Patent Grant
8555531
This application is a §371 national stage entry of International Application No. PCT/EP2008/062058, filed Sep. 11, 2008, which claims priority to European Patent Application No. 07116286.1, filed Sep. 13, 2007, both of which are hereby incorporated by reference.
The last ten years have seen an important increase in the volume of dredging activity, of which an increasing proportion is performed on solid rock. This situation is explained by the increased depth required by marine infrastructure projects and by the geological characteristics of certain regions such as the Persian Gulf. All projections indicate that this tendency of growth will continue in the next decade.
In response to this evolution, dredgers with increasingly powerful cutter heads are operating in construction areas; allowing a higher production rate at a lower cost compared to the traditional drilling and blasting method.
The optimal exploitation of a dredge implies a good geological knowledge of the site. In particular, the position of the rock zones most resistant to cutting must be known because they should be attacked prudently to avoid undue wear and damage to the cutter.
However, in reality, the quality and depth of the rock frequently varies abruptly both in the vertical and horizontal directions. Thus, the cutter head 4 (
Traditionally, the dredge master is faced with two possible options:
The present invention aims to overcome the problems in the art by providing a system that receives high resolution seismic velocity information on the material in advance of the cutter head, and can provide specific adjustment to the cutting parameters in response there to, optionally in addition to the low resolution information usually already available.
The high resolution information is acquired and updated while dredging. The seismic data can be used to fine tune an existing geological model close by the cutter head, during the dredging process itself via seismic velocity measurements close around and in front of the cutter head.
One embodiment of the invention is a system for optimizing the dredging of an area by a dredging vessel (25) equipped with a cutter head (4), comprising a means to measure local seismic velocity in front of the vessel (25), said means comprising a set of seismic receivers (11, 11′, 11″, 11′″) supported by a frame (10) configured for attachment to the bow end of the vessel, which frame aligns the seismic receivers (11, 11′, 11″, 11′″) above and in front of the cutter head (4).
Another embodiment of the invention is a system as described above, wherein the frame is adapted to support the set of seismic receivers (11, 11′, 11″, 11′″) in a horizontal line.
Another embodiment of the invention is a system as described above, wherein the set of seismic receivers (11, 11′, 11″, 11′″) comprises at least two hydrophones.
Another embodiment of the invention is a system as described above, wherein the frame is adapted to support the seismic receiver (11′) closest to the bow end (20) of the vessel (25) at a horizontal distance of at least 3 m beyond the cutter head (4).
Another embodiment of the invention is a system as described above, wherein the frame is configured for rigid attachment to the vessel.
Another embodiment of the invention is a system as described above, wherein the frame is configured for attachment to the vessel via an articulated joint or a dampening suspension.
Another embodiment of the invention is a system for optimizing the dredging of an area by a vessel (25) equipped with a cutter head (4), comprising a means to measure local seismic velocity in front of the vessel (25), said means comprising a set of seismic receivers (11, 11′, 11″, 11′″) supported by a frame adapted to float in or on water.
Another embodiment of the invention is a system as described above, wherein the frame is adapted to support the set of seismic receivers (11, 11′, 11″, 11′″) in a horizontal line.
Another embodiment of the invention is a system as described above, wherein the set of seismic receivers (11, 11′, 11″, 11′″) comprises at least two hydrophones.
Another embodiment of the invention is a system as described above, wherein the floating frame is provided with a propulsion means to move its position and orientation remotely and independently of the position of the vessel.
Another embodiment of the invention is a system as described above, further comprising:
Another embodiment of the invention is a method for optimizing, during dredging, the dredging of an area by a vessel (25) equipped with a cutter suction head comprising the steps of:
Another embodiment of the invention is a method as described above, wherein local soil parameters further comprise geo-resistivity data.
Another embodiment of the invention is a method as described above, wherein local soil parameters further comprise reflection seismics data such as parametric echosounding data or sub bottom profiler data.
Another embodiment of the invention is a method as described above, wherein the local soil parameters further comprise any of vibrational data, sound data, temperature measurements at the cutter head, swing speed of the cutter head.
Another embodiment of the invention is a method as described above, wherein the cutter parameters are any of lateral swing speed, cutter head rotation speed, cutter head rotation torque, attacked layer thickness and width per cut.
Another embodiment of the invention is a method as described above, wherein the geological survey data is obtained from drilling, boreholes, vibrocores, piston sampling, cone penetration testing, and wash probing.
Another embodiment of the invention is a method as described above, wherein a layer thickness and/or layer width attacked and/or lateral swing speed of the cutter are reduced when the proximity of harder soil or rock is measured or expected.
Another embodiment of the invention is a method as described above, wherein a layer thickness and/or layer width attacked and/or lateral swing speed of the cutter are increased when the proximity of softer soil is measured or expected.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as is commonly understood by one of skill in the art. All publications referenced herein are incorporated by reference thereto. The articles “a” and “an” are used herein to refer to one or to more than one, i.e. to at least one of the grammatical object of the article. By way of example, “a sensor” means one sensor or more than one sensor.
The recitation of numerical ranges by endpoints includes all integer numbers and, where appropriate, fractions subsumed within that range (e.g. 1 to 5 can include 1, 2, 3, 4 when referring to, for example, a number of sensors, and can also include 1.5, 2, 2.75 and 3.80, when referring to, for example, measurements). The recitation of end points also includes the end point values themselves (e.g. from 1.0 to 5.0 includes both 1.0 and 5.0).
The present invention is related to the finding by the inventors that it is possible to measure, while dredging soil or rock, the seismic velocity of the soil or rock in front of the cutter, which measurement gives a strong indication on the underwater excavability, hereafter called dredgeability. The measurement can be used in combination with other and conventional soil data to adjust cutter parameters at the cutting site and at a subsequent cutting location. Parameters which can be adjusted are for example the cutter rotation speed, the pulling force on the winches or any other parameter adjusted in order to optimize yield and/or to reduce wear and tear.
One aspect of the invention relates to a method for optimizing, during dredging, the dredging of an area by a vessel, preferably a dredge, equipped with a cutter suction head, comprising:
The vessel is preferably a dredge, and the cutter head itself generates vibrations which propagate into the surroundings. In particular, vibrations which are generated by the cutter head propagate through the soil, rock and water. While dredging, the signals from the seismic receivers placed in front of the cutter head are recorded and are used to calculate dredging parameters for a current and a subsequent cutter head position based on the combination of geological survey data and seismic velocity acquired while dredging to optimize yield and cutter wear.
The seismic velocity (P wave and/or S wave velocity) is a measured local soil parameter relating to the geotechnical characteristics of a rock or soil mass, and is preferably measured via a seismic refraction survey. Seismic velocity designates the velocity of propagation of a seismic wave in the ground. Either compressive seismic waves (P waves) or shear seismic waves (S waves) or interface (surface) waves may be used. The corresponding seismic velocities are designated as P wave velocity and S wave velocity.
Conventional soil data designates all information obtained about the soil or rock properties by using conventional sources or investigation methods independently of the dredging operations; examples are: geological data from maps and publications, borehole descriptions, geotechnical testing reports, geophysical surveys, etc.
Seismic velocity is measured in advance of or in front the cutter head, i.e. it is measured of the undredged soil ahead of the cutter head. It is normally measured by way of a set of seismic receivers supported by a frame projecting beyond the bow end of the vessel. The frame submerges the seismic receivers, and places them above the seabed and ahead of the cutter head.
Besides, seismic velocity, other soil parameters measured in the vicinity of the current position of the cutter head may be used to adjust cutter parameters at the cutting site and at a subsequent cutting location. These include those that can be measured using any in situ technique (e.g. geo-resistivity survey, seismic reflection survey (parametric echosounding survey, sub bottom profiler, etc. . . . ))
Secondary soil related parameters can be employed in the analysis to provide more accuracy. These include vibrational data, sound data, temperature measurements at the cutter head and swing speed of the cutter head. It is within the scope of the invention to use the seismic signals generated by the dredging operation itself to study the soil. The signal generated by the dredging operations themselves may be supplemented by an auxiliary seismic source (e.g. air gun, sparker, pinger, boomer, etc) mounted at a suitable location. Generally the measurement in question is acquired by an appropriate sensor. The sensor may be mounted on the dredge itself, laid upon the sea bed or towed using a suitable auxiliary vessel.
The cutter head is generally a wheel or sphere, mounted on its rotational axis by a ladder suspended below the dredging vessel. The direction of the ladder is adjustable in three-dimensions within its sweep range and can, therefore, cut downwards, forwards and laterally. The dredging parameters that are calculated by the present system can be used to adjust one or more of the cutting characteristics (cutter parameters) of the dredging process e.g. lateral swing speed, cutter head rotation speed, cutter head rotation torque, attacked layer thickness and width per cut. The teeth of the cutter are commonly bi-directional but having a lower cutting action in one lateral swing direction (the so called overcutting swing direction) compared with the other (the so called undercutting swing direction). The lateral swing method can be adjusted to, for example, loosen sand and soft clay in the low-impact overcutting direction, and to cut rock in the high-impact undercutting direction.
The geological survey data may be any obtained by methods generally known to the skilled person. For example, it may be that obtained from geological maps geological literature, or from site-specific drilling.
The method may provide a soil image, that is made available to the dredge master via a Soil Viewer computer display. Based on this information and in full automatic dredging mode, it is the dredge computer itself that will translate this geological information in optimum dredging parameters for the purpose of maximizing the performance of the dredge in a so called self learning process.
As used herein, terms such as “in front”, “in advance”, “ahead”, “beyond” are used to indicate the position of the seismic receivers 11 relative to the cutter head 4 and means that the receivers 11 project horizontally further from the bow end of the vessel than the cutter head 4. Preferably, at least the seismic receivers 11 closest to the vessel project horizontally further from the bow end of the vessel than the cutter head.
System
One aspect of the invention is a system for optimizing the dredging of an area by a vessel 25 equipped with a cutter head 4, comprising a means to measure local seismic velocity in front of the vessel 25, said means comprising:
The features defined above in respect of the method apply also to the system.
According to one aspect of the invention, and with reference to
In an alternative embodiment of the invention, the frame may comprise a single wire (not illustrated). The wire is configured for attachment to the bow end of the vessel, and onto which the seismic receivers are attached in a line. The wire extends from the bow end of the vessel, and below the waterlevel. The end of the wire farthest from the vessel may optionally be disposed with a float adapted to regulate the depth at which said end lies below the water level. The wire may be rigid, being formed preferably from wire (primarily steel) rope, and having a diameter equal to or at least 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm or a value in the range between any two of the aforementioned values.
A seismic receiver 11 may comprise a hydrophone, geophone or any other device able to detect and measure displacements or pressure variations related to the seismic signal; preferably hydrophones are employed.
The seismic receiver 11 may be arranged in a straight line as shown in
Another embodiment of the invention is a system for optimizing the dredging of an area by a vessel 25 equipped with a cutter head 4, comprising a means to measure local seismic velocity in front of the vessel 25, said means comprising a set of seismic receivers 11, 11′, 11″, 11′″ supported by a floating frame. The floating frame is supported on or below the water by one or more floats that controls the level of the frame in the water. The frame is positioned above and in front of the cutter head (4). The frame may have mesh structure as described above, that provides strength while at the same time is light and exhibits low drag. Suitable material for such frame include iron, steel, aluminum, glass or carbon fiber. Alternatively, the frame may comprise a wire onto which the seismic receivers are attached in a line. The floating frame may be provided with a propulsion means to move its position and orientation remotely and independently of the position of the vessel. The propulsion means includes one or more motorized propellers. The remote control may be achieved by using cables or a wireless link. The position of the floating frame can be accurately determined for example, using local triangulation e.g. by detection of a marker on the frame by two camera located on the vessel, or using a Global Navigation Satellite System (e.g. GPS) Being independent of the vessel permits the floating frame to change location and orientation responsive to seismic data. This enables the system to obtain signal from a larger region, or to obtain more detailed information of a smaller region relative to the position of the cutter head 4.
The shape of the frame is configured so that set seismic receivers 11 extend from the bow end of the vessel horizontally, so that they can receive signals over an area of the sea bed in front of the vessel. The seismic receivers 11 are preferably directed in a downward position in order to detect signals arising from the sea bed. Typically, depending on the shape of the frame, they will occupy a line or plane that is parallel to the horizon. Other arrangements are within the scope of the invention, however. For example one or more receivers may be located above or below the line or plane. Alternatively, or in addition, the line/plane may be inclined to the horizon, for example, by 1, 5, 10, 15, 20, 25, 30, 35, 40 deg, preferably between 0 and 10 deg.
The seismic receivers 11 may transmit data to a data acquisition unit for processing. Data transmission of the signals may be analog or digital. They may pass through conventional electrical cables, optical cables or use telemetry (e.g. analogue radio, digital radio, infrared, ultrasounds) of any kind.
The number of seismic receivers 11 will depend on the resolution required, and on the region in advance of the cutter needed to be measured. Typically, the number of receivers will be between 3 to 30, preferably between 5 and 15.
With reference to
Signals obtained from the seismic receivers 11 may be sent to a data acquisition unit. The unit may be a micro processing device (e.g. a PC or embedded system) with an acquisition component, that converts the signals into digital data, stores it, and allows other devices to retrieve the data. Typically, there will be one channel per seismic sensor. The signals may be displayed on a seismograph or any other device able to retrieve and store the seismic data from the receivers.
The data is preferably processed, which aims at transforming the seismic information into information about the distribution of the seismic velocity and about the geometry of the ground ahead of the cutter head. The processing may be carried out manually, automatically or a combination of both. All the characteristics of the seismic signals, in the time domain and/or in the frequency domain may be used in the processing.
The cutter head 4 extends from the bow end 20 of the ship's hull via an arm 12. The arm 12 is attached to the vessel using a joint, configured allow the cutter head 4 to move not only up and down, but also side to side;
Depending upon the signals and the local conditions, one or more processing techniques may be used to improve the signal/noise ratio and to obtain information about the characteristics of the ground. These techniques may be based on existing software and procedures, or specifically developed. These techniques may include, amongst others: Picking of arrivals, Frequency analysis, F-K analysis, Cross correlation, Filtering, Deconvolution, Direct modeling, Inverse modeling, Tomographic processing etc. The zone where data is collected has an azimuthal length depending upon the swing length and a radial length depending upon the length of the receiver array. In general, the radial length is much larger than the step length of the cutter operation (typically 1-2 m). There is, thus, an overlap between the information obtained during successive swings. The overlapping may be used to further improve the processing. The processing may use data obtained from additional sources as mentioned above (e.g. controlled seismic source) and/or additional receivers (e.g. close to the cutter head or on the vessel). Pre-existing geological or geotechnical data may also be used.
Another embodiment of the invention aspect of the invention is a system as described above, further comprising:
The features defined above in respect of the method apply also to the system.
According to one aspect of the invention, the local soil parameters including seismic velocity data are outputted on a display of a map which shows the current position of the cutter. The map may be provided with levels (e.g. colours, contour lines, . . . ) indicating the optimum cutting parameters. This might be a function of the seismic velocity data optionally combined with one or more geophysical parameters measured during the cutting process. From the display, and in manual dredge mode, the Dredge Master can determine the most appropriate cutter parameters to optimize the dredging. As the cutter head approaches a harder zone, (e.g. high seismic speed and/or high resistivity), the Dredge Master can reduce the pulling force on the sidewinch, and thus the lateral swing speed in order to approach the hard spots carefully. As soon as the hard zone is passed, the pulling force is increased, and thus the lateral swing speed, in order to return to a maximum production output. In automatic dredge mode, the cutter computer itself on board of the cutter suction dredge will translate the gathered geological information into optimum dredging parameters. The invention is not limited to the use of seismic velocity or geo-resistivity or any other parameters or a combination of parameters, as may be justified for a particular dredging project.
The present invention advantageously provides a means to determine the optimum dredging regime with reliance on survey maps or boreholes which have too low resolution to allow fine control and optimal wear and yield parameters. The use of seismic velocity increases yield and efficiency; currently the profit of aggregate output on building site is estimated at least 10%. The system allows a fine and fast geological survey of the soil which data can be used to build maps.
An embodiment of the invention is exemplified by the following non-limiting example.
A dredging vessel was fitted with a frame at the bow end disposed with nine seismic sensors, positioned in front of the cutter head and below the water level. The spacing between sensors is 2.5 meters. During cutting, signals from each sensor numbered 0 to 8, were recorded using a seismograph as shown in
If the geometry is more complex, as shown in
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| PCT/EP2008/062058 | 9/11/2008 | WO | 00 | 3/12/2010 |
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