LIFT BAG SYSTEM AND METHOD FOR ANCHOR TESTING AND/OR REMOVAL

BACKGROUND

Helical anchors or piles, commonly known as ground screw anchors, have been around for hundreds of years and are used extensively on land. Their use in the marine environment is more limited, but is increasing due to their generally superior anchoring performance and improving installation systems. For now, installation is limited and generally achieved via hydraulic motors, either held by divers, attached to the end of an excavator arm, or lowered on wire ropes with some temporary anchoring mechanism for offsetting the torque reaction. However, new electric thruster powered underwater robots can substantially ease installation in various examples (e.g., as shown and described in U.S. patent application Ser. No. 17/159,632, filed Jan. 27, 2021, entitled “VEHICLE FOR INSTALLING ANCHORS IN AN UNDERWATER SUBSTRATE” with attorney docket number 0105198-032US0), which is incorporated herein by reference in its entirety and for all purposes.

Helical anchors have a general installation-torque-to-pull-out-strength relationship that increases the confidence in anchor holding capacity. This reduces the need for expensive and time-consuming geotechnical analysis of the underlying substrate to better predict anchor holding capacity. Helical anchors will generally be installed until a given depth and installation torque rating is achieved. If the desired torque rating is not achieved, then the anchor is removed, and a larger helical plate is added. Alternatively, another shaft extension might be added so that the anchor can be installed deeper until the desired installation torque is achieved. There can still be some variance in this installation torque to position relationship, which in various examples can be mostly due to differences in the substrate. The anchor can generally be easily removed while still attached to the installation system, by reversing it, but once it is released, the easiest removal approach is often to simply pull the anchor out, but this can require high loads which can be difficult and expensive to generate. Some applications require anchor removal, either at the end of season or upon decommissioning the system or the like.

There is still a need to verify the holding capacity of helical anchors as this can be important in measuring the installation torque to holding force relationship and building up a database of performance for a range of anchor types, sizes, locations, longevities, installation characteristics, and so forth. Risk-adverse applications can also benefit from direct-proof testing to assure load capacity. For helical anchors to be used for larger applications such as large-scale aquaculture, floating solar installations, and offshore wind turbines, certification and bankability can become increasingly important. This can require extensive testing in various examples. For now, anchor load testing and removal is difficult to do, requiring divers with large lift bags or large crane systems with high daily rates and limited availability.

In view of the foregoing, a need exists for an improved anchor testing and removal system and method for operating this system in an effort to overcome the aforementioned obstacles and deficiencies of conventional anchor testing and removal systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an example illustration of a lift bag system testing and/or removing an anchor in an underwater substrate in accordance with one embodiment.

FIG. 2 is an example cross-sectional side view of an embodiment of a lift bag system.

FIG. 3 is a block diagram of a support vessel and electronic systems of a lift bag system that are operably connected via a tether in accordance with one embodiment.

FIG. 4 is an example cross-sectional side view of an embodiment of a lift bag system having a first lift bag body and a second lift bag body, which define a respective first and second lift bag cavity.

FIG. 5 illustrates an embodiment of a lift bag system with a lift bag body having a closed configuration.

FIG. 6 illustrates another embodiment of a lift bag system with a lift bag body having an open configuration.

FIGS. 7a, 7b and 7c illustrate different embodiments of a helical anchor.

FIG. 8 is a cross-sectional side view of a lift bag system in accordance with an embodiment, which includes at least a first and second rib extending between the top and bottom ends of the lift bag body within the lift bag cavity.

FIG. 9 is a perspective see-though view of a lift bag system in accordance with another embodiment, which includes six ribs coupled to and extending between the top and bottom ends of the lift bag body within the lift bag cavity and coupled to the sidewall.

FIG. 10 is an illustration of a lift bag system in accordance with another embodiment, which includes eight ribs coupled to and extending from the sidewall of the lift bag body radially toward a center of the lift bag body where the compression tube is located.

FIG. 11 illustrates a method of anchor testing and/or removal in accordance with an embodiment.

FIG. 12 is an example side view of an embodiment of a lift bag system.

It should be noted that the figures are not drawn to scale and that elements of similar structures or functions are generally represented by like reference numerals for illustrative purposes throughout the figures. It also should be noted that the figures are only intended to facilitate the description of the preferred embodiments. The figures do not illustrate every aspect of the described embodiments and do not limit the scope of the present disclosure.

DETAILED DESCRIPTION

One aspect of the present disclosure relates to an improved lift bag system and method for anchor testing and removal. Various embodiments can comprise a surface-accessible lift bag that does not require divers to attach to the anchor line. By operating close to the surface, the inflation pressure can be greatly reduced in various examples such that high-flow-rate low-pressure air blowers can be used instead of low-flow-rate high-pressure air compressors of equivalent power. This can greatly speed up the inflation of the lift bag in some examples and can make the testing and/or removal of an anchor more efficient, which can make such a system and method far more practical than existing systems and methods. In some embodiments, once inflation begins, an anchor can be load tested or removed in as little as a minute. Low pressure and high flow rate in various embodiments can also reduce the impact of some or any leakage, and the lift bag can become more tolerant to small leaks. The system in various embodiments allows high load anchors to be tested or removed with a small system that can be easily transported and operated from a small vessel.

For example, various embodiments discussed herein, including the example shown in FIG. 1, relate to a lift bag system 100 that is configured to maneuver or be maneuvered in a body of water 105 and test or remove anchors 110 in an underwater substrate 115 such as a seabed. As shown in one example of FIG. 1, a plurality of anchors 110 can be installed in the substrate 115 with a line 120 extending from the anchor 110 to a float 122 on the surface of the water 105; however, anchors 110 can be used in a multitude of other ways as discussed in more detail herein. The lift bag system 100 in some embodiments can comprise an operation tether 130 that extends to and is operably coupled to a support vessel 140, such a boat, ship, or the like.

While various example embodiments discussed herein relate to anchors 110 in the ocean and a seabed, further examples can be related to any suitable body of water 105 and substrate 115 within the body of water 105. For example, various embodiments can be employed in natural or man-made bodies of water 105 such as an ocean, river, lake, creek, pond, stream, tank, pool, or the like. Additionally, lift bag systems 100 can be configured to operate at various suitable depths including in shallow to deep-sea environments.

Also, while various embodiments relate to substrate 115 that is at the bottom of a body of water 105 such as a seabed, further embodiments can relate to anchors 110 in various suitable natural or man-made substrates 115, which can be at various angles or orientations. For example, anchors 110 can be in a seabed of various angles with the anchors 110 being oriented perpendicular to the plane of the substrate 115 or other suitable angle such as parallel to gravity and the like. Such a seabed substrate 115 can comprise various types of material such as sand, silt, dirt, gravel, rocks and/or solid rock and the like. Accordingly, various embodiments can be configured for use with soft substrates 115 such as silt, hard substrates such as solid rock, or a combination thereof. Also, embodiments can relate to anchors 110 in materials such as wood, concrete, polymers, metal, ice or the like, which in some examples can be part of underwater structures such as a concrete slab, sunken ship, floating ship, wooden piling, retaining wall, underwater building, dam, iceberg, or the like. Accordingly, some examples can relate to anchors 110 in vertical or inverted substrates, or other suitable angle such as the hull of a floating ship or iceberg.

As shown in the example of FIG. 1, some embodiments include a lift bag system 100 with a tether 130 that extends to a support vessel 140 such as a ship and the tether 130 provides for fluid (e.g., air) to and/or from the lift bag system 100, communication between the lift bag system 100 and support vessel 140, a power supply to the lift bag system 100, a physical tether to the lift bag system 100, and the like. For example, in some embodiments, operators on a support vessel 140 can control the lift bag system 100 to test or remove anchors 110 in a substrate, which can include providing control data to the lift bag system 100 via the tether 130 or wirelessly; receiving data from the lift bag system 100 via the tether 130 or wirelessly; providing fluid to the lift bag system 100; physically moving, pulling or towing the lift bag system 100, or the like. However, in some embodiments, one or more of such functions can be absent and/or a tether 130 can be completely absent. For example, some embodiments can include an autonomous or semi-autonomous lift bag system 100, which can operate without or with limited control signals and/or without external power such that a tether 130 to a support vessel 140 may not be necessary. Also, as discussed in more detail herein, in various embodiments the tether 130 can comprise an anchor line 120. Additionally, as discussed herein, in some embodiments, the tether 130 can comprise a plurality of elements (e.g., anchor line 120, fluid line, communication line, lift bag system tow line, and the like) which may or may not be a unitary structure. For example, in various embodiments, an anchor line 120 can be separate from and not coupled to a fluid line configured to inflate the lift bag system 100.

Additionally, some embodiments can include wireless communication with the lift bag system 100 such that a wired connection to the lift bag system 100 can be absent. For example, some embodiments can communicate wirelessly through the air with the lift bag system 100 when the lift bag system 100 or a lift bag system antenna surfaces or a lift bag system 100 can comprise a wireless antenna that floats on the water 105 with a wired connection to the lift bag system 100 below the water 105. Some embodiments can include underwater wireless communication. Also, while some embodiments include a ship, boat or other vessel as a support vessel 140, in some embodiments, a support vessel 140 can include systems based on land, aquatic structures such as a drilling platform, an aerial vehicle, or the like.

Also, while the example of FIG. 1 illustrates a plurality of anchors 110 being installed in a substrate 115 with a line 120 extending from the anchor 110 to a float 122 on the surface of the water 105, in further embodiments, one or more anchors 110 of various suitable sizes can be installed with or without various suitable hardware for various suitable uses. For example, in some embodiments, one or more anchors 110 can be used in docks, seawalls, wave energy systems, wind turbines, anchoring a vessel such as a ship, aquaculture, boat mooring, buoy anchoring, oil and gas, pipeline anchoring, scientific instrument anchoring, geo-tech core drilling, wells, tunnels, oceanic surveying, geo testing and the like.

Turning to FIG. 2, an example embodiment of lift bag system 100 is illustrated which comprises a lift bag body 210 that comprises a top and bottom end 212, 214 and sidewalls 216 that define a lift bag cavity 220. The lift bag system 100 can further comprise a compression tube 230 that extends between a top and bottom end 232, 234, and defines a compression tube cavity 236, with an anchor line attachment point 240 disposed at or proximate to the top end 232. In various embodiments, the compression tube 230 can extend through the lift bag body 210 with the compression tube top end 232 extending through the lift bag top end 212 and with the compression tube bottom end 234 extending through the lift bag bottom end 214. In various embodiments, the anchor line attachment point 240 can be disposed above, at, or just below the lift bag top end 212.

In various embodiments, the top and/or bottom end 212, 214 of the lift bag body 210 can be substantially planar as shown in the example of FIG. 2 and the compression tube 230 can extend linearly along an axis that is perpendicular to a body plane of one or both of the top and/or bottom ends 212, 214 of the lift bag body 210. In various embodiments, the sidewalls 216 of the lift bag body 210 can have a planar cross-section as shown in the example of FIG. 2 (e.g., based on the sidewall(s) 216 being a cylinder, or irregular or regular polygon such as a square, pentagon, hexagon, heptagon, octagon, nonagon, decagon, dodecagon, and the like), and the compression tube 230 can extend linearly along an axis that is parallel to an axis of the profile of the sidewall(s) 216.

In various embodiments, the compression tube 230 can comprise a cylindrical tube that defines a hollow tube cavity 236; however, the compression tube 230 can have various suitable shapes such as a regular or irregular polygon, I-beam, C-shape, U-shape, V-shape, or the like. Additionally, the compression tube 230 can be made of various suitable materials such as aluminum, iron, plastic, or the like. In some embodiments, the compression tube 230 can be a solid member without a hollow center.

Accordingly, the compression tube 230 does not necessarily have to be a tube in some embodiments. In some variants it can be defined by two or more tubes or members that define a channel of “C” or “U” type section that can allow an anchor line 120 to be placed into the compression tube 230 from the side in some examples without threading the anchor line 120 through the compression tube cavity 236 from the top 232 or bottom 234 of the compression tube 230. This can be combined in some examples with a modular lift bag body 210 arrangement that can, in some embodiments, allow the anchor line 120 to be passed from the side of the lift bag body 210 through to the center of the lift bag body 210 and into the cavity 236 of the compression tube 230 before re-connecting the lift bag body 210 together around the compression tube 230 and anchor line 120. Being able to attach the anchor line 120 from the side instead of threading it through the compression tube cavity 236 via the top 232 or bottom 234 of the compression tube 230 can be advantageous in some scenarios as it may not require a loose end on the anchor line 120 or sufficient length of available anchor line 120 for the anchor line 120 to be folded back on itself and pulled through the cavity 236 of the compression tube 230 as a loop.

The compression tube 230 can be various suitable lengths including at least 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30 feet, or the like, or a range between such example values. The compression tube 230 can be various diameters including 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 26, 24, 36, 48, 60 inches or the like, or a range between such example values.

To provide for the attachment of an anchor line 120 to the lift bag system 100 to be performed above the water surface, a compression tube 230 or equivalent structure can be used in some examples to transfer load from the attachment point 240 to the bottom of the lift bag system 100 (e.g., at the bottom end 234 of the compression tube 230 as shown in the example of FIG. 2), from where the anchor load can be distributed to the lift bag body 210, and in various examples, primarily the top 212 of the lift bag body 210, in tension (e.g., via internal bridles 250 as discussed herein). In various embodiments, an anchor line 120 can be constrained to pass through the tube cavity 236 of a compression tube 230 (or other suitable structure), close to a neutral or central axis of the compression tube 230, the Euler buckling criteria may not apply in various embodiments. For example, referring to the embodiment of FIG. 2, in some embodiments, the lift bag body 210 and/or lift bag system 100 is only coupled to the anchor line 120 at the attachment point 240, with the anchor line freely moving below the attachment point 240 within and below tube cavity 236 and/or above the attachment point 240.

This can mean that a compression tube 230 in various examples can be lightweight and non-rigid while still carrying the substantial load of an anchor 110 and/or lift bag body 210. For example, in some embodiments, the compression tube 230 can be non-rigid such that it would bend or flex along its length (e.g., elastically) with sufficient force while still being operable to bear a substantial load of an anchor 110 and/or lift bag body 210.

For example, such a load or force can be at least 10, 25, 50, 100, 250, 500, 1000, 2000 lbs., or the like, or a range between such example values. In some embodiments, such a load or force can be at least 1 ton, 5 tons, 10 tons, 50 tons, 100 tons, 500 tons, 1000 tons, 5000 tons, 10000 tons, and the like, or range between such example values.

Because a central compression tube 230 can be purely or substantially under compression in various embodiments, socketed joints can be used in some examples allowing a compression tube 230 to be easily assembled from shorter sections in some embodiments. For example, in various embodiments, a compression tube 230 can be defined by a plurality of sections that can be releasably coupled together to define the compression tube 230. Such joints can include any suitable coupling such as socketed joints, threaded joints, and the like. This can make packing and transportation easier and can allow for transport by air. Similarly, in some embodiments, an anchor line attachment point 240, a load cell system, bottom bridle attachment systems, and the like can be removably coupled into place in some examples (e.g., via socket, thread connection or the like), which may allow for fast and easy assembly of such elements from a disassembled configuration.

The lift bag body 210 can be coupled to the compression tube 230 in various suitable ways. For example, as shown in the embodiment of FIG. 2, a plurality of bridles 250 can be coupled to a bottom end 234 of the compression tube 230 at respective bottom bridle ends 252 and extend to respective top bridle ends 254 that are coupled to respective locations at the top end 212 and/or sidewalls 216 of the lift bag body 210. In various embodiments, this can allow the central compression tube 230 to be purely or substantially under compression in various embodiments via the bridles 250 when the lift bag system 100 is exposed to the force via the anchor 110 and/or buoyant lift bag body 210. There can be any suitable number of bridles 250 in various embodiments and such bridles 250 can be configured and attached to the compression tube 230 and lift bag body 210 in various suitable locations and in various suitable ways.

For example, in some embodiments, bridles 250 can be configured to support a load or force of at least 10, 25, 50, 100, 250, 500, 1000, 2000 lbs., or the like, or a range between such example values. In some embodiments, such a load or force can be at least 1 ton, 5 tons, 10 tons, 50 tons, 100 tons, 500 tons, 1000 tons, 5000 tons, 10000 tons, and the like, or range between such example values.

In some variants one or more attachments can be added to the periphery (or other suitable location) of the lift bag body 210 for easier handling while the lift bag system 100 is in the body of water 105 and for getting the lift bag system 100 on and off boats, or the like. In some variants one or more attachment points might be added to the (e.g., central) compression tube 230 such as for ease of lifting via a small crane. In some variants brailing lines, roll up systems, or other equivalent or analogous systems can be used to help retract and/or pack the inflatable lift bag body 210.

In various embodiments, the lift bag system 100 can be configured to hold a volume of fluid (e.g., a gas such as air) in the lift bag cavity 220 defined by the lift bag body 210. For example, by changing the volume of fluid in the lift bag cavity 220, the buoyancy of lift bag system 100 can be changed, which can allow for sinking of the lift bag system 100 in a body of water 105, giving the lift bag system 100 neutral buoyancy in the body of water 105 and/or giving the lift bag system 100 positive buoyancy in the body of water 105 (e.g., to test and/or remove anchors 110 as discussed herein).

The volume and/or mass of fluid in the lift bag cavity 220 defined by the lift bag body 210 can be changed in various suitable ways. For example, as shown in the embodiment of FIG. 2, a fluid line 260 can be coupled to the top end 212 of the lift bag body 210 defining a port 262 opening into the lift bag cavity 220. As discussed herein, a fluid (e.g., a gas such as air) can be pumped through the fluid line 260 and into the lift bag cavity 220 defined by the lift bag body 210 to add volume and/or mass of the fluid in the lift bag cavity 220. In further embodiments, the fluid line 260 and/or port 262 can be disposed in any suitable location at the lift bag body 210 (e.g., sidewall 216, bottom end 214, or the like) and in some embodiments there can be a plurality of fluid lines 260 and/or ports 262. Also, while air can be used in various embodiments, in further embodiments, any suitable gas can be used, including mixtures of gasses, air, or the like. Also, in some embodiments, a fluid such as a liquid can be used such as liquid (e.g., oil) with less density than a body of water 105 that the lift bag system 100 is being used in. The lift bag body 210 can be made of various suitable materials including a flexible and fluid impermeable fabric and or polymer such as Polyvinyl Chloride (PVC), Hypalon, Polyurethane, Nylon with a Polyurethane Coating, Neoprene, and Tarpaulin/Tarp, or the like.

A super ripstop system can be used on the lift bag body 210 in various embodiments. For example, this might consist of, consist essentially of, or comprise cords being sewn over the lift bag body 210 in a net, array or matrix type of manner. These cords can be high specific strength, for example, Dyneema or Spectra rope or webbing, and can reduce the fabric load, enabling higher pressures for a lighter weight, and can prevent or reduce the chance of catastrophic failure of a fabric envelope of the lift bag body or otherwise increasing the operating pressure capacity of the lift bag body 210. The super ripstop cords in some examples can generally have sufficient strength to transfer bridle loads, which might carry the majority of a load capacity lift bag body 210, to the inflatable structure of the lift bag body 210, with suitable factors of safety. Any tear being limited to the spacing of the super ripstop system and resulting in a slower and more controlled deflation process can be desirable in various embodiments. The super ripstop system can also serve as attachment points for a lift bag bridle system 250, including in some examples distributing loads into the fabric envelope in a manner that does not overload the fabric.

In various embodiments, the lift bag system 100 can comprise a lift bag device 270. For example, such a lift bag device 270 can be disposed in various suitable locations of the lift bag system 100, such as at the top end 232 of the compression tube 230 as shown in the example of FIG. 2. In various embodiments, a lift bag device 270 can be configured to be submersible and tolerant of a body water 105 (e.g., fresh water, salt water, or other types of water solutions or liquids). In some instantiations the lift bag device 270 can include redundancy. In some instantiations the lift bag device 270 can include a wired and/or wireless link for remote measurement. In some instantiations, the lift bag device 270 can be configured to allow the lift bag system 100 to be capable of independent data logging. In some instantiations multiple sensors can be integrated into the lift bag device 270 such as GPS systems, depth measurement systems, environment monitoring systems, and the like.

Turning to FIG. 3, a block diagram of a support vessel 140 and lift bag device 270 of a lift bag system 100 are illustrated, where the support vessel 140 and lift bag device 270 are operably connected via a tether 130, which as discussed herein, can in some embodiments include one or more of a fluid line 260, an anchor line 120, a communication line, a power line, and the like. In this example, the support vessel 140 is shown comprising a support computer system 320 and a support fluid source 330. The lift bag device 270 of the lift bag system 100 is shown comprising a lift bag computing system 340, a power source 350, and one or more sensors 960.

In various embodiments, the support computing system 320 can comprise any suitable device, including a laptop computer, desktop computer, tablet computer, smartphone, embedded system, or the like. The support fluid source 330 can comprise various fluid sources 330, such as a blower, a compressor, fan, air tank, and the like.

In some embodiments, the power source 350 of the lift bag device 270 can comprise a battery that is separate from the support vessel 140 or can be a battery that obtains power from this support vessel 140 (e.g., via the tether 130). For example, in some embodiments the support vessel 140 can comprise a battery, solar array, generator, ship engine, electrical grid, or the like, which can be configured to provide power from such a support power source to the lift bag system 100, which can be used to charge a lift bag power source 350 and/or power various systems of the lift bag system 100.

In various embodiments, the lift bag computer system 340 can comprise any suitable device, including a laptop computer, desktop computer, tablet computer, smartphone, embedded system, or the like. The support computer system 320 lift bag computer system 340 can comprise one or more processor and memory, which can store instructions (e.g., software), that when executed by the one or more processor, can cause the lift bag system 100 and/or support vessel 140 to perform various methods or portions thereof described herein, including a method for moving to an anchor 110, coupling to an anchor 110 or anchor line 120, testing an anchor 110, removing an anchor 110, and the like.

The one or more sensors 360 can comprise various suitable types of sensors, including a global positioning system (GPS), a depth measurement system, an environment monitoring system (e.g., to measure or determine water temperature, water salinity, light, and the like) magnetometer, gyroscope, a camera, a microphone, load cell, strain gauge, tensiometer, pressure sensor, and the like. Some embodiments can include a top camera and/or bottom camera, which can include various suitable types of cameras configured to capture images of light at various suitable wavelengths, including visible light spectrum, ultraviolet, infrared, and the like. One or more cameras can be located in various other suitable locations in any suitable number. Also, various embodiments can include any suitable imaging systems aside from or in addition to cameras, such as LIDAR, SONAR, and the like. In various embodiments, the lift bag system 100 can comprise an imaging system which stabilizes an operator's view while the lift bag system 100 is testing or removing an anchor 110. It should be clear that further embodiments can comprise various suitable sensors, imaging devices, positioning devices, and the like, so the examples described herein should not be construed to be limiting.

For example, in some embodiments the lift bag system 100 can act as a Remotely Operated Vehicle (ROV) that is controlled completely, substantially or at least in part by a human operator and/or support computer system 320. In one example, a human operator can receive data from the lift bag system 100 wirelessly and/or via the tether 130, such as data from sensors, which can be presented to the human operator via an interface of the support computer system 320 such as a screen, or the like. The human operator can control the lift bag system 100 to perform various tasks based on such presented information such as maneuvering in the water 105, maneuvering along an anchor line 120, coupling with an anchor 110, coupling with an anchor line 120, releasing an anchor line 120, testing an anchor 110 in a substrate 115, removing an anchor from a substrate 115, and the like, which can include input to an interface such as a joystick, yoke, graphical user interface on a touch screen, or the like. In various embodiments, testing and/or removing an anchor 110 can include pulling on the anchor 110 via the lift bag system 100.

Such control by an operator via the support computer system 320 can be at various levels of control granularity in various embodiments including, initiating execution of an anchor testing and/or removal plan; providing general objectives for anchor testing and/or removal; initiating general actions during anchor testing and/or removal; providing general instructions for anchor testing and/or removal; providing specific instructions for anchor testing and/or removal; controlling specific motor functions during anchor testing and/or removal, and the like.

For example, in one embodiment, an operator can upload or input an anchor testing and/or removal plan to the support computer system 320 and instruct the lift bag system 100 to execute the anchor testing and/or removal plan, which causes the lift bag system 100 to execute the anchor testing and/or removal plan, including automated testing and/or removal of one or more anchors 110 without additional input from the operator (however, the lift bag system 100 may alert the operator if errors occur that require the operator's attention).

In another example, an operator can monitor execution of an anchor testing and/or removal plan and approve or initiate various steps during execution, such as mounting an anchor line 120; releasing fluid (e.g., air) from the lift bag system 100; moving to an anchor location (e.g., via an anchor line 120 or independent of an anchor line 120); fixing to an anchor line 120; introducing fluid (e.g., air) to the lift bag system 100; beginning testing of an anchor 110; terminating testing of the anchor 110, releasing an anchor 110 and/or anchor line 120, returning to the support vessel 140 with an anchor 110 that was tested, beginning removal of an anchor 110; terminating removal of the anchor 110, returning to the support vessel 140 with a removed anchor 110, and the like. In such an example, in various embodiments, the lift bag system 100 can autonomously complete an approved or initiated task and stop before moving on to a further task (however, the lift bag system 100 may also alert the operator if errors occur during execution of a task that require the operator's attention).

In various embodiments an operator can control the specific actions of the lift bag system 100 during one or more steps of testing and/or removal of an anchor 110, including releasing fluid (e.g., air) from the lift bag system 100 to reduce buoyancy of the lift bag system 100; driving the lift bag system 100 to an anchor testing and/or removal location (e.g., via a joystick using cameras and/or presented positioning data as a guide); coupling the lift bag system 100 to an anchor 110 or anchor line 120 at an anchor testing and/or removal location; introducing fluid (e.g., air) into the lift bag system 100 to increase buoyancy of the lift bag system 100 for testing and/or removal of the anchor 110; driving away from an installed anchor testing and/or removal location (with or without an anchor 110), and the like.

FIG. 11 illustrates an example method 1100 of testing or removal of an anchor 110 in a substrate 115 within a body of water. The method 1100 begins at 1105 where an anchor line 120 is positioned within a cavity 236 of a compression tube 230 of a lift bag system 100. For example, in some embodiments, a free end of the anchor line 120 can be threaded through the bottom end 234 of the compression tube 230 and through the top end 232 of the compression tube 230. In further embodiments, anchor line 120 can be introduced to a compression tube cavity 236, slot, or otherwise be associated with a central portion of a lift bag system 100 in various suitable ways such as those discussed herein.

At 1110, the lift bag system 100 is lowered down along the anchor line 120 within the body of water 105 toward an anchor 110 attached to the anchor line 120. For example, in some embodiments, this can include removing or releasing fluid (e.g., air) within a lift bag cavity 220 to reduce the buoyancy of the lift bag system 100 such that the lift bag system sinks within body of water 105 toward the anchor 110 to be tested and/or removed.

At 1115, the lift bag system 100 can be fixed at a position along the anchor line 120, with such fixing allowing the lift bag system to pull on the anchor line 120 and anchor 110 as discussed herein. For example, such a fixing can be configured to support a load or force that can be at least 10, 25, 50, 100, 250, 500, 1000, 2000 lbs., or the like, or a range between such example values. In some embodiments, such a load or force can be at least 1 ton, 5 tons, 10 tons, 50 tons, 100 tons, 500 tons, 1000 tons, 5000 tons, 10000 tons, and the like, or range between such example values.

Fixing of the lift bag system 100 can include fixing of the anchor line 120 at or via the anchor line attachment point 240 or at other suitable location(s) of the lift bag system 100. For example, lift bag system 100 to the anchor line 120 can be via a suitable fixing system that can include a shackle, hook, snap, carabiner, clamp, grip, pin, rope, knot, magnetic coupling, piston, or the like. In various embodiments, such a fixing system can be manual (e.g., requiring a user to physically engage or actuate the system); can be electronic (e.g., engaged or actuated via a lift bag device 270, support computer system 320); can be automatic (e.g., automatically mechanically or electronically engaged or actuated), or the like.

It should be noted that in some examples, the step 1110 of lowering the lift bag system 100 can be absent and the lift bag system 100 can be fixed at a position along with anchor line 120 as the anchor line is positioned within the compression tube cavity 236 or otherwise associated with a compression tube 230 or other portion of the lift bag system 100.

Returning to the method 1100, at 1120 fluid is introduced into the lift bag cavity 220, which increases the buoyancy of the lift bag system 100 and causes the lift bag system 100 to pull the anchor line 120 at least where the lift bag system 100 is coupled to the anchor line 120, which in turn pulls the anchor 110 that the anchor line 120 is coupled to. For example, fluid such as air can be pumped or blown into the lift bag cavity 220 via a fluid line 260, or the like. In some embodiments, buoyancy of the lift bag system 100 in the body of water 105 can generate a load or force of at least 10, 25, 50, 100, 250, 500, 1000, 2000 lbs., or the like, or a range between such example values. In some embodiments, such a load or force can be at least 1 ton, 5 tons, 10 tons, 50 tons, 100 tons, 500 tons, 1000 tons, 5000 tons, 10000 tons, and the like, or range between such example values.

At 1125, a determination is made whether the anchor 110 has been removed from the substrate 115, and if so, at 1130 the anchor 110 is brought to the surface of the body of water 105. This can occur in various examples, in both a method 1100 of testing and removing the anchor 110. For example, if testing of the anchor 110 results in failure of the anchor 110, the failed removed anchor 110 can then be brought to the surface of the body of water 105 similar to how an intentionally removed anchor 110 during a removal method can be brought to the surface. In various embodiments, the buoyancy of the lift bag system 100 can cause the lift bag system 100 to automatically rise to the surface without resistance of the anchor 110 in the substrate. In some embodiments, fluid can be released from the lift bag cavity 220 as the lift bag system 100 is returning to the surface to reduce the speed of the lift bag system 100 to a desirable or safe rate.

However, if the anchor 110 is not removed, at 1135 a determination is made whether additional pulling of the anchor 110 is required, desired, or the like. For example, in a method of testing an anchor 110, test protocol may include pulling on the anchor 110 for a certain amount of time, pulling on the anchor 110 with a certain amount of force, pulling on the anchor 110 with a certain amount of force for a certain amount of time, or the like. If testing criteria have not been met, then additional pulling can be required, whereas if testing criteria have been met then no additional pulling may be necessary. In a method of removing an anchor 110 removal protocol may include pulling on the anchor 110 for a certain amount of time, pulling on the anchor 110 with a certain amount of force, pulling on the anchor 110 with a certain amount of force for a certain amount of time. At some point, removal protocol may indicate that removal has failed for some reason (e.g., to time, force, or other factors or data), and that the attempted removal should be aborted, and additional pulling is not necessary. However, if removal failure is not indicated or established, then additional pulling of the anchor 110 can be provided.

If a determination is made that there should not be additional pulling of the anchor line 120 and/or anchor 110, at 1140, the lift bag system 100 is brought to the surface. For example, the lift bag system 100 can be decoupled from the anchor line 120 in various suitable ways such as by undoing how the lift bag system 100 was fixed to the anchor line 120 at 1115. In some embodiments, the anchor line 120 can be severed below such a coupling to release the lift bag system 100 from the anchor 110. The buoyancy of the lift bag system 100 can allow the lift bag system to return to the surface of the body of water 105.

If a determination is made that there should not be additional pulling of the anchor line 120 and/or anchor 110, at 1145, a determination can be made as to whether addition pulling force should be generated, and if so, the method 1100 returns to 1120, where further fluid is added to the lift bag cavity 220 to generate additional buoyancy in the lift bag system 100, which can thus cause additional pulling force on the anchor 110 via the anchor line 120. The testing and/or removal method 1100 then continues to 1125 as discussed herein. However, if it is determined that there should not be additional pulling force, then the testing and/or removal method 1100 returns to 1125 as discussed herein.

In an anchor testing method 1100, additional force can be determined to be generated in accordance with testing protocol. In an anchor removal method 1100, if the anchor 110 is being successfully removed with the current amount of force or buoyancy, then a determination can be made to increase the force being applied to the anchor 110 in an attempt to successfully remove the anchor 110.

In various embodiments, portions of the method 1100 can be determined or executed by a user or by a computer system. For example, as discussed herein, the lift bag system 100 can be configured to perform various actions, steps, functionalities, methods, method steps or the like, autonomously and without direct input from a human operator. In various embodiments, the lift bag system 100 can be configured to maintain a set orientation during testing and/or removal of an anchor 110. For example, it can be desirable for the lift bag system 100 to maintain the central axis Y of the lift bag system 100 or compression tube 230 perpendicular to the surface of a level substrate (i.e., parallel to gravity). In various embodiments, testing and/or removal angle of an anchor 110 can be any suitable angle relative to gravity and/or a plane of a substrate 115 in which the anchor 110 is being installed, including level, sloping, vertical or inverted substrates, and the like.

A lift bag device 270 in some embodiments can be integrated into an anchor line attachment system 240 at the top of the lift bag system 100. This can allow anchor pullout strength to be directly measured via a suitable sensor 360 such as load cell, strain gauge, tensiometer, pressure sensor, or the like. A depth sensor can part of the lift bag device 270 in some examples that allows for the pull-out strength to be measured in conjunction with the distance over which the anchor 110 is pulled out. The measurement of pullout strength can be important in some examples with respect to verifying the installation-torque-to-pull-out-strength relationship for a given location, anchor type, anchor size, substrate, time since installation, and so forth. The data collected can be of value and can be desirable for helping with certification and bankability of installed anchors 110.

A consideration at smaller scales in some embodiments, (e.g., up to forty-ton, fifty-ton, sixty-ton pull out strength of an anchor 110 or the like), is that the lift bag system 100 be easily transportable via aircraft, preferably via checked in luggage in some examples. This can place substantial limits on the weight of the lift bag system 100 in some embodiments, or at least on the heaviest non-separable component of the lift bag system 100 which might be the inflatable lift bag body 210 in some examples. Maximum weight can have a major impact on ease of handling while at sea or in other body of water 105 in various embodiments. In some variants the inflatable lift bag body 210 can be modular and constructed from separate sections that can be (e.g., easily) attached together. This can allow for larger lift bag systems 100 of some examples to be transported in smaller parts that are more easily transported and handled by people and airplanes. For example, where the lift bag body 210 has the shape of a spheroid, ellipsoid, sphere, ovoid, torus, tube, inverted cone, capsule, lentoid, teardrop, truncated teardrop, kammtail, or the like, lift bag body 210 can be assembled from a plurality of separate pieces that when assembled define a plurality of longitudinal coupling seams about a radius or periphery of the lift bag body 210 and/or one or more latitudinal coupling seams. A lift bag body 210 can be assembled in some embodiments via any suitable number of pieces such as 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 16, 18, 24, 36, 48 and the like. Methods of attachment of such pieces of a lift bag body 210 can include zips, Velcro, flaps, clips, straps, cords, soft and hard shackles, and the like. In some variants, separate lift bag bodies 210 or lift bag systems 100 can be strapped or otherwise coupled together or associated for greater lifting capacity or multiple smaller lift bag bodies 210 or lift bag systems 100 can be connected together to lift greater loads (e.g., 2, 3, 4, 5, 6, 7, 8, 9, 10, 20, 50, 100 or the like).

In various embodiments, multiple lift bag bodies 210 can increase modularity and provide greater ease of logistics and handling, as multiple lift bag bodies 210 can be individually smaller than a large unitary single lift bag body 210. For example, FIG. 12 illustrates an example embodiment of a lift bag system 100 that comprises three lift bag bodies 210A, 210B, 210C, which define respective separate lift bag cavities 220A, 220B, 220C that can be separately inflated via respective fluid tubes 260A, 260B, 260C. The lift bag bodies 210 are coupled to a plurality of bridles 250 that extend to bridle bottom ends 252, which are coupled to a compression tube 230 at a compression tube bottom end 234. Such bridles 250 can extend to top bridle ends 254 that are coupled to a suitable location on a lift bag body including a top end, bottom end, sidewall(s), 212, 214, 216, or the like.

As discussed herein, while some embodiment can include a compression tube 230 disposed perpendicular to gravity or perpendicular to the face of a top end 212 of a lift bag body 210, in further embodiments, a compression tube 230 can be disposed in any suitable working angle such as 50 degrees as shown in the example of FIG. 12 or other suitable angle such as 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90 degrees, and the like, or a range between such example embodiments.

Also, while some embodiments include a compression tube 230 that extends within a central location of a lift bag body 210 or with a central location between a plurality of lift bag bodies 210, further embodiments can include a compression tube 230 that extends to the side of one or more lift bag bodies 210. For example, FIG. 12 illustrates an example embodiment of a lift bag system 100 comprising a compression tube 230 that extends to the side of three lift bag bodies 210. In further embodiments, a compression tube 230 can extend to the side of one or more lift bag bodies 210 in various suitable ways, including by having an L-shape, J-shape, U-shape, a curved shape, or the like. Also, while FIG. 12 illustrates and example where an attachment point 240 and lift bag device 270 are disposed above a top plane of the top ends 212 of the lift bag bodies 210, in further embodiments, such elements can be disposed in various suitable locations such as coincident with or below a top plane of one or more top ends 212 of one or more lift bag bodies 210.

In some variants the lift bag body 210 is not limited to circular plan forms even though that is used as some non-limiting examples herein. Using internal cords, ribs, cells, or modular arrangements, for example, can allows noncircular plan form shapes for the lift bag body 210 in some embodiments. This can be useful for lifting more complicated shapes in some examples. In some variants the lift bag body 210 can be configured into a form that more resembles a boat or barge. In this manner, it can be used in some embodiments to carry or transport suspended objects, for example, large and heavy gravity anchors, being towed or pushed by a vessel or tugboat. In some forms, the lift bag body 210 can assume a hydrodynamic shape and in some circumstances this can be additive to a rigid structure. For example, it can be used in some embodiments to extend upon and streamline a given object, such as in some examples by adding water line length and/or width for faster towing and greater stability.

Various embodiments can include various additional features to the lift bag body 210 and/or lift bag system 100. For example, a raised inflatable rim that can shield waves from passing over the top end 212 of the lift bag body 210 or shielding the lift bag device 270, or an inflatable gangway can be present in some examples, which can allow for people to access the top of the lift bag in a manner that was compliant with waves, and which can also serve as a compliant boat fender in some examples. An inflatable gangway is one example method for transferring between boats in waves or between boats and the water 105, and this can have rescue applications in some embodiments. In some variants, one or more compression tubes 230, or equivalent, can be used to support a bridle system 250 (e.g., a bridle system that transfers load outward and across the surface of the lift bag body 210). Some variants can include a (e.g., large) moon pool in the center of the lift bag body 210, which can be used in some examples for deploying and retrieving larger objects.

A required, desired or target inflation pressure of a lift bag body 210 can be set in some embodiments by the submergence depth of the lowest part of the bulk of the lift bag body 210. In order to minimize the inflation pressure and thereby maximize the flow rate and minimize blower power and time of inflation, in some embodiments it can be desirable for the lift bag body 210 to be shallow in depth, and not spherical or teardrop shaped like some embodiments of a lift bag body 210 or lifting balloon. This, in some examples, can favor a shallow disc-like lift bag body 210 that has a large topside surface area so as to minimize submergence depth for a given volume and lifting capacity. For example, a 30-ton lift capacity surface-accessible lift bag body 210 in some examples may only hold air up to one to two meters deep, with corresponding plan view area and blower pressure. One or more lift bag bodies 210 that have a volume that is deep and slim as opposed to broad and shallow can have a greater minimum operating depth in various examples, and can require a longer compression tube 203 in some embodiments, and can require a high inflation pressure in some examples, as indicated by the greater head of water that the air must be pumped against. The preference in some embodiments can be for one or more broad and shallow lift bag bodies 210, but there can be a limit in various examples where lateral inflation pressure outward must exceed the load of the bridles 250 pulling inwards. In some examples, if the one or more lift bag bodies 210 are too broad and shallow they may collapse inward due to the bridles 250 being at too aggressive an angle and the load on them overwhelming the outward inflation force. Some embodiments can include a surface structure that holds one or more lift bag bodies 210 out, which can allow for slightly larger lifting capacity with less-deep lifting bag systems 100 in some example (e.g., the angle of the bridles 250 could get a little shallower).

In various embodiment, the lift bag body 210 can have a radius or maximum radius of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15 feet, or the like, or a range between such example values. In various embodiments, the lift bag body 210 can have a depth or thickness of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20 feet, or the like, or a range between such example values.

In various embodiments, it can be desirable for the top surface of the lift bag body 210 to be relatively, substantially or completely flat, and not spherical, rounded or curved like some examples of lift bag bodies 210. The lift bag body 210 can be a pressure vessel and volume that extends above the surface of a body of water 105, which has an associated mass penalty that does not provide buoyancy lift capacity in various embodiments. Also, in various examples, the lower the height of the lift bag body 210, the shallower the water it can operate in. Having a relatively flat top surface can necessitate internal bridling 250 of the lift bag body 210 in some embodiments or make such bridling 250 desirable. Loads have to be transferred from the bottom end of the lift bag 214 and/or bottom end 234 of a compression tube 230 to the top surface of the lift bag body 210 in a distributed manner in various embodiments or such distributed transference can be desirable. Distributed transference can also be accomplished in some embodiments by one or more bridles 250 internal ribs 810 such as shown in the embodiments of FIGS. 8-10 or via other suitable systems and methods.

For example, FIG. 8 is a side cross-sectional view of a lift bag system 100 in accordance with an embodiment, which includes at least a first and second rib 810 extending between the top and bottom ends 212, 214 of the lift bag body 210 within the lift bag cavity 220. FIG. 9 is a perspective see-though view of a lift bag system 100 in accordance with another embodiment, which includes six ribs 810 coupled to and extending between the top and bottom ends 212, 214 of the lift bag body 210 within the lift bag cavity 220 and coupled to the sidewall 216. The ribs 810 in some embodiments may not be coupled to anything at a central location about the compression tube 230, can be coupled to the compression tube 230, can be coupled to an internal sidewall of the lift bag body 210 that surrounds the compression tube 230. FIG. 10 is an illustration of a lift bag system 100 in accordance with another embodiment, which includes eight ribs 810 coupled to and extending from the sidewall 216 of the lift bag body 210 radially toward a center of the lift bag body 210 where the compression tube 230 is located.

In some embodiments, the ribs 810 can comprise planar sheets of material the same as or similar to material used to define a portion of the lift bag body 210. Such planar sheets can be configured for various purposes such as to provide internal support and/or shaping for the lift bag body 210. In some examples, ribs 810 can be configured to generate separate cavities within the lift bag cavity 220, which in some embodiments can be separately inflatable cavities within the lift bag cavity 220. Also, further embodiments can include any suitable number of ribs 810 including 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 16, 18, 24, 36, 48 and the like. Various embodiments can include a plurality of ribs 810 extending radially within the lift bag cavity 220, which in some examples can be spaced apart at equal angles or with various planes of symmetry. However, in some embodiments, ribs 810 can be disposed in various other suitable ways including horizontally within lift bag cavity 220 coupled to the sidewall(s) 216 without being coupled to top and bottom ends 212, 214 of the lift bag body 210. Also, various other elements or structures can perform a similar function as ribs 810, such as lines, nets, and the like.

Designing the lift bag body 210 to sustain pressures above what is strictly necessary, desirable, or expected during operation of the lift bag system 100 can increases the structural requirements and mass and cost of the lift bag system 100 in some examples. Water pressure increases with depth the differential pressure between an internal air pressure within the lift bag body 210 and the external water pressure external to the lift bag body 210 decreases with depth. As a consequence, in some embodiments, the deeper/lower sections of the lift bag body 210 can be designed to sustain lower differential pressures, saving mass and cost.

There can be an optimal diameter-to-depth ratio of the lift bag body 210 in some embodiments that maximizes volume and lift without bending for the minimum pressure needed to keep the lift bag body 210 (e.g., having a disc shape) inflated against the external water pressure. If the diameter is too large and the depth too small in some examples, then the lift bag body 210 (e.g., having a disc shape) will bend upward. The lift bag body 210 in some embodiments can be limited by the effective bending strength of the lift bag body 210 (e.g., having a disc shape). If the diameter is smaller and the depth greater than is needed to offset this bending moment, then greater pressure may be needed to inflate the lift bag body 210 in various embodiments. Internal bridling 250, or the like, can affect this relationship in various embodiments, for example, extending the internal bridling 250 below the bottom end 214 of the lift bag body 210 (see e.g., FIG. 2) can increase the effective bending strength in some examples and can allow for a larger diameter of a lift bag body 210 (e.g., having a disc shape). Outer diameter walls 216 of the lift bag body 210 that are not vertical can also affect this in various embodiments. In some variants, the lift bag body 210 can look more like an inverted cone with a large mostly flat top surface that is internally bridled 250.

As the lift bag system 100 pulls out or tests an anchor 110, in various embodiments the lift bag system 100 will rise out of the body of water 105, reducing the available lifting capacity. If the sidewalls 216 of the lift bag body 210 (e.g., having a disc shape) are approximately vertical (see e.g., FIG. 2), then the lift reduction can be mostly linear with pullout distance in various examples. By changing the profile of this outer sidewall 216, for example by tapering it in or out, lifting capacity with extraction distance profile can be varied in some examples.

In some configurations, the length of an anchor 110 might be greater than the depth of the lift bag body 210 (e.g., having a disc shape) such that when the lift bag body 210 is fully on the water surface the anchor 110 is still partially embedded in an underwater substrate 115 with greatly reduced load capacity. Turning to FIG. 4, an example embodiment of a lift bag system 100 is illustrated comprising a first lift bag body 210A and a second lift bag body 210B, which define a respective first and second lift bag cavity 220A, 220B. In this example, the first lift bag body 210A is disposed above the second lift bag body 210B with the second lift bag body 210B having a smaller volume than the first lift bag body 210A.

In various embodiments, a lower volume second lift bag body 210B at the bottom of the first lift bag body 210A can aid with fully extracting an anchor 110 in a circumstance where first lift bag body 210A is fully on the surface of the body of water 105 and the anchor 110 is still partially embedded in an underwater substrate 115. In some examples, such a second lower volume of the second lift bag body 210B does not necessarily need to be inflated during an initial inflation and anchor testing and/or removal process, and so does not necessarily require higher pressure inflation in some embodiments. Such a lower volume of the second lift bag body 210B in some examples can be inflated when the first lift bag body 210A or second lift bag body 210B is closer to the surface of the body of water 105 with the anchor 110 partially extracted. For example, in various embodiments, a method of testing and/or removal of an anchor 110 can include determining that a second lift bag body 210B should be inflated and then inflating the second lift bag body 210B in response.

While the example of FIG. 4 illustrates an embodiment of a lift bag system 100 having two lift bag bodies 210, in further embodiments, a lift bag system 100 can have any suitable number of separate lift bag bodies 210 such as 2, 3, 4, 5, 6, 7, 8, 9, 10 or the like. Also, while the example of FIG. 4 illustrates an embodiment of a lift bag system 100 having two lift bag bodies 210A, 210B where the second lift bag body 210B has a smaller volume than the first lift bag body 210A, in some embodiments, the first and second lift bag bodies 210A, 210B can have the same volume or the second lift bag body 210B can have a large volume than the first lift bag body 210A. Also, while the example of FIG. 4 illustrates an embodiment of a lift bag system 100 having two lift bag bodies 210A, 210B where the second lift bag body 210B is disposed below the first lift bag body 210A, in some embodiments, the first and second lift bag bodies 210A, 210B can be arranged in any suitable way such as being arranged in parallel, nested, or the like. Also, while the example of FIG. 4 illustrates an embodiment of a lift bag system 100 having two lift bag bodies 210A, 210B where the first and second lift bag bodies 210A, 210B have the same shape, in some embodiments the first and second lift bag bodies 210A, 210B can have different shapes with such different shapes being any suitable shape such as those discussed herein.

In various embodiments, such first and second lift bag bodies 210A, 210B can be separately inflated and/or deflated. For example, FIG. 4 illustrates an example where the first and second lift bag bodies 210A, 210B have respective fluid lines 260A, 260B that allow the first and second lift bag bodies 210A, 210B to be separately inflated and/or deflated via the separate fluid lines 260A, 260B. In further embodiments, the first and second lift bag bodies 210A, 210B can be separately inflated and/or deflated such as via valving and/or lines between the first and second lift bag bodies 210A, 210B, and the like.

The lift bag body 210 can be of a closed or open construction in accordance with various embodiments. For example, FIG. 5 illustrates an embodiment of a lift bag system 100 with a lift bag body 210 having a closed configuration and FIG. 6 illustrates another embodiment of a lift bag system 100 with a lift bag body 210 having an open configuration, where water from the body of water 105 is capable of entering the lift bag cavity 220. Where the lift bag cavity 220 is closed such as in the example of FIG. 5, then in some examples an over-pressure safety release valve can be employed. If the bottom of the lift bag body 210 is left open such as in the embodiment of FIG. 6, then in some examples, over-pressure safety release can automatically happen via the bottom of the lift bag body 210. An open lift bag body 210 can allow for fast deflation and internal access in some embodiments, although it may allow for possible water ingress in various examples. In various embodiments, a lift bag can be deflated in various suitable ways including via a release valve, a fluid line 260, or the like. For example, in some embodiments, a fluid source 330 (e.g., blower) can be reversed and used as a vacuum to aid in the deflation and/or retraction of the lift bag system 100. In some variants, internal bridles 250 can be used to pull or define a lower lift bag opening to a conical shape of reduced diameter while in use or generate various other suitable configurations.

In some variants, the lift bag body 210 consists of, consists essentially of or comprises a top surface 212 and sidewalls 216 only—with no sealing bottom surface or bottom end 214. This can save substantial mass and cost and can make construction easier in some embodiments, although stability can be reduced in some such embodiments. By keeping the radius of curvature in the radial direction at the edges of the lift bag body small, fabric loads can be reduced in various embodiments. The fabric load in some examples being a direct function of internal pressure and diameter, as per a thin wall pressure vessel.

The pressure of a blower or other fluid source 330 can directly correspond to the depth of water to which it can pump fluid (e.g., air) via a fluid line 260 into the lift bag cavity 220. The depth or thickness of the lift bag body 210 (e.g., having a disc shape) can set the required, desired or expected maximum pressure of a fluid source 330 (e.g., blower) if the lift bag body 210 is to be fully inflated while the top end 212 of the lift bag body 210 is at the surface of the body of water 105, the point of maximum lift at minimum pressure. In various embodiments, the thinner the lift bag body 210 is (e.g., how thin a disc defined by the lift bag body 210 is), or the less the depth that the fluid source 330 (e.g., blower) has to pump fluid to, the lower pressure the fluid source 330 has to operate at and the higher flow rate the fluid source 330 (e.g., blower) can have for a given power. In various embodiments, the higher the flow rate of the fluid source 330 (e.g., blower), the faster the fluid source 330 will be able to inflate the lift bag body 210.

A lift bag system 100 (e.g., surface-accessible lift bag system 100) can provide a fast and/or low-cost method of directly proving pullout strength of an anchor 110 without removing the anchor 110. In some embodiments, the lift bag body 210 can be inflated until the desired load is reached, which can be measured (e.g., via an integrated load cell), thereby directly proof-loading and testing an installed anchor 110. This can be very useful for more critical anchor installations where a higher degree of confidence in anchor pullout strength is desired.

By using two or more anchors 110 some distance apart it can be possible in some examples to use a lift bag system 100 (e.g., a surface-accessible lift bag system 100) to apply lateral loads to anchors 110 for testing purposes. For example, it might be desirable to load test an anchor 110 at 45 degrees elevation angle (other embodiments can include 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85 degrees, or the like or a range therebetween). In some examples of such a scenario, the lift bag system 100 can apply a vertical component of the anchor load force while a second anchor 110 can apply a lateral or horizontal component of force. For example, a “Y” bridle can be created between two anchors 110 and the lift bag system 100 can be configured to pull up in the center. Or another example, a pulley system connecting two anchors 110 to one or more lift bag systems 100 can be used to apply lateral loads. Some modification to the bottom end 234 of a compression tube 230 of the lift bag system 100 might be desired in some embodiments to better accommodate two or more anchor lines 120 pulling in different directions.

While direct inflation of the lift bag system 100 can be used to test and/or remove anchors 110 in various embodiments, some embodiments can include a winch directly coupled to or associated with the lift bag system 100. In some variants this can be faster to operate, for example, if pulling out or load testing multiple anchors 110 during a given session, it may not be necessary to deflate the lift bag body 210 each time an anchor test and/or removal occurs, but instead simply move the partially or fully inflated lift bag body 210 to the next anchor 110 and reattach the winch system. Such a winch system in some examples can allow high extraction loads over a greater distance than a shallow surface-accessible lift bag system, enabling the direct extraction of long anchors 110 that are deeply embedded in the seabed. An additional compression tube 230, or equivalent element, can be added to the top end of the lift bag system 100 in some embodiments (e.g., so that the winch does not have to be located on the lift bag itself). This tube can have a pivot, a pulley or like system in some examples that can allow the winch to be located on a nearby platform or vessel with the second compression tube extending to the top of the lift bag. The pivot system at the compression tube connection can allow in some embodiments for the lift bag to move up and down independently of the vessel 140 and in some embodiments can prevent the lift bag and vessel system from becoming over constrained in waves, and with anchor removal, and so forth.

Various suitable types and configurations of anchors 110 can be used in various embodiments and the examples of anchors 110 herein, including the anchor heads 114 shown in FIGS. 7a, 7b and 7c. In some embodiments, anchors 110 can include dished helical plates for reduced bending stress, multiple turn helical plates for distributing load over multiple turns, construction that allows for deflection, plates with sharpened and/or sawtooth edges to help cut through rock and mixed sediments and hard sediments, specialist anchor tips to improve starting performance and traction, especially in more challenging substrates, and so forth.

Anchors 110 with a central shaft 112 and head 114 comprising helical plates can be constructed with the plates forming a flat helical geometry. The loading of the plate can then be substantially in bending. The loading of the joint of the plate to the shaft can be loaded in bending and shear. In some embodiments, this can require a relatively thick plate for the load it supports. Changing the geometry of the helical plate to include a conical dish shape can allow the stresses in the helical plate to be redirected. A dished helical plate can experience lower bending loads, and can instead have a circumferential tension load, with multiple helical rotations, which are perhaps thinner and allow for some deflection. There can also be a reduced bending moment at the interface with the central shaft 112, leaving only the shear loading in some examples. This can allow for a thinner plate to support equivalent anchoring loads, which can provide an overall lighter system and can reduce cost of manufacture and deployment.

While some examples include an anchor 110 with a unitary shaft 112, some embodiments can include an anchor system comprising a plurality of shafts 112 that can be used to drive an anchor 110 further into a substrate 115. For example, an anchor with a first shaft 112 can be driven into the substrate 115 proximate to an end of the first shaft 112 and a second shaft 112 can be coupled to the end of the first shaft. The second shaft can further drive the first shaft 112 into the substrate 115 via the second shaft 112. Further shafts 112 can be added as necessary to further drive the first anchor into the substrate.

While various embodiments discussed herein relate to rotary installation of anchors 110 in a substrate 115 in a body of water 105, further embodiments can include various other rotary applications related to substrates 115 in a body of water 105, such as drilling, obtaining core samples, geo testing, calibrated anchor testing, and the like. For example, in some embodiments, the system can use a drill bit to drill a hole in a substrate 115 and then load and install an anchor 110 in the generated hole. In further embodiments, a calibrated test anchor or test bit can be rotatably driven into a substrate, which can be used to identity type(s) of substrate 115 present, holding strength of various types of anchors 110 that may be installed in the substrate 115, and the like. In some examples, an area of a seabed can be mapped via a plurality of test anchor installations or test drilling.

Additionally, anchors 110 can be any suitable weight, size and/or shape in various embodiments and a shaft 112 in some embodiments can have a diameter on the order of inches, feet or meters. For example, some embodiments of a lift bag system 100 can be configured to handle anchors having a shaft diameter of 2-4 inches, 6-12 inches, 1-4 feet, 1-2 meters, 4-10 meters, and the like.

The lift bag system 100 is not limited to the testing and/or removal of helical anchors even though that is used as one non-limiting example herein. Other use cases can include but are not limited to other anchor types, for example pile testing and removal without a very large crane. The lift bag system 100 of some embodiments can be used for general salvage operations that can include the lifting of heavy, and in some examples, partially or fully embedded objects from the seabed or other substrate 115.

In some instantiations the lift bag system can be configured to be able to be used as an inflatable barge for transporting equipment to and/or from site. This can include but is not limited to the anchors themselves.

Rigid components can be added to or be part of the inflatable lift bag system in some embodiments, which can provide for floors, structural beams, and the like. For example, rigid floor working areas, safety structures (e.g., that can allow people to work on the lift bag body 210), emergency lifeboat type integration, gantry cranes, and so forth. For example, a rigid central structure can be constructed in some examples with the inflatable lift bag system 100 being easily deployed and retracted to it. Some such examples can increase lifting capacity while still maintaining a central and/or independently seaworthy work area.

In some configurations the lift bag system 100 can be constructed around a vessel (e.g., support vessel 140), which in some embodiments can increase its lift capacity, but can also increase water line length, and width for greater stability in large sea states and higher transit operating speeds while still being able to retract the inflatable lift bag system 100 so as to be able to fit into small dock spaces. Usable working area can also be increased in some examples.

Applications for this technology can include but are not limited to general anchoring, aquaculture, floating solar, and offshore wind. Many of these industries can require extensive anchor testing to de-risk anchoring technologies and achieve certification and bankability. Anchor removal, including decommissioning, can also be a consideration in some examples. Where this approach in some examples can replace very large cranes and vessels with very high daily costs with a much smaller and lighter system that can be operated from smaller vessels and can be likely less sensitive to sea state in various embodiments. The surface-accessible lift bag system and method can operate from small scale (e.g., for testing and/or removing anchors with 100, 250, 500 or 1000 lbs. of holding capacity, or the like, or a range between such example values) up to thousands of tons of lifting capacity, enough to test anchors 110 directly for offshore wind systems. For example, some embodiments can include testing and/or removal of anchors 110 having a holding capacity of at least 1 ton, 5 tons, 10 tons, 50 tons, 100 tons, 500 tons, 1000 tons, 5000 tons, 10000 tons, and the like, or a range between such example values.

The described embodiments are susceptible to various modifications and alternative forms, and specific examples thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the described embodiments are not to be limited to the particular forms or methods disclosed, but to the contrary, the present disclosure is to cover all modifications, equivalents, and alternatives. Additionally, elements of a given embodiment should not be construed to be applicable to only that example embodiment and therefore elements of one example embodiment can be applicable to other embodiments. Additionally, elements that are specifically shown in example embodiments should be construed to cover embodiments that comprise, consist essentially of, or consist of such elements, or such elements can be explicitly absent from further embodiments. Accordingly, the recitation of an element being present in one example should be construed to support some embodiments where such an element is explicitly absent.

LIFT BAG SYSTEM AND METHOD FOR ANCHOR TESTING AND/OR REMOVAL

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