorgaande conclusies 42-52, waarbij de eerste oriëntatie een verticale oriëntatie of een in hoofdzaak verticale oriëntatie is.A method according to any one of the preceding claims 42-52, wherein the first orientation is a vertical orientation or a substantially vertical orientation. 54. Werkwijze volgens een van de voorgaande conclusies 42-53, waarbij het paalgeleidingssysteem een openingsorgaan omvat voor het openen en sluiten van de geleidingsopening, waarbij het openingsorgaan beweegbaar is tussen een open positie voor het positioneren van de paal in de geleidingsopening, en een gesloten positie voor het omsluiten van de paal wanneer de paal in de geleidingsopening is gepositioneerd, waarbij voorafgaand aan stap b} het openingsorgaan zich in de open positie bevindt, en waarin na stap d) het openingsorgaan zich in de gesloten positie bevindt.A method according to any one of the preceding claims 42-53, wherein the pile guiding system comprises an opening member for opening and closing the guiding opening, the opening means being movable between an open position for positioning the pile in the guiding opening, and a closed position. position for enclosing the pole when the pole is positioned in the guide opening, wherein prior to step b} the opening member is in the open position, and wherein after step d) the opening member is in the closed position. 55. Werkwijze volgens een van de voorgaande conclusies 43-54, waarbij het drijvende vaartuig een positioneringssysteem omvat dat is ingericht om het drijvende vaartuig binnen een vooraf bepaald gebied te houden, waarbij de eerste geleidingsinrichting beweegbaar is ten opzichte van het drijvende vaartuig over het vooraf bepaalde gebied via de eerste actuator en / of de tweede actuator.A method according to any one of the preceding claims 43-54, wherein the floating vessel comprises a positioning system adapted to maintain the floating vessel within a predetermined area, the first guiding device being movable relative to the floating vessel over the predetermined range defined area via the first actuator and/or the second actuator. 56. Werkwijze volgens de voorgaande conclusie, waarbij het positioneringssysteem een dynamisch positioneringssysteem is.The method of the preceding claim, wherein the positioning system is a dynamic positioning system. 57. Werkwijze volgens conclusie 55, waarbij het positioneringssysteem een verspreid afmeersysteem is of een combinatie van beide.The method of claim 55, wherein the positioning system is a distributed mooring system or a combination of both. 58. Werkwijze volgens een van de voorgaande conclusies 42-57, waarbij tijdens stap d) het ondereinde van de paal in horizontale richting wordt gefixeerd door het ondereinde van de paal de zeebodem te laten penetreren onder gebruikmaking van eigen gewicht van de paal of door het ondereinde van de paal in een vasthoudinrichting te plaatsen, waarbij de vasthoudinrichting zich op de zeebodem op de installatielocatie bevindt en is ingericht om horizontale bewegingen van het ondereinde van de paal te voorkomen.A method according to any one of the preceding claims 42-57, wherein during step d) the lower end of the pile is fixed in horizontal direction by allowing the lower end of the pile to penetrate the seabed using the pile's own weight or by lower end of the pile in a retaining device, the retaining device being located on the seabed at the installation site and being arranged to prevent horizontal movements of the lower end of the pile. 59. Werkwijze volgens een van de voorgaande conclusies 42-58, waarbij de geleidingsopening van het paalgeleidingssysteem zich in bovenaanzicht voorbij een contour van het drijvende vaartuig uitstrekt.A method according to any one of the preceding claims 42-58, wherein the guide opening of the pile guiding system extends in plan view beyond a contour of the floating vessel. 60. Werkwijze volgens een van de conclusies 43-59, waarbij de eerste geleidingsinrichting en / of de tweede geleidingsinrichting een veelheid aangrijporganen omvat voor het aangrijpen op de heipaal tijdens installatie, waarbij in het bijzonder de aangrijporganen op regelmatig intervallen zijn geplaatst rond de omtrek van de paal tijdens stap e).A method according to any one of claims 43-59, wherein the first guide device and/or the second guide device comprises a plurality of engagement members for engaging the pile during installation, in particular the engagement members being placed at regular intervals around the circumference of the pile. the pole during step e). 61. Werkwijze volgens de voorgaande conclusie, waarbij de aangrijporganen via een aangrijpactuator zijn verbonden met de bijbehorende geleidingsinrichting voor het naar binnen en naar buiten bewegen van het aangrijporgaan ten opzichte van een midden van de geleidingsopening tussen een eerste positie, waarbij de aangrijporganen niet aangrijpen op de paal, en een tweede positie, waarbij de aangrijporganen aangrijpen op de paal.A method according to the preceding claim, wherein the engaging members are connected via an engaging actuator to the associated guide device for moving the engaging member in and out with respect to a center of the guide opening between a first position, wherein the engaging members do not engage the pile, and a second position wherein the engagement members engage the pile. 62. Werkwijze volgens conclusie of 61, waarbij het aangrijporgaan het veerkrachtige orgaan omvat voor het verschaffen van de veerkrachtige paalverbinding tussen de paal en de respectievelijke geleidingsinrichting.The method of claim 61, wherein the engaging member comprises the resilient member for providing the resilient pile connection between the pile and the respective guiding device. 63. Werkwijze volgens de voorgaande conclusie, waarbij elk aangrijporgaan een roller omvat.A method according to the preceding claim, wherein each engaging member comprises a roller. 64. Werkwijze volgens een van de conclusies 45-63, waarbij een stijfheid van het veerkrachtige orgaan instelbaar is via een verstelorgaan, waarbij het verstelorgaan de stijfheid vermindert tot een lagere stijfheid tijdens het naar beneden bewegen van de paal in de zeebodem wanneer de stijfheid van de grond neemt toe.A method according to any one of claims 45 to 63, wherein a stiffness of the resilient member is adjustable via an adjuster, the adjusting means reducing the stiffness to a lower stiffness during the lowering of the pile into the seabed when the stiffness of the pile is reduced. the ground increases. 65. Werkwijze volgens een van de conclusies 43-64, waarbij de eerste geleidingsinrichting en de tweede geleidingsinrichting via een hoofdframe met elkaar zijn verbonden, waarbij het hoofdframe is verbonden met het basisframe en vrij beweegbaar is ten opzichte van genoemd basisframe in een eerste richting en / of een dwarse, tweede richting.A method according to any one of claims 43-64, wherein the first guiding device and the second guiding device are connected to each other via a main frame, the main frame being connected to the base frame and freely movable relative to said base frame in a first direction and / or a transverse, second direction. 66. Werkwijze volgens de voorgaande conclusie, waarbij het hoofdframe via een tussenframe met het basisframe is verbonden, waarbij het hoofdframe via een eerste tussenactuator en / of een tweede tussenactuator met het tussenframe is verbonden, waarbij het hoofdframe roteerbaar is ten opzichte van het tussenframe om een eerste as door de eerste tussenactuator en / of een dwarse, tweede as door de tweede tussenactuator, waarbij tijdens stap e) of na stap d) de eerste tussenactuator en / of de tweede tussenactuator zijn ingericht om het hoofdframe in hoofdzaak stationair te houden ten opzichte van de paal terwijl het hoofdframe ten opzichte van het drijvende vaartuig wordt verplaatst.A method according to the preceding claim, wherein the main frame is connected to the base frame via an intermediate frame, wherein the main frame is connected to the intermediate frame via a first intermediate actuator and/or a second intermediate actuator, wherein the main frame is rotatable relative to the intermediate frame to a first axis through the first intermediate actuator and/or a transverse, second axis through the second intermediate actuator, wherein during step e) or after step d) the first intermediate actuator and/or the second intermediate actuator are arranged to keep the main frame substantially stationary at relative to the pole as the main frame is moved relative to the floating vessel. 67. Werkwijze volgens de voorgaande conclusie, waarbij de eerste richting de eerste as definieert, en waarbij de tweede richting de tweede as definieert.The method of the preceding claim, wherein the first direction defines the first axis, and wherein the second direction defines the second axis. 68. Werkwijze volgens conclusie 66 of 67, waarbij het paalgeleidingssysteem is ingericht om het moment op de paal aan te brengen door het hoofdframe rond de eerste as te roteren met de eerste tussenactuator en / of om de tweede as met de tweede tussenactuator.A method according to claim 66 or 67, wherein the pile guiding system is arranged to apply the moment to the pile by rotating the main frame about the first axis with the first intermediate actuator and/or about the second axis with the second intermediate actuator. 69. Werkwijze volgens een van de voorgaande conclusies 42-68, waarbij stap b) wordt uitgevoerd door een kraan op het drijvende vaartuig.A method according to any one of the preceding claims 42-68, wherein step b) is performed by a crane on the floating vessel. 70. Werkwijze volgens een van de voorgaande conclusies 42-68, waarbij stap b) wordt uitgevoerd door een omhoogbrenginrichting voor het omhoog brengen van de paal vanuit een in hoofdzaak horizontale oriëntatie op het dek naar de rechtopstaande oriëntatie.A method according to any one of the preceding claims 42-68, wherein step b) is performed by an elevating device for raising the pile from a substantially horizontal orientation on the deck to the upright orientation. 71. Werkwijze volgens een van de voorgaande conclusies 42-70, waarbij het paalgeleidingssysteem zich uitstrekt boven het dek van het drijvende vaartuig en / of onder een kiel van het drijvende vaartuig.A method according to any one of the preceding claims 42-70, wherein the pile guiding system extends above the deck of the floating vessel and/or below a keel of the floating vessel. 72. Werkwijze volgens een van de voorgaande conclusies 42-71, waarbij stap e) wordt uitgevoerd door een slagwerktuig.A method according to any one of the preceding claims 42-71, wherein step e) is performed by an impact tool. 73. Paalgeleidingssysteem dat is ingericht om te worden aangebracht op een drijvend vaartuig en is ingericht om te helpen bij het op een installatielocatie houden van het drijvende vaartuig tijdens het installeren van een paal in een zeebodem op de installatielocatie, waarbij het paalgeleidingssysteem omvat:73. Pile guidance system configured to be installed on a floating vessel and configured to assist in maintaining the floating vessel in an installation location during installation of a pile in a seabed at the installation site, the pile guidance system comprising: - een basis via welke het paalgeleidingssysteem is ingericht om te worden verbonden met het vaartuig, - een eerste geleidingsinrichting die is verbonden met de basis, waarbij de eerste geleidingsinrichting is ingericht om de paal vast te houden tijdens installatie daarvan, waarbij de eerste geleidingsinrichting beweegbaar is ten opzichte van de basis in een horizontaal vlak en is ingericht om in hoofdzaak stationair te worden gehouden ten opzichte van de installatielocatie tijdens installatie van de paal, - een eerste actuator en een tweede actuator verbonden met de eerste geleidingsinrichting voor het bewegen van de eerste geleidingsinrichting ten opzichte van de basis in het horizontale vlak om de eerste geleidingsinrichting in hoofdzaak stationair te houden ten opzichte van de installatielocatie tijdens installatie van de paal, - een tweede geleidingsinrichting die zich op een afstand boven of onder de eerste geleidingsinrichting bevindt, waarbij de tweede geleidingsinrichting is verbonden met het drijvende vaartuig of met de basis, waarbij de tweede geleidingsinrichting een veerkrachtig orgaan omvat voor het verschaffen van een verende verbinding tussen de paal en de tweede geleidingsinrichting tijdens installatie daarvan, waarbij de eerste en tweede geleidingsinrichting een geleidingsopening definiëren voor het accommoderen van de paal, waarbij de eerste geleidingsinrichting beweegbaar is ten opzichte van de tweede geleidingsinrichting in het horizontale vlak.- a base via which the pile guiding system is adapted to be connected to the vessel, - a first guiding device connected to the base, the first guiding device being adapted to retain the pile during installation thereof, the first guiding device being movable relative to the base in a horizontal plane and arranged to be kept substantially stationary relative to the installation location during installation of the pile, - a first actuator and a second actuator connected to the first guide device for moving the first guide device relative to the base in the horizontal plane to maintain the first guide device substantially stationary with respect to the installation location during installation of the pile, - a second guide device spaced above or below the first guide device, the second guide device is ve bonded to the floating vessel or to the base, the second guide device comprising a resilient member for providing a resilient connection between the pole and the second guide device during installation thereof, the first and second guide devices defining a guide opening for accommodating the pole, wherein the first guiding device is movable relative to the second guiding device in the horizontal plane. 74. Paalgeleidingssysteem volgens conclusie 73, waarbij de eerste geleidingsinrichting is ingericht om de paal star vast te houden.A pile guiding system according to claim 73, wherein the first guiding device is adapted to rigidly retain the pile. 75. Paalgeleidingssysteem volgens conclusie 73 of 74, waarbij de tweede geleidingsinrichting in hoofdzaak star is verbonden met het drijvende vaartuig of met de basis en is ingericht om stationair te blijven ten opzichte van het vaartuig of de basis.A pile guiding system according to claim 73 or 74, wherein the second guiding device is substantially rigidly connected to the floating vessel or to the base and is arranged to remain stationary relative to the vessel or to the base. 76. Paalgeleidingssysteem volgens een van de conclusies 73-75, waarbij de eerste geleidingsinrichting en / of de tweede geleidingsinrichting een veelheid aangrijporganen (41) omvat voor het aangrijpen op de paal tijdens installatie, waarbij in het bijzonder de aangrijporganen op regelmatige intervallen rond de omtrek van de paal zijn geplaatst.A pile guiding system according to any one of claims 73-75, wherein the first guiding device and/or the second guiding device comprises a plurality of engagement members (41) for engaging the pile during installation, in particular the engagement members at regular intervals around the circumference. are placed off the pole. 77. Paalgeleidingssysteem volgens de voorgaande conclusie, waarbij elk aangrijporgaan een roller omvat, en waarbij de roller het veerkrachtige orgaan is.A pile guiding system according to the preceding claim, wherein each engaging member comprises a roller, and wherein the roller is the resilient member. 78. Paalgeleidingssysteem volgens een van de voorgaande conclusies 73-77, waarbij een stijfheid van het veerkrachtige orgaan instelbaar is via een verstelorgaan (49), waarbij het verstelorgaan is ingericht om de stijfheid te verminderen tot een lagere stijfneid tijdens een neerwaarts (50) bewegen van de paal in de zeebodem naarmate de stijfheid van de grond toeneemt.A pile guiding system according to any one of the preceding claims 73-77, wherein a stiffness of the resilient member is adjustable via an adjusting member (49), the adjusting member being adapted to reduce the stiffness to a lower stiffness during a downward (50) movement. of the pile in the seabed as the stiffness of the ground increases. 79. Paalgeleidingssysteem volgens een van de voorgaande conclusies 73-78, waarbij het paalgeleidingssysteem een openingsorgaan (51) omvat voor het openen en sluiten van de geleidingsopening, waarbij het openingsorgaan beweegbaar is tussen een open positie (52) voor het positioneren van de paal in de geleidingsopening, en een gesloten positie (53) waarbij de paal wordt omsloten door het paalgeleidingssysteem.A pile guiding system according to any one of the preceding claims 73-78, wherein the pile guiding system comprises an opening member (51) for opening and closing the guiding opening, the opening member being movable between an open position (52) for positioning the pile in the guide opening, and a closed position (53) wherein the pile is enclosed by the pile guiding system. 80. Paalgeleidingssysteem volgens een van de voorgaande conclusies 73-79, waarbij het paalgeleidingssysteem een afschermorgaan (54) omvat voor het beperken van golfbelastingen op de paal door de paal tegen golven af te schermen.A pile guiding system according to any one of the preceding claims 73-79, wherein the pile guiding system comprises a shielding member (54) for limiting wave loads on the pile by shielding the pile from waves. 81. Werkwijze om te helpen een drijvend vaartuig op een installatielocatie te houden tijdens het installeren van een paal in een zeebodem op de installatielocatie, waarbij de werkwijze de volgende stappen omvat: a) het verschaffen van het drijvende vaartuig en een paalgeleidingssysteem volgens één van de conclusies 73-80, verbonden met het drijvende vaartuig via de basis op de installatielocatie, b) het positioneren van de paal in de geleidingsopening van het paalgeleidingssysteem, c) het laten zakken van de paal naar de zeebodem, d} het in horizontale richting fixeren van een ondereinde van de paal met de zeebodem, e) het in hoofdzaak stationair houden van de eerste geleidingsinrichting ten opzichte van de installatielocatie, waarbij wanneer het vaartuig weg beweegt van de installatielocatie, de tweede geleidingsinrichting helpt om het drijvende vaartuig terug te bewegen naar de installatielocatie door een kracht die door de paal op de tweede geleidingsinrichting wordt uitgeoefend in een richting naar de installatielocatie.81. A method of helping maintain a floating vessel at an installation site while installing a pile in a seabed at the installation site, the method comprising the steps of: a) providing the floating vessel and a pile guiding system according to any one of claims 73-80, connected to the floating vessel through the base at the installation site, b) positioning the pile in the guide hole of the pile guiding system, c) lowering the pile to the seabed, d} fixing in horizontal direction of a lower end of the pile with the seabed, e) maintaining the first guide device substantially stationary with respect to the installation location, wherein as the vessel moves away from the installation location, the second guide device assists in moving the floating vessel back to the installation location by a force exerted by the pole on the second guide device in one direction to the installation location.