Method and apparatus for laying pipelines

Claim 15

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from aid floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of force interacting laterally between said floating vessel means and said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means; digital processing means operable to digitally process said indication of tension exerted on said pipeline from said floating vessel means, indication of force interacting laterally between said floating vessel means and said pipeline, and indication of the position of said floating vessel means relative to a desired course of movement in accordance with a predetermined digital computer program; vessel propulsion unit control means operable, in response to said digItal processing of said indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said pipeline generally within a predetermined tension range, adjust the thrust effect of said vessel propulsion units to effect a movement of said floating vessel means tending to maintain said interacting laterally directed force generally within a predetermined force range, and adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means generally on a desired course; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion units to effect a movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range as a matter of first priority in relation to thrust available from said vessel propulsion units; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on said desired course as a matter of second priority in relation to, and to the extent permitted by, thrust available from said vessel propulsion units; and manual input means operable during said laying of said pipeline to incorporate in said digital computer program digital processing data which is independent of said detected indications of tension, interacting laterally directed force, and position of said floating vessel means, and which relates to at least one of said predetermined tension range, said predetermined range of interacting laterally directed force, and said desired course of movement of said floating vessel means.

Claim 16

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from aid floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of force interacting laterally between said floating vessel means and said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means; digital processing means operable to digitally process said indication of tension exerted on said pipeline from said floating vessel means, indication of force interacting laterally between said floating vessel means and said pipeline, and indication of the position of said floating vessel means relative to a desired course of movement in accordance with a predetermined digital computer program; vessel propulsion unit control means operable, in response to said digItal processing of said indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said pipeline generally within a predetermined tension range, adjust the thrust effect of said vessel propulsion units to effect a movement of said floating vessel means tending to maintain said interacting laterally directed force generally within a predetermined force range, and adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means generally on a desired course; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion units to effect a movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range as a matter of first priority in relation to thrust available from said vessel propulsion units; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on said desired course as a matter of second priority in relation to, and to the extent permitted by, thrust available from said vessel propulsion units; and manual input means operable during said laying of said pipeline to incorporate in said digital computer program digital processing data which is independent of said detected indications of tension, interacting laterally directed force, and position of said floating vessel means, and which relates to at least one of said predetermined tension range, said predetermined range of interacting laterally directed force, and said desired course of movement of said floating vessel means.

Claim 17

An apparatus, as described in claim 8, for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, wherein said support means includes: clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion; yieldable, tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward said generally submerged portion of said pipeline while concurrently imparting a series of longitudinally spaced tensioning forces to said upper portion of said pipeline, which forces are operable to continuously bias said upper portion of said pipeline in a direction tending to impart tension to said generally submerged portion of said pipeline; said tensioning means including pneumatically inflated, rotary tires operable to remain continuously in biasing engagement with said pipeline substantially independent of the rate of floating vessel means movement and substantially independent of the direction of relative movement between said floating vessel means and said generally submerged portion of said pipeline; said rotary tires being operable to cradle said upper portion of said pipeline to prevent lateral displacement thereof; means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces acting on said floating vessel meAns without deviating from a predetermined tension range; and means operable, with said clamping means disengaged from gripping engagement with said pipeline, to cause said tensioning means to reduce said tension level and thereby cause said feeding of pipeline segments.

Claim 18

An apparatus, as described in claim 8, for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means wherein said third detecting means which is operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means, includes: satellite responsive navigation means operable to at least periodically determine the location of said floating vessel means with reference to an orbiting satellite orbiting the earth; and sonar beacon responsive navigation means operable, at least between the periodic determining of floating vessel means position with reference to said orbiting satellite, to extrapolate the position of said floating vessel means with reference to a generally fixedly positioned and submerged navigation station.

Claim 19

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including a plurality of vessel propulsion units, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; said support means including, clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, yieldable tensioning means, operable periodically and alternately with said clamping means, to feed segments to said upper portion of said pipeline generally toward submerged portion of said pipeline, said clamping means being operable, during said gripping of said pipeline, to accommodate deviations in pipeline tension resulting from environmental forces acting on said floating vessel means without causing said pipeline tension to substantially deviate from a predetermined tension range; said tensioning means being operable, with said clamping means disengaged from gripping engagement with said pipeline, to reduce tension imparted to said pipeline and thereby cause said feeding of segments; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said submerged portion of said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said submerged portion of said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means, said third detecting means including, satellite responsive navigation means operable to at least periodically determine the location of said floating vessel means with reference to an orbiting satellite orbiting the earth, and sonar beacon responsive navigation means operable, at least between the periodic determining of floating vessel means position with reference to said orbiting satellite, to extrapolate the position of said floating vessel means with reference to a generally fixedly positioned and submerged navigation station; vessel propulsion unit control means operable, in response to said detecting of said Indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, as a matter of first priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said generally submerged portion of said pipeline generally within a predetermined tension range, and to adjust the thrust effect of said vessel propulsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range, and as a matter of second priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course; and vessel propulsion unit thrust allocation means included in said control means and operable to effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain the tension exerted on said submerged portion of said pipeline generally within a predetermined tension range, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within a predetermined condition of balance, effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain interacting lateral force between said floating vessel means and said submerged portion of said pipeline generally within a predetermined force range, by adjusting the thrust effect of pairs of vessel propulsion units so as to tend to minimize translation of said floating vessel means and so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance, and effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain said floating vessel means generally on a desired course, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance.

Claim 20

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including a plurality of vessel propulsion units, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; said support means including, clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, yieldable tensioning means, operable periodically and alternately with said clamping means, to feed segments to said upper portion of said pipeline generally toward submerged portion of said pipeline, said clamping means being operable, during said gripping of said pipeline, to accommodate deviations in pipeline tension resulting from environmental forces acting on said floating vessel means without causing said pipeline tension to substantially deviate from a predetermined tension range; said tensioning means being operable, with said clamping means disengaged from gripping engagement with said pipeline, to reduce tension imparted to said pipeline and thereby cause said feeding of segments; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said submerged portion of said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said submerged portion of said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means, said third detecting means including, satellite responsive navigation means operable to at least periodically determine the location of said floating vessel means with reference to an orbiting satellite orbiting the earth, and sonar beacon responsive navigation means operable, at least between the periodic determining of floating vessel means position with reference to said orbiting satellite, to extrapolate the position of said floating vessel means with reference to a generally fixedly positioned and submerged navigation station; vessel propulsion unit control means operable, in response to said detecting of said Indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, as a matter of first priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said generally submerged portion of said pipeline generally within a predetermined tension range, and to adjust the thrust effect of said vessel propulsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range, and as a matter of second priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course; and vessel propulsion unit thrust allocation means included in said control means and operable to effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain the tension exerted on said submerged portion of said pipeline generally within a predetermined tension range, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within a predetermined condition of balance, effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain interacting lateral force between said floating vessel means and said submerged portion of said pipeline generally within a predetermined force range, by adjusting the thrust effect of pairs of vessel propulsion units so as to tend to minimize translation of said floating vessel means and so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance, and effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain said floating vessel means generally on a desired course, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance.

Claim 21

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including a plurality of vessel propulsion units, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline connected with said upper portion, extending downwardly to said submerged surface; said support means including, clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, yieldable, tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward said generally submerged portion of said pipeline while concurrently imparting a series of longitudinally spaced tensioning forces to said upper portion of said pipeline, which forces are operable to continuously bias said upper portion of said pipeline in a direction tending to impart tension to said generally submerged portion of said pipeline, said tensioning means including pneumatically inflated, rotary tires operable to remain continuously in biasing engagement with said pipeline substantially independent of the rate of floating vessel means movement and substantially independent of the direction of relative movement between said floating vessel means and said generally submerged portion of said pipeline, said rotary tires being operable to cradle said upper portion of said pipeline to prevent lateral displacement thereof, means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces acting on said floating vessel means without substantially deviating from a predetermined tension range, and means operable, with said clamping means disengaged from gripping engagement with said pipeline to cause said tensioning means to reduce said tension level and thereby cause said feeding of pipeline segments; first detecting means operable, at least periodically, at a first detection frequency, and concurrently with said gripping, to detect at least an indication of a vector component of tension exerted on said submerged portion of said pipeline from said floating vessel means; second detecting means operable, at least periodically, at a second detection frequency equal to or less than said first detection frequency, and concurrently with said gripping, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said submerged portion of said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, at a third detection frequency equal to or less than said second detection frequency, and concurrently with said gripping, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means, said third detecting means including, satellite responsive navigation means operable to at least periodically determine the location of said floating vessel means with reference to an orbiting satellite orbiting the earth, sonar beacon responsive navigation means operable, at least between the periodic determining of floating vessel means position with reference to said orbiting satellite and concurrent with said gripping, to determine the position of said floating vessel means with reference to a generally fixedly positioned and submerged sonar beacon means, and means operable, with general reference to said periodically determined locations of said floating vessel means, to extrapolate the position of said floating vessel means with reference to said sonar beacon means, vessel propulsion unit control means operable, in response to said detecting of said indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, as a matter of first priority priority; to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said generally submerged portion of said pipeline generally within a predetermined tension range, and to adjust the thrust effect of said vessel propulsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range, and as a matter of second priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course; vessel propulsion unit thrust allocation means included in said control means and operable to effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain the tension exerted on said submerged portion of said pipeline generally within a predetermined tension range, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within a predetermined condition of balance, effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain interacting lateral force between said floAting vessel means and said submerged portion of said pipeline generally within a predetermined force range, by adjusting the thrust effect of pairs of vessel propulsion units so as to tend to minimize translation of said floating vessel means and so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance, and effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain said floating vessel means generally on a desired course, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance; and said vessel propulsion unit control means further including thrust variation scheduling means operable to effect said adjusting of said thrust effects of said vessel propulsion units tending to maintain the tension exerted on said submerged portion of said pipeline generally with a predetermined range, tending to maintain interacting lateral force between said floating vessel means and said submerged portion of said pipeline generally within a predetermined force range, and tending to maintain said floating vessel means generally on a desired course, so that at least on a cyclic basis, a plurality of said thrust effects are generally simultaneously adjusted.

Claim 22

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including a plurality of vessel propulsion units, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline connected with said upper portion, extending downwardly to said submerged surface; said support means including, clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, yieldable, tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward said generally submerged portion of said pipeline while concurrently imparting a series of longitudinally spaced tensioning forces to said upper portion of said pipeline, which forces are operable to continuously bias said upper portion of said pipeline in a direction tending to impart tension to said generally submerged portion of said pipeline, said tensioning means including pneumatically inflated, rotary tires operable to remain continuously in biasing engagement with said pipeline substantially independent of the rate of floating vessel means movement and substantially independent of the direction of relative movement between said floating vessel means and said generally submerged portion of said pipeline, said rotary tires being operable to cradle said upper portion of said pipeline to prevent lateral displacement thereof, means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces acting on said floating vessel means without substantially deviating from a predetermined tension range, and means operable, with said clamping means disengaged from gripping engagement with said pipeline to cause said tensioning means to reduce said tension level and thereby cause said feeding of pipeline segments; first detecting means operable, at least periodically, at a first detection frequency, and concurrently with said gripping, to detect at least an indication of a vector component of tension exerted on said submerged portion of said pipeline from said floating vessel means; second detecting means operable, at least periodically, at a second detection frequency equal to or less than said first detection frequency, and concurrently with said gripping, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said submerged portion of said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, at a third detection frequency equal to or less than said second detection frequency, and concurrently with said gripping, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means, said third detecting means including, satellite responsive navigation means operable to at least periodically determine the location of said floating vessel means with reference to an orbiting satellite orbiting the earth, sonar beacon responsive navigation means operable, at least between the periodic determining of floating vessel means position with reference to said orbiting satellite and concurrent with said gripping, to determine the position of said floating vessel means with reference to a generally fixedly positioned and submerged sonar beacon means, and means operable, with general reference to said periodically determined locations of said floating vessel means, to extrapolate the position of said floating vessel means with reference to said sonar beacon means, vessel propulsion unit control means operable, in response to said detecting of said indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, as a matter of first priority priority; to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said generally submerged portion of said pipeline generally within a predetermined tension range, and to adjust the thrust effect of said vessel propulsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force within a predetermined force range, and as a matter of second priority, to adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course; vessel propulsion unit thrust allocation means included in said control means and operable to effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain the tension exerted on said submerged portion of said pipeline generally within a predetermined tension range, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within a predetermined condition of balance, effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain interacting lateral force between said floAting vessel means and said submerged portion of said pipeline generally within a predetermined force range, by adjusting the thrust effect of pairs of vessel propulsion units so as to tend to minimize translation of said floating vessel means and so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance, and effect said adjusting of the thrust effect of said vessel propulsion units, tending to maintain said floating vessel means generally on a desired course, so as to tend to maintain the deviation in thrust level between said vessel propulsion units within said predetermined condition of balance; and said vessel propulsion unit control means further including thrust variation scheduling means operable to effect said adjusting of said thrust effects of said vessel propulsion units tending to maintain the tension exerted on said submerged portion of said pipeline generally with a predetermined range, tending to maintain interacting lateral force between said floating vessel means and said submerged portion of said pipeline generally within a predetermined force range, and tending to maintain said floating vessel means generally on a desired course, so that at least on a cyclic basis, a plurality of said thrust effects are generally simultaneously adjusted.

Claim 23

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; said means operable to support an upper portion of said pipeline including clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, and yieldable tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward submerged portion of said pipeline; said yieldable tensioning means being operable to impart yieldable tension to side means of said upper portion of said pipeline on said floating vessel means; said yieldable tensioning means including tension adjusting means operable to reduce the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said reducing of tension being operable to cause feeding of a segment of said pipeline from said upper portion generally toward said generally submerged portion; said tension adjusting means being further operable to increase the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said increasing of tension being operable to substantially prevent the feeding of further segments of said pipeline from said upper portion of said pipeline generally toward said generally submerged portion; and means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces, including wave acTion, acting on said floating vessel means without deviating from a predetermined tension range.

Claim 24

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; said means operable to support an upper portion of said pipeline including clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, and yieldable tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward submerged portion of said pipeline; said yieldable tensioning means being operable to impart yieldable tension to side means of said upper portion of said pipeline on said floating vessel means; said yieldable tensioning means including tension adjusting means operable to reduce the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said reducing of tension being operable to cause feeding of a segment of said pipeline from said upper portion generally toward said generally submerged portion; said tension adjusting means being further operable to increase the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said increasing of tension being operable to substantially prevent the feeding of further segments of said pipeline from said upper portion of said pipeline generally toward said generally submerged portion; and means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces, including wave acTion, acting on said floating vessel means without deviating from a predetermined tension range.

Claim 25

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; detecting means operable to detect a deviation in the condition of said pipeline; and digital processing means operable to digitally process said indication of a deviation in the condition of said pipeline in accordance with a predetermined digital computer program; control means operable in response to said digital processing to adjust the thrust effect of said vessel propulsion means in an effort to tend to relieve said detected deviation, with said adjustment in thrust effect including a first component which is related directly to and tends to offset, said detected condition of deviation, a second component which tends to offset a bias condition tending to produce said deviation, and a third component which tends to offset the rate at which said deviation occurred; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion means to tend to relieve said detected deviation in the condition of said pipeline as a matter of first priority in relation to thrust available from said vessel propulsion means; means including and responsive to said digital processing means operable to effect an adjusting of the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course as a matter of second priority in relation to, and to the extent permitted by, thrust available from said vessel propulsion means; and manual input means operable during said laying of said pipeline to incorporate in said digital computer program digital processing data which is independent of said detected deviation in the condition of said pipeline and which relates to said pipeline condition.

Claim 26

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; detecting means operable to detect a deviation in the condition of said pipeline; and digital processing means operable to digitally process said indication of a deviation in the condition of said pipeline in accordance with a predetermined digital computer program; control means operable in response to said digital processing to adjust the thrust effect of said vessel propulsion means in an effort to tend to relieve said detected deviation, with said adjustment in thrust effect including a first component which is related directly to and tends to offset, said detected condition of deviation, a second component which tends to offset a bias condition tending to produce said deviation, and a third component which tends to offset the rate at which said deviation occurred; means including and responsive to said digital processing means operable to effect said adjusting of the thrust effect of said vessel propulsion means to tend to relieve said detected deviation in the condition of said pipeline as a matter of first priority in relation to thrust available from said vessel propulsion means; means including and responsive to said digital processing means operable to effect an adjusting of the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means on a desired course as a matter of second priority in relation to, and to the extent permitted by, thrust available from said vessel propulsion means; and manual input means operable during said laying of said pipeline to incorporate in said digital computer program digital processing data which is independent of said detected deviation in the condition of said pipeline and which relates to said pipeline condition.

Claim 27

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means; vessel propulsion unit control means operable, in response to said detecting of indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said pipeline generally within a predetermined tension range, adjust the thrust effect of said vessel propUlsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force generally within a predetermined force range, and adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means generally on a desired course; display means operable to display, on said vessel means, a visual representation of thrust azimuth means of said vessel propulsion means; and joy-stick means operable to operate said vessel propulsion means.

Claim 28

Apparatus for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus comprising: support means operable to support a pipeline from said floating vessel means, said support means including, means operable to support an upper portion of said pipeline from said floating vessel means, with a generally submerged portion of said pipeline, connected with said upper portion, extending downwardly to said submerged surface; first detecting means operable, at least periodically, to detect at least an indication of a vector component of tension exerted on said pipeline from said floating vessel means; second detecting means operable, at least periodically, to detect at least an indication of a vector component of generally horizontally directed force interacting laterally between said floating vessel means and said pipeline and directed generally transversely of said pipeline; third detecting means operable, at least periodically, to detect at least an indication of the position of said floating vessel means relative to a desired course of movement of said floating vessel means; vessel propulsion unit control means operable, in response to said detecting of indications of tension and interacting laterally directed force and said detecting of said indication of floating vessel means position, to adjust the thrust effect of said vessel propulsion units to tend to maintain tension exerted on said pipeline generally within a predetermined tension range, adjust the thrust effect of said vessel propUlsion units to effect a turning movement of said floating vessel means tending to maintain said interacting laterally directed force generally within a predetermined force range, and adjust the thrust effect of said vessel propulsion units to tend to maintain the position of said floating vessel means generally on a desired course; display means operable to display, on said vessel means, a visual representation of thrust azimuth means of said vessel propulsion means; and joy-stick means operable to operate said vessel propulsion means.

Claim 35

An apparatus as described in claim 8 for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, said apparatus further comprising: means operable, at least at times, to simultaneously effect all of said adjustings of the thrust effects of said vessel propulsion units so as to tend to simultaneously maintain tension exerted on said pipeline generally within said predetermined tension range, maintain said interacting laterally directed force generally within said predetermined force range, and maintain the position of said floating vessel means generally on said desired course; and means operable to induce said adjustings of the thrust effects of said vessel propulsion units at values derived at least in part from a magnitude of deviation, and a bias tending to produce said deviation in relation to each of predetermined values of tension in said pipeline, force interacting laterally between said pipeline and said floating vessel means, and floating vessel means position.

Claim 36

A method, as described in claim 1, for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means, wherein: said supporting of said upper portion of said pipeline is effected by periodically gripping said upper portion of said pipeline with clamping means so as to substantially prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, and periodically and alternately with said gripping of said upper portion of said pipeline, utilizing tensioning means to feed segments of said upper portion of said pipeline generally toward submerged portion of said pipeline; during said feeding of pipeline segments yieldable tension is imparted with said tensioning means to side means of said upper portion of said pipeline on said floating vessel means; feeding of pipeline segments is initiated by reducing the level of tension imparted to said side means of said upper portion of said pipeline by said tensioning means, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said reducing of tension being operable to cause feeding of a segment of said pipeline from said upper portion generally toward said generally submerged portion; and the level of tension imparted to said side means of said upper portion of said pipeline by said tensioning means is increased during said feeding of pipeline segments, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said increasing of tension being operable to substantially prevent the feeding of further segments of said pipeline from said upper portion of said pipeline generally toward said generally submerged portion; and during said gripping of said upper portion of said pipeline with clamping means, pipeline segments are added to said upper portion of said pipeline and a level of tension is imparted from said floating vessel means through said support means to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces, including wave action, acting on said floating vessel means without deviating from a predetermined tension range.

Claim 37

An apparatus as described in claim 8 for effecting the laying of a pipeline on a submerged surface from vessel means including vessel propulsion means wherein: said support means includes clamping means operable, periodically, to grip said upper portion of said pipeline so as to substantiAlly prevent a segment of said upper portion from moving downwardly toward said generally submerged portion, and yieldable tensioning means, operable periodically and alternately with said clamping means, to feed segments of said upper portion of said pipeline generally toward submerged portion of said pipeline; said yieldable tensioning means is operable to impart yieldable tension to side means of said upper portion of said pipeline on said floating vessel means; said yieldable tensioning means includes tension adjusting means operable to reduce the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said reducing of tension being operable to cause feeding of a segment of said pipeline from said upper portion generally toward said generally submerged portion; said tension adjusting means is further operable to increase the level of tension imparted to said side means of said upper portion of said pipeline, substantially independent of force exerted on said vessel means by said vessel propulsion means, with said increasing of tension being operable to substantially prevent the feeding of further segments of said pipeline from said upper portion of said pipeline generally toward said generally submerged portion; and said support means further includes means operable during said gripping of said upper portion by said clamping means to impart a level of tension from said floating vessel means, through said support means, and to said generally submerged portion of said pipeline at a tension level substantially above that maintained during said feeding of pipeline segments so as to tend to maintain the level of tension imparted to said generally submerged portion of said pipeline during said gripping generally within a tension range which accommodates deviations in tension resulting from environmental forces, including wave action, acting on said floating vessel means without deviating from a predetermined tension range.