Subsea position control system for elongate articles
A method of controlling subsea laying of an elongate article includes guiding the article using a submersible vehicle such as an ROV that carries a guide tool. The guide tool has a sleeve through which the article moves axially during laying, while the vehicle applies cross-axial guide forces to the article via the sleeve. Also disclosed is a guide tool including a sleeve through which the article can move axially during laying, and a grab handle whereby a submersible vehicle may hold the tool using a grabber. Alternatively, the guide tool can be attached to or integrated with the vehicle.
1. A guide tool suitable for subsea laying of an elongate article when used by a submersible vehicle, the tool comprising:
a sleeve through which the article can slide axially during laying; and
a grab handle for a grabber of a submersible vehicle.
2. The tool of claim 1 , wherein the sleeve comprises a gate extending along its length.
3. The tool of claim 2 further comprising a lock member movable between a locked position and an unlocked position, the lock member being cooperable with lock formations on the sleeve to lock the gate closed when in the locked position and to release the gate for opening when in the unlocked position.
4. The tool of claim 3 , wherein the lock member is carried by and movable with respect to the gate.
5. The tool of claim 3 , wherein the gate is attached to a body of the sleeve by a hinge and the lock member is mounted to the gate at a location opposed to the hinge.
6. The tool of claim 3 , wherein force applied to move the lock member into the lock position also acts to close the gate.
7. The tool of claim 3 , wherein the lock member is biased into the unlocked position.
8. The tool of claim 3 , wherein the lock member includes a grab point to be grasped by a manipulator claw of the submersible vehicle.
9. The tool of claim 3 , wherein the lock mechanism further comprises a latch member cooperable with the lock member to hold the lock member in the locked position.
10. The tool of claim 9 , wherein the latch member is biased to engage the lock member in the locked position.
11. The tool of claim 9 , wherein an element of the lock member is connected to the latch member for movement along a path, the path defining a latch position at which the latch member engages the lock member to hold the lock member in the locked position.
12. The tool of claim 9 , wherein the latch member is movably mounted to the gate.
13. A submersible vehicle carrying a guide tool suitable for subsea laying of an elongate article, the guide tool comprising a grab handle for a grabber of the submersible vehicle and a sleeve through which the article can slide axially during laying; characterized in that the sleeve can be opened to receive the article and can be closed around the article, and in that the guide tool is attached to the submersible vehicle via the grab handle.
14. The submersible vehicle of claim 13 , wherein the sleeve comprises a gate extending along its length.
15. The submersible vehicle of claim 14 further comprising a lock member movable between a locked position and an unlocked position, the lock member being cooperable with lock formations on the sleeve to lock the gate closed when in the locked position and to release the gate for opening when in the unlocked position.
16. The submersible vehicle of claim 15 , wherein the lock member is carried by and movable with respect to the gate.
17. The submersible vehicle of claim 15 , wherein the gate is attached to a body of the sleeve by a hinge and the lock member is mounted to the gate at a location opposed to the hinge.
18. The submersible vehicle of claim 15 , wherein force applied to move the lock member into the lock position also acts to close the gate.
19. The submersible vehicle of claim 15 , wherein the lock member is biased into the unlocked position.
20. The submersible vehicle of claim 15 , wherein the lock member includes a grab point to be grasped by a manipulator claw of the submersible vehicle.
21. The submersible vehicle of claim 15 , wherein the lock mechanism further comprises a latch member cooperable with the lock member to hold the lock member in the locked position.
22. The submersible vehicle of claim 21 , wherein the latch member is biased to engage the lock member in the locked position.
23. The submersible vehicle of claim 21 , wherein an element of the lock member is connected to the latch member for movement along a path, the path defining a latch position at which the latch member engages the lock member to hold the lock member in the locked position.
24. The submersible vehicle of claim 21 , wherein the latch member is movably mounted to the gate.