System and method for supporting the operation of subsea installations for 3D reconstruction of flexible pipes during a direct vertical connection operation

Patent metadata

Field	Value
Publication number	US-11436747-B2
Application number	US-201917258518-A
Country	US
Kind code	B2
Filing date	Jul 10, 2019
Priority date	Jul 13, 2018
Publication date	Sep 6, 2022
Grant date	Sep 6, 2022

Abstract

This invention provides a system and a method for supporting the operation of subsea installations for 3D reconstruction of flexible pipes (1) during a direct vertical connection operation, comprising the steps of painting the flexible pipe (1) with a specific regular pattern, and performing a 3D reconstruction of the points sampled on the flexible pipe (1) to obtain the radius of curvature of the flexible pipe (1), in which the 3D reconstruction comprises the steps of: capturing images of the flexible pipe (1) during the direct vertical connection operation; sending the captured images to a dedicated computer (4); and processing the captured images, generating information on the radius of curvature, wherein the method initially comprises at least one of the following steps: painting the bend restrictor (6) with a specific regular pattern; painting straps (71) for buoys (7) with a specific regular pattern; and painting straps (71) for the arch bend, in the event of second-end direct vertical connection.

First claim

The invention claimed is:

1. A method for supporting an operation of subsea facilities for 3D reconstruction of flexible pipes during a first-end direct vertical connection (DVC) operation, the method comprising:
painting of at least one flexible pipe of the flexible pipes; and
performing a 3D reconstruction of 3D points sampled on the flexible pipe to obtain a radius of curvature along the flexible pipe,
wherein the painting comprises:
painting the flexible pipe with a first specific regular pattern,
painting a bend restrictor with a second specific regular pattern that is compatible with the painting of the first specific regular pattern of the flexible pipe,
painting straps for buoys with a third specific regular pattern, and
painting hoisting straps of an arch bend, for a second-end DVC operation with a fourth specific regular pattern; and

wherein the 3D reconstruction comprises:
capturing images of the flexible pipe during the first-end DVC operation;
sending the captured images to a dedicated computer; and
processing the captured images, and generating the radius of curvature along the flexible pipe.

2. The method of claim 1 , wherein the first specific regular pattern comprises a staggered and regular sequence of black and white areas, and where the specific regular pattern is done using matte paint, and the length of a white area is equal to the external diameter (d) of the flexible pipe, and the length of a black area is equal to half of the external diameter (d/2) of the flexible pipe.

3. The method of claim 2 , wherein the first specific regular pattern on the bend restrictor comprises:
internal rings are painted white;
external rings are painted black; and
an adaptation piece is painted white.

4. The method of claim 2 , wherein the straps for the buoys are marked with matte tape in black and white, wherein the marking of a first strap of a first buoy of the buoys comprises a section of the first strap closest to the flexible pipe marked with black tape and a remaining section of the first strap is marked with white tape, and second straps on other buoys are marked with black tape;
wherein a first part of the first strap rolled up on an area of the flexible pipe or the bend restrictor is marked to prevent impaired recognition of the white paint on the flexible pipe; and the hoisting straps are marked with black matte tape,
wherein a second part of the hoisting strap straps is rolled up on a region of the flexible pipe to prevent impaired recognition of the white paint on the flexible pipe.

5. The method of claim 1 , further comprising:
sending at least one of a group of parameters to the dedicated computer including:
a type of DVC;
a water level;
a pipe laying support vehicle-vertical connection module (PLSV-VCM) distance;
a pipe laying support vehicle-hoist {PLSV-Hoist) distance;
a length of a first hoisting strap;
a length of a second hoisting strap;
a position of the first hoisting strap;
a position of the second hoisting strap; and
a side of a coupling in the image.

6. The method of claim 1 , further comprising:
sending at least one of a group of parameters from the flexible pipe to the dedicated computer including:
a minimum radius of curvature that the flexible pipe may attain during operation;
a flexural rigidity;
an axial rigidity on the flexible pipe; and
a linear net weight of the flexible pipe when submerged in seawater.

7. The method of claim 1 , further comprising:
sending at least one of a group of parameters on the bend restrictor to the dedicated computer including:
whether the flexible pipe is installed with the bend restrictor;
a locking radius of the bend restrictor;
a maximum length of the bend restrictor installed on the flexible pipe; and
a net weight of the bend restrictor when submerged in seawater.

8. The method of claim 1 , further comprising:
sending at least one of a group of parameters from an adaptor to the dedicated computer:
whether the adapter is used to connect the flexible pipe to a vertical connection module (VCM);
a length of the adaptor; and
a net weight of the adaptor when submerged in seawater.

9. The method of claim 1 , further comprising;
sending at least one of a group of parameters from a connector to the dedicated computer:
a length of the connector; and
a net weight of the connector when submerged in seawater.

10. The method of claim 1 , further comprising:
sending at least one of a group of parameters from a vertical connection module (VCM) to the dedicated computer:
a smallest angle that a gooseneck forms with a vertical axis of the VCM;
a vertical distance from a flange of the VCM to a sea floor;
a vertical distance from an eyebolt to the flange;
a horizontal distance from the eyebolt to the flange;
a vertical distance from the flange to a center of gravity;
a horizontal distance from the flange to the center of gravity;
a vertical distance from the flange to a base of the VCM;
a horizontal distance from the flange to a center of a hub on the VCM; and
a weight of the VCM when submerged in seawater.

11. The method of claim 1 , further comprising:
sending at least one of a group of parameters from the buoys to the dedicated computer:
a distance between a flange of a vertical connection module (VCM) and a point at which a buoy of the buoys is attached; and
a net thrust of the buoy.

12. The method of claim 1 , further comprising:
calibrating cameras to obtain intrinsic and extrinsic parameters from video cameras in DVC operations, wherein the calibration includes capturing images from a calibration pattern of a previously known image.

13. A system for supporting operation of subsea facilities for 3D reconstruction of flexible pipes during a first-end direct vertical connection (DVC) operation comprising
at least one flexible pipe of the flexible pipes painted with a first specific regular pattern, and
means for performing a physical simulation to obtain a radius of curvature of the flexible pipe, wherein the system comprises:
a means for capturing images from the flexible pipe during a direct vertical connection (DVC) operation;
a means for sending the captured images to a dedicated computer; and
a means for processing the captured images generating information from the radius of curvature along the flexible pipe, wherein the operation includes at least one of:
a bend restrictor painted with a second specific regular pattern;
straps for buoys painted with a third specific regular pattern; and
hoisting straps of an arch bend painted with a fourth specific regular pattern, for a second-end DVC operation.

14. The system of claim 13 , wherein the means for capturing images from the flexible pipe during the DVC operation, comprise:
at least two video cameras to capture the images of the flexible pipe, wherein the cameras are high resolution in low-light environments, and are resistant to a subsea environment,
wherein the cameras comprise a light sensitivity of at least 1.3×10-3 Lux; and a field of vision in water is a minimum of 802 degrees;
wherein a distance between the cameras is a minimum of 1 meter and a maximum of 1.5 meters;
wherein the cameras are positioned next to each other and at substantially a same height in relation to base of a remotely operated vehicle (ROV), and lenses of the cameras are aligned; and
wherein axis of symmetry of the cameras are substantially parallel.

15. The system of claim 14 , further comprising:
a calibration pattern for calibrating the video cameras, the calibration pattern comprising two opposite

Assignees

• Petroleo Brasileiro Sa Petrobras
• Petroleo Brasileiro S A —Petrobras

Inventors

• Miranda Cesar Vinicius
• Andrade Pessoa Saulo
• Kelner Judith
• Humberto Ferreira Dos Santos Ismael
• Vardaro Eduardo
• Fonseca Reis De Souza Bernardo
• Curty Saad Arthur
• Gomes Vaillant Alyson
• Carre De Oliveira Allan

Classifications

• G06T7/60 Primary

  Analysis of geometric attributes · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/64

  of convexity or concavity · CPC title

• E21B17/20

  Flexible or articulated drilling pipes {, e.g. flexible or articulated rods, pipes or cables} · CPC title

• G06F30/18 Primary

  Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling (circuit design at the physical level G06F30/39; network planning tools for wireless communication networks H04W16/18) · CPC title