Method and device for assembling or disassembling a structure under water

Abstract

A method of performing an under water operation on a structure ( 10 ) or in the vicinity of the structure includes providing a device ( 18 ) having a movable arm ( 20 ) and at least a first support ( 22 ) constructed to be connected to the structure, the movable arm ( 20 ) directly or indirectly connected at a proximal end ( 34 ) to the support, the first movable arm having a first tool ( 30 ) connected to a distal end ( 36 ) of the first movable arm, at least one actuator ( 33 ) configured to controllably move the first tool ( 30 ) in a three dimensional working range in order to position the first tool at a target location, attaching the device to the structure via the at least one support, and-moving the tool in three dimensions and performing an operation under water.

1 . A method of performing an under water operation on a structure or in the vicinity of the structure, the method comprising:
 providing a device comprising a movable arm, the device being constructed to perform an under water operation on the structure or in the vicinity of a structure, the device comprising:
 at least a first support constructed to be connected to the structure, the support being configured to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the movable arm to the structure, including a vertical force required for lifting operations of the device, 
 at least a first articulated movable arm directly or indirectly connected at a proximal end to said support, the first movable arm comprising a first tool connected to a distal end of said first movable arm, wherein the first tool is movable in a three dimensional working range around the at least first support, 
 at least one actuator configured to controllably move the first tool in the three dimensional working range in order to position the first tool at a target location, 
 a control device configured to control the at least one actuator and the tool during operation, 
   attaching the device to the structure via the at least one support, and   moving the tool in three dimensions and performing an operation under water, wherein forces and moments that occur during the operation are transferred to the structure.   
     
     
         2 . (canceled) 
     
     
         3 . The Method according to  claim 1 , wherein the tool comprises a processing tool selected from a group comprising:
 a cutting tool for cutting in the structure,   an excavating device for excavating the seabed or for collecting material which rests on the seabed,   a drilling device for drilling a hole in the structure, and/or   a welding device for performing a welding operation, and   a sampling device for taking a sample, in particular from the structure, from the seabed or from the water.   
     
     
         4 . (canceled) 
     
     
         5 . The Method according to  claim 1 , comprising simultaneously gripping the part with the gripping tool and cutting in the structure with the cutting tool, thereby preventing the part from falling when the part becomes separated from the structure, wherein the cutting tool is movable relative to the gripping tool, allowing a part of the structure to be held by the gripping tool while the cutting tool cuts the structure in different positions which are required to separate the part from the structure, the method comprising:
 gripping a part of the structure which is envisaged to be separated from the structure with the gripping tool,   moving the cutting tool to different locations and cutting in the structure at the different locations for separating the part from the structure while maintaining the grip on the part with the gripping tool.   
     
     
         6 . (canceled) 
     
     
         7 . The Method according to  claim 1 , comprising:
 providing a container at the seabed within a working range of the movable arm,   each time separating a part from the structure,   placing the separated parts in the container by the at least one arm,   lifting the filled container to the water surface, and   transporting the container to a remote location with a vessel.   
     
     
         8 . The Method according to  claim 1 , wherein the support comprises at least one clamp, the method comprising:
 clamping the support to the structure at a first position,   removing at least one first part from the structure, and in particular as many parts as are within the working range of the movable arm at the first position,   releasing the at least one clamp,   moving the support to a second position on the structure and clamping the structure at the second position,   removing at least one second part from the structure, and in particular as many parts as are within the working range of the movable arm at the second position, and   repeating these steps until the structure is substantially disassembled.   
     
     
         9 . The Method according to  claim 8 , comprising clamping the at least one clamp to a vertical beam or substantially vertical beam of the structure and moving downwards along said beam from said first position to said second position and further downward until the structure is substantially disassembled. 
     
     
         10 . The Method according to  claim 1 , wherein the control device comprises:
 a data processing device comprising a memory configured for storing:
 geometrical data relating to the initial form of the structure, 
 disassembly data relating to the progress of disassembling the structure and the current form of the structure, 
   one or more sensors constructed for determining a current position of the arm and of the processing tool relative to the structure,   and wherein the method comprises:   loading the geometrical data into the memory,   determining a part to be removed from the structure and determining a target position of the processing tool on the basis of the geometrical data and the disassembly data,   moving the processing tool to the target position,   removing a part from the structure by gripping the part, cutting in the structure until the part is separated and moving the part away from the structure,   updating the disassembly data with data on the removed part, and   repeating the steps until the structure is disassembled.   
     
     
         11 . The Method according to  claim 1 , further comprising:
 cutting the structure at a cutting level, wherein a top part of the structure is separated from a bottom part of the structure,   lifting the top part of the structure with a lifting device on a vessel   removing the top part from the location, and   disassembling the bottom part of the structure.   
     
     
         12 .- 16 . (canceled) 
     
     
         17 . The Method according to  claim 1 , further comprising:
 providing a first of said movable arm,   providing a second of said movable arm,   gripping a part of the structure with the gripping tool of the first movable arm,   cutting in the structure with the cutting tool of the second movable arm device such that said part becomes separated from the structure, and   moving the separated part away from the structure with the first movable arm.   
     
     
         18 . (canceled) 
     
     
         19 . The Method according to  claim 1 , further comprising:
 providing a device comprising a movable arm, the device further comprising:
 a body, the first articulated movable arm being connected to the at least one support via said body, the first movable arm comprising a gripping tool, 
 a second articulated movable arm directly or indirectly connected at a proximal end to said support, the second movable arm comprising a processing tool connected to a distal end of said second movable arm, wherein the processing tool is movable in a three dimensional working range around the at least first support, and 
   performing a processing operation on the structure with the gripping tool and the processing tool.   
     
     
         20 . (canceled) 
     
     
         21 . The Method according to  claim 1 , comprising providing a vessel above the structure and assisting the operation by connecting a line from the vessel to the articulated movable arm or to a part of the structure and exerting an upward force on the articulated movable arm or on the part of the structure via the line. 
     
     
         22 . The Method according to  claim 1 , comprising providing at least one buoyancy device and assisting the operation by connecting the buoyancy device to the articulated movable arm or to a part of the structure, directly or via a line, and exerting an upward force on the articulated movable arm or on the part of the structure via the buoyancy device. 
     
     
         23 . The Method according to  claim 1 , comprising connecting an excavating device to the distal end of the at least one articulated movable arm and carrying out at least one excavating operation in the vicinity of the structure. 
     
     
         24 . (canceled) 
     
     
         25 . A device comprising a movable arm, the device being constructed to perform an under water operation on an at least partially submerged structure or in the vicinity of the at least partially submerged structure, the device comprising:
 at least a first support constructed to be connected to the structure, the support being configured to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the movable arm to the structure, including a vertical force required for lifting operations of the device,   at least a first articulated movable arm directly or indirectly connected at a proximal end to said support, the first movable arm comprising a first tool connected to a distal end of said first movable arm, wherein the first tool is movable in a three dimensional working range around the at least first support,   at least one actuator configured to controllably move the first tool in the three dimensional working range in order to position the tool at a target location, and   a control device configured to control the at least one actuator and the tool during operation.   
     
     
         26 . (canceled) 
     
     
         27 . The device comprising a movable arm of  claim 25 , wherein the tool comprises:
 a gripping tool for gripping a part of the structure, and/or   a processing tool for performing a processing operation on the structure or in the vicinity of the structure.   
     
     
         28 . The device comprising a movable arm according to  claim 25 , wherein the processing tool is selected from a group comprising:
 a cutting tool for cutting in the structure,   an excavating device for excavating the seabed or for collecting material which rests on the seabed,   a drilling device for drilling a hole in the structure, and   a sampling device for taking a sample, in particular from the structure, from the seabed or from the water.   
     
     
         29 . The device comprising a movable arm according to  claim 25 , comprising a gripping tool and a cutting tool, wherein the cutting tool is movable relative to the gripping tool, allowing a part of the structure to be held by the gripping tool while the cutting tool cuts the structure in different positions which are required to separate the part from the structure. 
     
     
         30 . The device comprising a movable arm according to  claim 25 , wherein a distal end of the movable arm has three degrees of freedom relative to the support of the movable arm such that the distal end can be positioned in any position within the working range of the movable arm, and wherein the tool is pivotable about three independent axes of rotation about the distal end, thereby allowing the tool to be oriented in any direction in said position. 
     
     
         31 . The device comprising a movable arm according to  claim 25 , comprising a gripping tool and a cutting tool, wherein the cutting tool is connected to the gripping tool or to the movable arm via a movable cutting arm which provides the cutting tool with a working range which extends around the gripping tool. 
     
     
         32 . The device comprising a movable arm according to  claim 25 , wherein the support comprises a clamping device which comprises clamping members constructed to clamp to a vertical or substantially vertical beam of the structure. 
     
     
         33 . (canceled) 
     
     
         34 . The device comprising a movable arm according to  claim 25 , wherein the control device comprises:
 a data processing device comprising a memory configured for storing:
 geometrical data relating to the form of the structure, 
 assembly data or disassembly data relating to the individual steps of assembling or disassembling the structure, and 
   one or more sensors constructed for determining a current position of the arm and of the processing tool relative to the structure.   
     
     
         35 . The device comprising a movable arm according to  claim 25 , further comprising:
 a body, the first articulated movable arm being connected to the at least one support via said body, wherein a gripping tool is provided at the distal end thereof, and   a second articulated movable arm directly or indirectly connected at a proximal end to said support, the second movable arm comprising a processing tool connected to a distal end of said second movable arm, wherein the processing tool is movable in a three dimensional working range around the at least first support.   
     
     
         36 .- 39 . (canceled) 
     
     
         40 . The device comprising a movable arm according to  claim 25 , further comprising at least one buoyancy device connected to the at least one articulated arm for increasing the lift capacity of the movable arm. 
     
     
         41 .- 45 . (canceled)