APPARATUS AND METHODS OF POSITIONING A SUBSEA OBJECT

• US 20120282064A1
• Filed: 04/27/2012
• Published: 11/08/2012
• Est. Priority Date: 05/02/2011
• Status: Abandoned Application

• Current Assignee: Hallin Marine Singapore Pte Ltd. (SESI Holdings, Inc.)
• Original Assignee: Hallin Marine Singapore Pte Ltd. (SESI Holdings, Inc.)
• Inventors: Payne, John Anthony, Giddens, John Hallin
• Application Number:
  US13/458,777
• Publication Number:
  US 20120282064A1
• Time in Patent Office: Days
• US Class Current: 414/139.6
• CPC Class Codes: B63B 27/10 of cranes
• CPC Class Codes: B63B 35/003 for transporting very large loads, e.g. offshore structure modules construction methods for artificial islands mounted on piles E02B17/00; for transporting marine vessels B63B35/40; docks B63C1/00
• CPC Class Codes: B66C 13/085 electrical
• CPC Class Codes: B66C 13/46 Position indicators for suspended loads or for crane elements
• CPC Class Codes: F03B 13/264 using the horizontal flow of water resulting from tide movement
• CPC Class Codes: F05B 2230/61 using auxiliary equipment for lifting or holding
• CPC Class Codes: F05B 2230/6102 carried on a floating platform
• CPC Class Codes: Y02E 10/20 Hydro energy
• CPC Class Codes: Y02E 10/30 Energy from the sea, e.g. using wave energy or salinity gradient
• CPC Class Codes: Y02P 70/50 Manufacturing or production processes characterised by the final manufactured product

Abstract

A manipulator tool for installing and retrieving objects from a fixed or floating structure in a subsea tidal environment includes an articulated arm attached to the fixed or floating structure. The tool may be configured to compensate for movement of the objects due to tidal forces. In one embodiment, a stewart platform is used as a compensator to maintain the objects in a substantially stationary position in the tidal environment.

Claims

1. A manipulator tool for positioning a subsea object in a tidal environment, comprising:

an articulated arm;

a compensator attached to the articulated arm for coupling with the subsea object, wherein the compensator allows the subsea object to move in at least two degrees of freedom; and

a control unit configured to move at least one of the articulated arm and the compensator.

2. The tool of claim 1, wherein the compensator includes at least two actuators actuatable by the control unit to move the compensator.

3. The tool of claim 2, wherein the compensator includes six actuators.

4. The tool of claim 3, wherein the compensator further comprises two platforms coupled to each other using six hydraulic cylinders.

5. The tool of claim 1, wherein the articulated arm includes at least two arm members pivotable relative to each other.

6. The tool of claim 5, further comprising a hydraulic cylinder for moving the at least two arm members relative to each other.

7. The tool of claim 5, wherein the articulated arm is rotatable about the vertical axis.

8. The tools of claim 7, further comprising a slewing motor for rotating the articulated arm.

9. The tool of claim 1, further comprising a sonar for determining distance and direction of the manipulator from a fixed point in a seabed.

10. The tool of claim 9, wherein the control unit is configured to receive data from the sonar, to process the received data, and to move the articulated arm to compensate for movement relative to the fixed point in response to the received data.

11. The tool of claim 1, wherein the control unit is configured to receive data from a gyro sensor, to process the received data, and to move the articulated arm to compensate for movement relative to the fixed point in response to the received data.

12. The tool of claim 1, further comprising a docking unit attached to the compensator, wherein the docking unit is adapted to connect with a docking head on the subsea object.

13. The tool of claim 1, wherein the compensator is attachable to a docking unit on the subsea object.

14. The tool of claim 1, further comprising a camera for monitoring movement of the subsea object.

15. The tool of claim 1, wherein the articulated arm includes a streamlined shape to reduce drag of the articulated arm.

16. The tool of claim 15, wherein the streamlined shape is provided by a fitted member.

17. The tool of claim 1, wherein the manipulator tool is mounted to a structure, and the structure includes a retainer for supporting the articulated arm.

18. The tool of claim 1, wherein the subsea object comprises a tidal turbine.

19. The tool of claim 1, further comprising an engagement device for engaging the subsea object.

20. The tool of claim 19, wherein the engagement device comprises a docking unit attached to the compensator.

21. A floating assembly, comprising:

a floating structure; and

a manipulator tool as claimed in claim 1.

22. A movable assembly supported by a seabed, comprising:

a movable structure supported by the seabed; and

a manipulator tool as claimed in claim 1.

23. A method of positioning a subsea object in a body of water, comprising:

providing an articulated arm coupled to a compensator having an engagement device;

engaging the compensator to the subsea object using the engagement device;

operating the articulated arm to lower the subsea object into the body of water; and

compensating for movement of the subsea object relative to a fixed location in the body of water, thereby maintaining the subsea object in a substantially stationary position relative to the fixed location.

24. The method of claim 23, wherein compensating movement of the subsea object comprises:

measuring data related to distance and orientation of the manipulator from the fixed location; and

sending the measured data to a control unit, whereby the control unit operates at least one of the articulated arm and the compensator to compensate for movement of the subsea object.

25. The method of claim 24, further comprising:

measuring movement of a structure on which the articulating arm is located; and

sending the measured data to the control unit, whereby measured data related to movement of the structure is combined with measured data related to distance and orientation to determine operation of the articulated arm and compensator.

26. The method of claim 23, wherein the engagement device comprises a docking unit configured to engage the subsea object.

27. The method of claim 26, wherein the subsea object comprises a tidal turbine.