Offshore pipe laying

Claim 3

A method as claimed in claim 1 wherein the sonic location apparatus on the submersible is an echo sounder and the position of the touch down point is ascertained by driving the submersible immediately above the pipe laid on the sea bed and noting the position of the submersible when the echo sounder indicates the pipe just lifting from the sea bed.

Claim 4

A method as claimed in claim 1 wherein the sonic location apparatus on the submersible is a side scan sonar transmitter and there is a complementary receiver on the surface vessel, and the position of the touch down point is ascertained by driving the submersible above and to one side of the pipe laid on the sea bed ascertaining with the side scan sonar apparatus the position relative to the submersible of the point where the pipe just lifts off the sea bed and simultaneously noting the position of the submersible.

Claim 5

A method as claimed in claim 1 wherein the desired predetermined track of the laid pipe is stored as a multiplicity of geographical coordinates along the desired track and the lateral deviation of the touch down point is computed by ascertaining the geographical position of the touch down point and comparing this with said stored co-ordinates.

Claim 6

A method as claimed in claim 3 wherein the desired predetermined track for the pipe being laid is substantially parallel with and a predetermined distance from a previously laid pipeline, and the submersible is driven along so that the side scan sonar apparatus detects simultaneously both the pipeline being laid and the previously laid line, and the duration of the touch down point is computed by comparing the lateral distance of the touch down point from the previously laid pipeline with the desired predetermined distance.

Claim 7

An offshore pipe laying system comprising a pipe laying barge having means for locating and propelling the barge; said barge also having means for feeding a continuous length of pipe from the barge to the seabed; automatic control apparatus for controlling said locating and propelling means in accordance with input data; storage means for storing an indication of a desired predetermined track on said seabed for a pipe line being laid by said barge; a surface vessel; a remotely controllable submersible; means on said surface vessel for controlling said submersible from said surface vessel; means for determining the position of the submersible relative to the surface vessel; said controlling means on said surface vessel including means driving said submersible along the track of the pipe laid by said pipe laying barge; sonic location apparatus on the submersible for ascertaining the position of the seabed touch-down point of the pipe line laid by said pipe laying barge; automatic computing apparatus arranged for obtaining an indication of lateral deviation of said touch-down point position, as ascertained by said sonic location apparatus, from the desired predetermined track of the pipe line stored in said storage means, and for computing in accordance with such lateral deviation input data for said automatic control apparatus of the pipe laying barge to reduce the aforementioned deviation.

Claim 8

An offshore pipe laying system comprising a pipe laying barge having means for locating and propelling the barge; said barge also having means for feeding a continuous length of pipe from the barge to the seabed; automatic control apparatus for controlling said locating and propelling means in accordance with input data; storage means for storing an indication of a desired predetermined track on said seabed for a pipe line being laid by said barge; a surface vessel; a remotely controllable submersible; means on said surface vessel for controlling said submersible from said surface vessel; means for determining the position of the submersible relative to the surface vessel; said controlling means on said surface vessel including means driving said submersible along the track of the pipe laid by said pipe laying barge; sonic location apparatus on the submersible for ascertaining the position of the seabed touch-down point of the pipe line laid by said pipe laying barge; automatic computing apparatus arranged for obtaining an indication of lateral deviation of said touch-down point position, as ascertained by said sonic location apparatus, from the desired predetermined track of the pipe line stored in said storage means, and for computing in accordance with such lateral deviation input data for said automatic control apparatus of the pipe laying barge to reduce the aforementioned deviation.

Claim 9

A system as claimed in claim 6 wherein the sonic location apparatus on the submersible is an echo sounder capable of distinguishing between the pipe lying on the seabed and the seabed as said submersible is driven along the track of said pipe laid by said pipe laying barge.

Claim 10

A system as claimed in claim 7 wherein the sonic location apparatus on the submersible is a side scan sonar transmitter and there is a complimentary receiver on the surface vessel, the side scan sonar apparatus being capable of distinguishing between the pipe lying on the seabed and the seabed when driven along, above and to one side of said pipe line.

Claim 11

A system as claimed in claim 8 wherein the means for determining the position of the submersible relative to the surface vessel is a sonar apparatus on the surface vessel.

Claim 12

An offshore pipe laying system comprising a pipe laying barge having means for locating and propelling the barge and automatic control apparatus for controlling said locating and propelling means in accordance with input data; means for storing an indication of a desired predetermined track for a pipe line; a surface vessel; a remotely controllable submersible arranged to be controlled from the surface vessel; means for determining the position of the submersible relative to the surface vessel; sonic location apparatus on the submersible arranged for ascertaining, when the submersible is driven along the track of the pipe as laid, the position of the seabed touch-down point of the pipe line; automatic computing apparatus arranged for obtaining an indication of lateral deviation of said touch-down position, as ascertained by the sonic location apparatus, from the predetermined track of the pipe line and for computing in accordance with such lateral deviation input data for said automatic control apparatus of the pipe laying barge to reduce the aforementioned deviation; the sonic location apparatus on the submersible being a side scan sonar transmitter; and a complimentary receiver on the surface vessel, the side scan sonar apparatus being capable of resolving the pipe lying on the seabed when driven along above and to one side of it.

Claim 13

An offshore pipe laying system comprising a pipe laying barge having means for locating and propelling the barge and automatic control apparatus for controlling said locating and propelling means in accordance with input data; means for storing an indication of a desired predetermined track for a pipe line; a surface vessel; a remotely controllable submersible arranged to be controlled from the surface vessel; means for determining the position of the submersible relative to the surface vessel; sonic location apparatus on the submersible arranged for ascertaining, when the submersible is driven along the track of the pipe as laid, the position of the seabed touch-down point of the pipe line; automatic computing apparatus arranged for obtaining an indication of lateral deviation of said touch-down position, as ascertained by the sonic location apparatus, from the predetermined track of the pipe line and for computing in accordance with such lateral deviation input data for said automatic control apparatus of the pipe laying barge to reduce the aforementioned deviation; the sonic location apparatus on the submersible being a side scan sonar transmitter; and a complimentary receiver on the surface vessel, the side scan sonar apparatus being capable of resolving the pipe lying on the seabed when driven along above and to one side of it.