Systems and methods for engaging subsea equipment

Abstract

A system for landing a subsea component includes a retention assembly configured to be coupled to the subsea component, the retention assembly including a first connector, a cable extending between the connector and a tensioning assembly, and a releasable lock configured to selectably actuate the tensioning assembly between a locked position and an unlocked position, wherein, when the tensioning assembly is in the unlocked position, a tensioning force is applied to the cable, and an anchoring assembly configured to anchor to a sea floor, the anchoring assembly including a second connector configured to be coupled to the first connector of the retention assembly.

1 . A system for landing a subsea component, comprising:
 a retention assembly configured to be coupled to the subsea component, the retention assembly comprising:
 a first connector; 
 a cable extending between the connector and a tensioning assembly; and 
 a releasable lock configured to selectably actuate the tensioning assembly between a locked position and an unlocked position; 
 wherein, when the retention assembly is disposed subsea and the tensioning assembly is in the unlocked position, a tensioning force is applied to the cable in response to a hydraulic pressure force applied against the tensioning assembly by sea water from the surrounding environment; and 
   an anchoring assembly configured to anchor to a sea floor, the anchoring assembly comprising a second connector configured to be coupled to the first connector of the retention assembly.   
     
     
         2 . The system of  claim 1 , wherein the retention assembly further comprises a locking assembly configured to allow the passage of the cable through the locking assembly in a first direction towards the retention assembly, and restrict passage of the cable through the locking assembly in a second direction away from the retention assembly. 
     
     
         3 . The system of  claim 2 , wherein the tensioning assembly comprises:
 a cylinder configured to couple to the subsea component; and   a piston slidably disposed in the cylinder and coupled to an end of the cable;   wherein the cylinder includes an open end for providing fluid communication between a first end of the piston and the subsea environment.   
     
     
         4 . The system of  claim 3 , wherein:
 when the tensioning assembly is in the locked position, the releasable lock physically engages the piston to restrict the piston from being displaced through the cylinder; and   when the tensioning assembly is in the unlocked position, the piston is displaced through the cylinder in response to fluid pressure acting against the first end of the piston.   
     
     
         5 . The system of  claim 4 , wherein, in response to the piston being displaced through the cylinder, the cable is passed through the locking assembly to reduce slack in the cable. 
     
     
         6 . The system of  claim 1 , wherein the anchoring assembly comprises:
 a first ring concentrically disposed in a second ring, and a third ring, wherein the first and second rings are each concentrically disposed in the third ring;   wherein the first ring is pivotally coupled to the second ring such that the first ring is configured to pivot about a first axis relative to the second ring; and   wherein the second ring is pivotally coupled to the third ring such that the second ring is configured to pivot about a second axis relative to the third ring.   
     
     
         7 . The system of  claim 1 , wherein the anchoring assembly comprises a damper configured to damp forces applied to the subsea component when the first connector is coupled to the second connector. 
     
     
         8 . A system for landing a subsea component, comprising:
 a first subsea component;   a retention assembly coupled to the first subsea component, the retention assembly comprising:
 a first connector; 
 a cable extending between the connector and a tensioning assembly, wherein the tensioning assembly is configured to apply a tensioning force to the cable; 
 a locking assembly configured to allow the passage of the cable through the locking assembly in a first direction towards the retention assembly, and restrict passage of the cable through the locking assembly in a second direction away from the retention assembly; and 
   an anchoring assembly configured to anchor to a sea floor, the anchoring assembly comprising a second connector for coupling with the first connector of the retention assembly.   
     
     
         9 . The system of  claim 8 , wherein the retention assembly further comprises:
 a releasable lock configured to selectably actuate the tensioning assembly between a locked position and an unlocked position;   wherein, when the tensioning assembly is in the unlocked position, a tensioning force is applied to the cable.   
     
     
         10 . The system of  claim 9 , wherein the tensioning assembly comprises:
 a cylinder coupled to the subsea component; and   a piston slidably disposed in the cylinder and coupled to an end of the cable;   wherein the cylinder has an open end for providing fluid communication between a first end of the piston and the subsea environment.   
     
     
         11 . The system of  claim 10 , wherein:
 when the tensioning assembly is in the locked position, the releasable lock physically engages the piston to restrict the piston from being displaced through the cylinder; and   when the tensioning assembly is in the unlocked position, the piston is displaced through the cylinder in response to fluid pressure acting against the first end of the piston.   
     
     
         12 . The system of  claim 11 , wherein, in response to the piston being displaced through the cylinder, the cable is passed through the locking assembly to reduce slack in the cable. 
     
     
         13 . The system of  claim 8 , wherein the anchoring assembly comprises:
 a first ring concentrically disposed in a second ring, and a third ring, wherein the first ring and the second ring are each concentrically disposed in the third ring;   wherein the first ring is pivotally coupled to the second ring such that the first ring is configured to pivot about a first axis relative to the second ring; and   wherein the second ring is pivotally coupled to the third ring such that the second ring is configured to pivot about a second axis relative to the third ring.   
     
     
         14 . The system of  8 , further comprising a detector configured to detect a distance between the first subsea component and a second subsea component, and a controller in signal communication with the detector, wherein the controller is configured to adjust a tensioning force applied to the cable in response to a signal transmitted to the controller from the detector. 
     
     
         15 . A method of landing a subsea component, comprising:
 deploying a subsea component in a subsea environment;   lowering the subsea component to a target location near a sea floor;   coupling a cable extending from a retention assembly coupled to the subsea component to an anchoring assembly;   actuating a tensioning assembly of the retention assembly to apply a tensioning force to the cable to guide the subsea component towards the anchoring assembly; and   passing the cable through a locking assembly to reduce slack in the cable.   
     
     
         16 . (canceled) 
     
     
         17 . The method of  claim 15 , further comprising restricting passing the cable through the locking assembly in the second direction in response to a force applied against the subsea component. 
     
     
         18 . The method of  claim 15 , further comprising damping a force applied against the subsea component after coupling the cable. 
     
     
         19 . The method of  claim 15 , further comprising rotating a connector of the anchoring assembly in a gimbal assembly. 
     
     
         20 . The method of  claim 15 , further comprising utilizing a controller to automatically adjust a tensioning force to the cable in response to a threshold level of lateral gap between the subsea component and the target location.