Submersible tube for a marine aquaculture system

Abstract

A buoyancy system for supporting a variable load, the structure comprising a buoyancy structure, a load bearing structure, such as for growing bivalves or seaweed, attached to the buoyancy structure, and sensing elements configured to determine a force with which the load bearing structure acts on the buoyancy structure. The force may be determined from a buoyancy of the buoyancy structure such as from an egress or ingress of fluid into the buoyancy structure.

Description

[0001] SUBMERSIBLE TUBE FOR A MARINE AQUACULTURE SYSTEM

[0002] The present invention relates to a buoyancy system, such as a system for cultivating organisms, such as shellfish, (including bivalves), seaweed or the like, at sea or in fresh water, attached to a load bearing structure carried or supported by a buoyancy structure.

[0003] Due to the fact that the cultivated organism or other produce supported by the buoyancy system may grow differently based on water temperature, the availability of nutrition in the water and the like, it is desired to be able to monitor the weight of the produce over time.

[0004] Relevant technology may be seen in US4244323, US10945417, US2016 / 096597, WO2021 / 214087, KR2015 / 0120845, US10051844, US2021 / 074413, CN217446262, US9395461, CA2147011, KR102146664, EP1045634, EP3937624, US5655938, and US8136470.

[0005] A first aspect of the invention relates to a buoyancy system for supporting a variable load, the structure comprising:

[0006] a buoyancy structure,

[0007] a load bearing structure attached to the buoyancy structure, the load bearing structure being configured to have the variable load be suspended therefrom, and

[0008] sensing elements configured to determine a force with which the load bearing structure acts on the buoyancy structure.

[0009] In the present context, a buoyancy system is a system capable of being buoyant in a body of water while supporting the load bearing structure. As will be described below, the buoyancy structure preferably has a variable buoyancy to allow a weight of the load bearing structure to vary in weight over time and still maintain the desired depth or distance from the bottom of the sea. When the load bearing structure supports growing organisms, the weight thereof will often vary and especially increase over time, as even though some organisms may die, fall of, be eaten or the like, the overall organism population is desired to grow toward a point in time of harvesting. A load bearing structure for cultivated organisms is often based on a rope-like structure which may extend along a longitudinal direction of the buoyancy structure and is attached thereto at defined positions, or which are extending vertically downward from the buoyancy structure.

[0010] Inspicos / 10 / 03 / 2026 / 13:39It is noted that the main operation of the system is one where both the load bearing structure and the variable load are completely submerged. In this case, the density of the load compared to that of the surrounding water will decide whether the load tends to elevate or sink the load bearing structure and this again will decide whether the operation of the buoyancy structure is to increase or decrease its buoyancy with increasing amount of the load.

[0011] Such a load bearing structure may be provided with seeds of the cultivated organism before launch at the production site. Harvesting of such produce may then comprise replacing the load bearing structure with a new one, or by removing the organism from the load bearing structure and providing new seed organism before relaunching into the water.

[0012] A load bearing structure may be any type of structure, such as based on a net structure, woven structure, nonwoven structure, wires, ropes or other elongate elements, baskets, shelves or the like. The load bearing structure preferably is capable of or provided for supporting one or more types of products, which may grow or proliferate under water, such as shellfish, bivalves, seaweed or other plants, or the like (the cultivated organism). The weight of the load bearing structure may then increase over time, as the product supported thereby grows or proliferates.

[0013] The load bearing structure is attached to the buoyancy structure and will normally be provided below the buoyancy structure, but can be provided above the buoyancy structure, such as in case of seaweed. The attachment may be permanent or releasable. The attachment may be via elements, such as a collar, twine, or the like, engaging the buoyancy structure in a manner so that the load bearing structure remains engaged with the buoyancy structure during operation.

[0014] Clearly, when the load is of a type, such as bivalves, which has a density higher than that of water, the overall weight of the load will increase even when submerged. In this situation, the load will be suspended below the load bearing structure which will then increase in weight, while submerged, so that the buoyancy structure will have to increase in buoyancy if the same depth is desired maintained in eg. a state in which the system may alter its vertical position in the column of water.

[0015] On the other hand, if the load is of a type, such as certain types of seaweed, which has a density lower than that of the surrounding water, the overall weight of the load while submerged will then drop so that the load will actually firstly be provided above the load bearing structure and secondly will, while submerged, decrease the weight of the load bearing structure so that the buoyancy structure has to decrease in buoyancy if the same

[0016] Inspicos / 10 / 03 / 2026 / 13:39depth is desired maintained in eg. a state in which the system may alter its vertical position in the column of water.

[0017] In the following, the higher density load is focussed on. It is to be made clear that also the lower density load is of interest. Thus, an interesting technology would relate to a buoyancy system, method and computer program product for supporting a variable load, the structure comprising:

[0018] a buoyancy structure,

[0019] a load bearing structure attached to the buoyancy structure, the load bearing structure being configured to have the variable load extending upwardly therefrom, and

[0020] sensing elements configured to determine a force with which the load bearing structure acts on the buoyancy structure.

[0021] All aspects and embodiments and the like of this application are equally relevant for this "low" density load.

[0022] The buoyancy structure is a structure which may be provided with a desired buoyancy which preferably is controllable.

[0023] In this context, the buoyancy of a structure such as the buoyancy structure may be determined or controlled by determining or controlling the overall density of the structure. Naturally, the buoyancy may be determined based also on other factors, such as the body of water in which the structure is provided or desired provided, as the density of water depends on e.g. the salinity thereof. The buoyancy may be determined from knowledge about the individual elements of the buoyancy structure, such as the weight of the materials thereof as well as the amount, weight, volume or the like of additional elements of the buoyancy structure, such as the amount of e.g. water and air added to the buoyancy structure.

[0024] A typical buoyancy structure will comprise one, two or more compartments each holding a different material of a particular density. Often, water and gas are used. The buoyancy then may be controlled by varying the ratio between the amount of e.g. water and air held by the buoyancy structure.

[0025] As will be described later, the buoyancy structure may comprise a single, often elongate, element or a number of interconnected elements. A buoyancy structure and load bearing

[0026] Inspicos / 10 / 03 / 2026 / 13:39structure for cultivated organism may be launched into the ocean where there is ample space for such systems, which may then be several hundreds or thousands of meters long.

[0027] Controlling of the buoyancy of the buoyancy system is advantageous for a number of reasons one being to take into account the situation that the load bearing structure increases in weight over time. Typically, the system could be maintained steady at a desired depth, e.g.

[0028] 10m, to avoid heavy waves, predation of birds from above and starfish from below. Other reasons could be to bring the system to the surface for inspection or harvesting or to allow the system to make an emergency dive in case of a storm, high waves, ice drift, passing ships, or the like. Other reasons could include optimizing for nutrient location, possibly depending on time of year or fleeing from predation of birds or sudden growth of harmful algae in the surface layers.

[0029] The sensing elements are configured to determine a force with which the load bearing structure acts on the buoyancy structure. From this force, a weight of the load bearing structure may be determined, and / or a weight of any produce held or supported by the load bearing structure may be determined.

[0030] The sensing elements may, as will become clear further below, be based on a host of technologies.

[0031] It is advantageous that the output of the sensing elements can be output to e.g. a remote control station which may then monitor and e.g. predict the weight of the load bearing structure or the produce. The system may comprise additional sensors, such as temperature sensors, depth sensors (e.g. lidar / sonar), wave sensors, current sensors, salinity sensors, sensors, such as sonar, detecting passing ships, vessels, animals, submarines or the like. The system may report such information, its status, such as depth, battery status and the like. This control station may also order the buoyancy system to perform operations such as increasing buoyancy to maintain constant depth during product weight increase, surfacing or emergency diving and other operations if desired. A control buoy may be provided for this, which buoy may sit at a surface of the body of water and may communicate via e.g. satellite, GSM communication or the like (e.g. LoRaWan).

[0032] In one embodiment, the sensing elements comprise a force sensor provided at or between the buoyancy structure and the load bearing structure. Force sensors may be strain gauges, load cells, or the like. When the load bearing structure is attached to the buoyancy structure in multiple positions, a force sensor may be desired at each such location in order to be able to ascertain the complete force with which the load bearing structure acts on the buoyancy structure. Clearly, different types of force sensors may be used.

[0033] Inspicos / 10 / 03 / 2026 / 13:39Alternative sensor types could be a camera, sonar, lidar or the like aimed at the product in order to estimate a weight thereof. The force may also be determined from an angle of the product, such as if hanging more or less freely from the buoyancy structure, as a result of a current. This angle may be determined using a camera, sonar or lidar for example. From this angle or from the output of the camera / sonar / lidar, an average size of a product carried by or supported by the load bearing structure and / or a size or positional distribution thereof in the load bearing structure may also or alternatively be determined.

[0034] In one embodiment, the system further comprises a buoyancy controlling system configured to control a buoyancy of the buoyancy structure, where the sensing elements are configured to determine the forces from a buoyancy of the buoyancy structure. Usually, the force with which the load bearing structure acts on the buoyancy structure is downwardly directed, so when the buoyancy structure provides a corresponding upwardly directed force, the system will not move in the vertical direction. Then, from the buoyancy of the buoyancy structure, the force may be determined or estimated. An upwardly directed force is achieved by the buoyancy structure having a mean density lower than that of the surrounding water.

[0035] The buoyancy controlling system may be able to control the buoyancy of the buoyancy structure by varying a ratio of a first and a second fluid in the buoyancy structure when the first and second fluids have different densities. The first fluid, which preferably is incompressible, such as water, may be provided in the buoyancy structure within a separate compartment or a number of separate compartments where the second fluid, which may or may not be compressible, is provided outside of the separate compartment(s). The separate compartment(s) may be flexible in order to allow a volume of the first fluid to change. If a portion of a higher density fluid, such as a water, is replaced by a portion of a lower density fluid, such as gas or air, and / or if an amount of gas is compressed or allowed to expand, the overall density of the buoyancy structure increases, and the buoyancy thereof decreases.

[0036] In one embodiment, the sensing elements further are configured to determine a depth of the buoyancy structure and determine the force acting on the buoyancy structure also based on the determined depth. In this context, the depth is a distance to the surface of the body of water. In addition, or alternatively, the sensing elements may determine a distance to the bottom of the body of water and use that measure for the determination of the force. For example, if the below mentioned balancing lines are employed, a height over the bottom is of relevance. This height may be determined directly, such as using a lidar or the like, or indirectly, such as by determining a force or weight thereof. The weight indicates the suspended length and also an amount of the balancing line resting on the seabed. In one situation, a difference or variation of the depth or distance may indicate that the buoyancy of the buoyancy structure has changed.

[0037] Inspicos / 10 / 03 / 2026 / 13:39A depth sensor may be embodied in a number of manners. A simple depth sensor simply determines the pressure from the surrounding water, as this pressure will increase with depth in a well-known manner.

[0038] Another situation where the distance to the bottom is of interest is one where the system further comprises one or more elongate balancing lines attached, at a first end, to the buoyancy structure, a second end thereof resting on a bottom of the body of water in which the system sits. In this manner, the suspended portion of the balancing lines, i.e. the portion between the first end and a portion of the balancing lines the farthest from the first portion which does not touch the bottom, will add to the weight supported by the buoyancy structure. However, when the buoyancy structure moved to a greater depth, a smaller portion of the balancing lines are suspended, so that the weight thereof is reduced, whereas if the buoyancy structure moves to a decreased depth, the suspended portion, and thus weight, of the balancing lines will increase.

[0039] An advantage of the balancing lines is that as the weight of the load bearing structure increases, dragging the buoyancy structure downwardly, the weight of the suspended portion of the balancing lines will decrease. Thus, an equilibrium may be obtained even when the buoyancy of the buoyancy structure is unaltered.

[0040] However, as the buoyancy of the buoyancy structure will now also have to support the balancing lines, it is preferable that the buoyancy structure is brought to the same height above the seabed, so that the weight of the balancing lines is the same, whereby any change over time of the buoyancy structure is made only to take into account a change in weight of the load bearing structure and thus an increase in weight of the products held thereby.

[0041] Alternatively, a difference in height may be accounted for in the calculation based on the weight per unit of length of the balance line. This renders the method independent on the depth or height of the buoyancy system. It may be desired to operate the buoyancy system to have the culturing lines at a depth having more nutrition or where the water is free from toxic algae.

[0042] Another manner of determining the force or weight is to use so-called hydraulic ropes which are elongate structures, the length of which is determined by an amount of fluid, often liquid, delivered thereto. A hydraulic rope may comprise an outer sleeve or weave connected to two anchor points and within which a fluid / liquid bag is present which may comprise fluid or liquid. The more fluid / liquid, the larger the cross section of the rope and the shorter will the distance be between the anchor points. Thus, for some applications, a hydraulic rope may comprise a pump for delivering fluid to and / or removing fluid from the rope. In other

[0043] Inspicos / 10 / 03 / 2026 / 13:39applications, a force puling one anchor point away from the other may be determined from an internal pressure of the fluid in the rope. These applications may be combined in that the pump may be used for setting the distance between the anchor points, whereafter fluid flow may be blocked so that the force may be determined.

[0044] One or more hydraulic ropes may be used in the system as a manner of anchoring the system to the bottom of the body of water in which it is to sit. The hydraulic ropes may be controlled to define a depth of the system, whereafter fluid flow into / out of the rope(s) may be blocked. The hydraulic ropes may comprise a pressure sensor determining a pressure of the fluid in the rope.

[0045] In one situation, the buoyancy structure may be controlled to have a net buoyancy so that if not kept in place by the hydraulic ropes, the buoyancy structure and the load bearing structure would rise toward the surface. In this situation, the force acting on the hydraulic ropes will be a function of the weight of the load bearing structure, including the suspended load, and the buoyancy of the buoyancy structure.

[0046] Then, the weight of the load may be determined from the buoyancy, such as from any amount of liquid removed from the buoyancy structure over time, as well as the forces from the hydraulic ropes.

[0047] In the above situation, it is the simplest if the hydraulic ropes are vertical. If the ropes are at an angle to vertical, this angle needs to be taken into account.

[0048] In one situation, the system may be controlled so that initially the buoyancy of the buoyancy structure is so high that the buoyancy structure and the load bearing structure would rise toward the surface if not kept down by the hydraulic ropes. Thus, a force is exerted on the hydraulic ropes, and this force is determined. Over time, the buoyancy of the buoyancy structure may then be adapted so that the force exerted on the hydraulic ropes is the same, whereby the adapting over time of the buoyancy of the buoyancy structure is a direct reflection of the increase in weight of the load. When the length of the hydraulic ropes does not change, the depth / height of the buoyancy system remains the same.

[0049] It is noted that the hydraulic ropes may, in addition to the above purpose, be used for at least temporarily controlling the height or depth of the system. The hydraulic ropes may be shortened by adding thereto an amount of fluid, so that the system may avoid approaching waves, ships, ice or the like. Subsequently, the ropes may be restored to their original lengths, by removing the same amount of fluid, whereby the operation is resumed.

[0050] Inspicos / 10 / 03 / 2026 / 13:39In general, even though the depth of the body of water and the buoyancy system therein varies due to waves, tides and the like, it may be preferred to determine the position of the buoyancy system based on its depth, as the seabed is not a constant feature. The seabed may vary over time both vertically and horizontally, whereby a height determination may become erroneous.

[0051] In a preferred embodiment, the buoyancy structure comprises a plurality of structure portions, each structure portion being attached to the load bearing structure, where the sensing elements are configured to determine a force with which the load bearing structure acts on each individual structure portion. The structure portions may be separate, interconnected or form part of a single, overall structure, such as non-overlapping portions along a length of a longitudinal structure.

[0052] When different portions of the load bearing structure are attached to different structure portions, the sensing element(s) for a particular structure portion may determine the force acting on that structure portion from the pertaining portion of the load bearing element.

[0053] This has the advantage that it may be ascertained when some portions of the load bearing structure increase more or less in weight than others. It is realized that different portions of the load bearing structure may gain weight at different rates or be launched at different times.

[0054] In this embodiment, the sensing elements may be configured to determine a buoyancy of each structure portion and determine the forces based on the determined buoyancies. This is especially interesting when the individual structure portions are able to move, at least to a certain degree, vertically in relation to other structure portions. Even if the buoyancy structure is a single, stiff structure, one end may sit deeper than the other. If the buoyancy structure is a flexible structure or if the structure portions are not rigid and rigidly interconnected, structure portions may sit higher and lower, which may be caused by different weights there under of the load bearing structure and / or a different buoyancy of the individual structure portions.

[0055] Again, as described above, the weight carried by each structure portion, and thus the force acting thereon, may be determined from the buoyancy thereof and / or of a depth thereof.

[0056] Clearly, if the structure portions are interconnected, a pulling down of one structure element may cause neighbouring structure elements to also be pulled down so that the force

[0057] Inspicos / 10 / 03 / 2026 / 13:39determination may not be entirely precise. A quantification may nevertheless be obtained, and it may be desired to compare the determined forces to one or more thresholds to have the system output information or a warning, if a force threshold is exceeded.

[0058] As explained above, the depth or height above the seabed may also be used for determining the force. This is also the situation for each structure portion where the sensing elements further are configured to determine a depth of each structure portion and determine the forces acting on the structure portions also based on the determined depths.

[0059] Then, the same or different depths / heights may be the set depth / height for each portion for a determination as explained above. As mentioned above, the set height / depth may be altered if desired.

[0060] Naturally, the above buoyancy controlling system for the buoyancy structure may be used also for each structure portion, so that the system further comprises a buoyancy controlling system configured to control a buoyancy of one or more of the structure portions individually. In this manner, the individual structure portion may be brought to a desired or set height / depth in order to determine the force, so that e.g. a weight of product on the load bearing structure may be determined.

[0061] In the same manner as described above, the force then may be determined from the height / depth of each portion and / or the buoyancy thereof.

[0062] Then, in one embodiment:

[0063] the buoyancy controlling system comprises a fluid storage comprising a first fluid of a first density,

[0064] each of the structure portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being higher than the second density,

[0065] the buoyancy controlling system further comprises a fluid conduit from the fluid storage to each first fluid receiving space, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions.

[0066] Inspicos / 10 / 03 / 2026 / 13:39It is noted that the first and second fluid receiving portions may be separated by a physical barrier, such as when one fluid is provided within a container or compartment and the other outside of this container / compartment. Alternatively, the two fluids may be separated merely due to gravity due to them having different densities. Gas and water in a compartment will naturally stay separated with the water at the bottom of the container.

[0067] It may be desired to provide two different compartments if the two fluids are gasses. Gasses may themselves have different densities, but a gas may also be provided under an increased pressure, increasing the density of that gas.

[0068] The controlling of the buoyancy may comprise flowing a fluid from the fluid storage to the first fluid receiving portion to increase the amount of first fluid in the structure portion. This may be an increasing of a gas pressure of the second fluid, or an adding a fluid to a fluid container. The adding of the first fluid may be supplemented with a withdrawal of an amount of the second fluid from the structure portion. Adding e.g. water to the structure portion will increase the volume taken up by the water and may merely increase a pressure of a gas if this is the second fluid. Alternatively, the second fluid may be allowed to escape the structure portion, such as if allowed to flow to a second fluid storage of the buoyancy controlling system or by egressing to the exterior environment.

[0069] The buoyancy controlling system then may comprise a separate fluid conduit between the fluid storage and the first fluid receiving portion of each structure portion, or a single conduit may be used, where a valve is present between the conduit and each first fluid receiving portion so that flow may be controlled to / from each individual first fluid receiving portion and the fluid storage without affecting the amount of first fluid in the other first fluid receiving portions of the other structure portions. A pump may be provided for driving the flow of the first fluid. A flow meter or the like may be provided for ensuring that the desired amount of the first fluid is delivered or received.

[0070] If a secondary tubing is provided which extends through the entire length of the buoyancy structure for allowing the second fluid to escape or enter the individual second fluid space of the structure portions when the amount of the first fluid is controlled, this may be provided in the same manner: a conduit from each second fluid space to a second fluid storage of the buoyancy controlling system, or a single conduit optionally with valves controlling the flow. It may be desired to simply have this conduit open so that the second fluid may flow freely between the second fluid storage and the second fluid spaces of the structure portions, as the density may be controlled merely by controlling the flow of the first fluid, especially when the first fluid is incompressible as e.g. water.

[0071] Inspicos / 10 / 03 / 2026 / 13:39The first fluid additionally also preferably is unexpandable.

[0072] An advantage of using an incompressible fluid for the control is that the controlling of the adding or removing of quantities thereof gives a precise controlling of both the volume of this fluid as well as the other fluid and thus also of the density.

[0073] In addition, the pressure of the incompressible fluid in different portions of the system will mimic that of the surroundings so that such pressure measurements may be used for e.g. depth estimates.

[0074] The buoyancy structure may have any shape and size. For use in the ocean, the extent of the buoyancy structure and thus of the load bearing structure may be several hundreds of meters allowing for the culturing of a lot of produce.

[0075] In one embodiment, the buoyancy structure is an elongate, flexible buoyancy structure with individual structure portions with variable buoyancy. This may be a tube structure where the individual structure portions each has one or more first fluid receiving portion(s) and one or more second fluid space(s). In a preferred embodiment, the buoyancy structure has an elongate tube where each structure portion has a flexible bag or container within the tube, which bags / containers are positioned sequentially along a longitudinal direction of the tube or its inner space. One fluid, such as an incompressible fluid, may be provided within these bags / containers and another fluid, such as a lower density fluid, such as a gas, may occupy the space within the tube and outside of the bags / containers. An elongate porous element, such as a tube with porous or perforated walls, may extend along all of or at least part of the longitudinal length and between a plurality of structure portions or second fluid spaces to allow the gas to flow therein even if the bags / containers are overfilled to otherwise block the complete inner cross section of the tube. Then, the buoyancy of each structure portion may be controlled by controlling the amount of water in the bag / container of that structure portion.

[0076] The buoyancy controlling system then may be provided inside the tube or outside of the tube. The conduit(s) from the fluid storage to the individual bags / compartments may run inside the tube and valves, flow meters and other sensors may be provided at each bag / compartment for controlling the ingress and egress of fluid into that particular bag / compartment.

[0077] One particular manner of determining a depth or a structure portion is to determine a pressure of the first fluid in the conduit, preferably at a position at the pertaining structure portion, and base the depth determination and the force determination on this pressure.

[0078] Inspicos / 10 / 03 / 2026 / 13:39In another embodiment, the buoyancy structure comprises a plurality of individual buoys each forming a structure portion and each attached to the load bearing structure. Each of the buoys may then comprise a bag or compartment as described above, and conduits may be provided between the individual buoys and the buoyance controlling system for adding or removing the first fluid from the buoy. Again, pumps, valves, flow sensors and the like may be provided for controlling and quantifying the flow of the first fluid.

[0079] Then, the buoys are interconnected by at least the conduits but may also be interconnected by stronger elements in order to prevent rupture of the conduits in e.g. rough weather.

[0080] In this context, a "buoy" is a buoyancy element having an outer shell or structure and having therein the first fluid receiving portion and the second fluid space. The outer shell may be rigid or flexible, and multiple fluid receiving portions / volumes may be provided if desired. The pressure exserted by second fluid may be set to be higher than external pressure to ensure near constant volume of buoyancy element.

[0081] In addition, the internal pressure may be selected to obtain a suitably low pressure difference over the outer shell in order to allow this shell to be made of a cheap material, such as polyethylene.

[0082] It is noted that in either embodiment, the use of balancing lines is possible, and it is not required that each buoy or structure portion has a balancing line.

[0083] A second aspect of the invention relates to operating a buoyancy system according to the first aspect, the structure comprising:

[0084] a buoyancy structure,

[0085] a load bearing structure attached to the buoyancy structure, and

[0086] sensing elements,

[0087] wherein the variable load is suspended from the load bearing structure and wherein the sensing elements determine a force with which the load bearing structure acts on the buoyancy structure.

[0088] It is noted that all situations, embodiments, considerations and the like relating to the first aspect are equally relevant for the second aspect of the invention.

[0089] Inspicos / 10 / 03 / 2026 / 13:39The sensing elements may, as described above, directly determine the force with which the load bearing structure acts on the buoyancy structure. The load bearing structure may be attached to the buoyancy structure at multiple positions where multiple sensing elements may then be provided.

[0090] Preferably, the method comprises the step of controlling a buoyancy of the buoyancy structure, where the sensing elements determine the forces from a buoyancy of the buoyancy structure. This is described above.

[0091] Then, it may be desired that the sensing elements further determine a depth of the buoyancy structure and determine the forces acting on the buoyancy structure also based on the determined depth. Additionally, or alternatively, a distance to the bottom may be determined and used. It is noted that the distance to the bottom may be determined from the depth even though the depth may vary due to waves, tides and the like.

[0092] In a particularly relevant embodiment, the buoyancy system further comprises one or more elongate balancing lines attached, at a first end, directly or indirectly, to the buoyancy structure, a second end thereof resting on a bottom of the body of water in which the system sits, where the determining step comprises controlling the buoyancy of the buoyancy structure to bring the buoyancy structure to a predetermined distance to the bottom (or a predetermined depth), and determining the force based on the buoyancy of the buoyancy structure. As explained above, when the buoyancy structure is at the predetermined distance to the bottom, the increase in buoyancy required is due to an increase only in the weight of the load bearing structure and thus the load. As also explained above, a different height may be used, where the calculations are compensated for the difference in height, knowing the weight per unit length of the balancing lines.

[0093] In another embodiment, the above-mentioned hydraulic ropes are used instead of or in addition to the balancing lines. The operation of the system will then be as described above, where the pressure of the hydraulic ropes is determined and taken into account.

[0094] In one embodiment, the buoyancy structure comprises a plurality of structure portions, each structure portion attached to the load bearing structure and wherein the sensing elements further determine a depth of each structure portion and determine the forces acting on the buoyancy structure also based on the determined depths. As mentioned above, the distance to the bottom may also be used.

[0095] The structure portions are described above.

[0096] Inspicos / 10 / 03 / 2026 / 13:39The system will often be equipped with different sets of pressure sensors.

[0097] In one embodiment, the buoyancy structure comprises a plurality of structure portions, each structure portion attached to the load bearing structure, the method further comprising the step of controlling a buoyancy of one or more of the structure portions.

[0098] The controlling of the buoyancy of the buoyancy structure and / or the structure portions is described above. Thus, in one embodiment, the buoyancy structure comprises a fluid storage comprising a first fluid of a first density, wherein each of the portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density, the method comprising controlling a ratio of the first fluid and the second fluid in each of the one or more portions.

[0099] As described above, the buoyancy structure may comprise a tube-shaped element comprising therein bags / compartments for one fluid, where one or more flexible bags / compartments form one structure portion. In this situation, the second fluid may travel between structure portions in an elongate, porous element inside the tube. Alternatively, the structure portions may be formed by individual buoys. The controlling of the buoyancy may be performed in at least substantially the same manner as may the determination of the buoyancy and depth / height of the individual structure portions.

[0100] When it is desired to bring each structure portion to a predetermined or present depth / height, the depths / heights may be the same or different for different structure portions.

[0101] As described above, the determination of the force(s) may be based on or comprise the determining a pressure in the above conduit at positions at or in the individual structure portions.

[0102] The invention then also relates to a computer program product for determining a force with which a load bearing structure acts on a buoyancy structure to which the load bearing structure is attached, the computer program product being configured so as to, when executed on a processor of a sensing element, determine the force based on information received from the sensing element. In a preferred embodiment, the force is determined from the ingress / egress of fluid from the bags / compartments in a tube / buoy. Naturally, all embodiments, situations and considerations made above are equally relevant in this context.

[0103] Inspicos / 10 / 03 / 2026 / 13:39A third aspect of the invention relates to a buoyancy system for supporting a variable load, the structure comprising:

[0104] an elongate buoyancy structure with an inner space, the buoyancy structure comprising a plurality of portions, each portion comprising:

[0105] one or more flexible bags or containers, which may contain a first fluid, the bags / containers being positioned sequentially along a longitudinal direction of the inner space, each bag / container defining a first space, and

[0106] a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density, and

[0107] an elongate, porous element extending along the longitudinal direction of the inner space and between a plurality of second fluid spaces.

[0108] Naturally, all aspects, embodiments and considerations made further above are equally relevant in this context.

[0109] The individual components and elements are described above. As above, the porous element may be a tube having walls with through-going holes. The flexible bags may be the above first fluid receiving portions.

[0110] In one embodiment, the system further comprises a load bearing structure attached to the buoyancy structure as described above.

[0111] In one embodiment, the system further comprises a buoyancy controlling system, as that described above, configured to control a buoyancy of the buoyancy structure, the buoyancy controlling system comprising:

[0112] a fluid storage comprising a first fluid of a first density,

[0113] a fluid conduit from the fluid storage to each bag / container, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions.

[0114] Inspicos / 10 / 03 / 2026 / 13:39A fourth aspect of the invention relates to a buoyancy system for supporting a variable load, the structure comprising:

[0115] a buoyancy structure comprising a plurality of structure portions each comprising an inner space, each of the structure portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density,

[0116] a buoyancy controlling system configured to control a buoyancy of one or more of the structure portions, the buoyancy controlling system comprising

[0117] a fluid storage comprising a first fluid of a first density, and

[0118] a fluid conduit from the fluid storage to each first fluid receiving volume, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions,

[0119] where the fluid storage has a maximum storage volume being no more than 50%, such as no more than 40%, such as no more than 25%, such as no more than 20%, such as no more than 10%, of the combined volume of the inner spaces of the structure portions.

[0120] Naturally, all aspects, embodiments and considerations made further above are equally relevant in this context.

[0121] The individual components and elements are described above.

[0122] Often at least 50% of the inner space of a structure portion will be taken up by the bag / container at the launch of the system, such as when used for a load which increases in time. Then, at launch, the buoyance will be the lowest, with the exception of special situations where the buoyancy is desired temporarily lowered. Then, the amount of the first fluid in the individual structure portion may be maximum, e.g. being supplied manually by a service boat at time of harvest and launch of seed organism, where the amount thereof and of the second fluid in that portion is selected to have a desired buoyancy of the structure portion. Then, the maximum volume of the fluid storage may be 40% or less, such as 30% or less, such as 25% or less than the total amount of the first fluid added to the bags / containers at launch.

[0123] Inspicos / 10 / 03 / 2026 / 13:39It is noted that this invention may be embodied both as the above tube and as the above sequence of buoys.

[0124] In a realistic example, a total volume of all buoys or bags may be 4.5m3at the launch, where the storage may need only Im3.

[0125] A further aspect of the invention relates to the advantages achieved when the buoyancy control system is at the same depth as the buoyancy structure and does not sit at the surface of the body of water. Thus, this aspect relates to a buoyancy system for supporting a load, which may be variable, the structure comprising

[0126] a buoyancy structure,

[0127] a buoyancy controlling system configured to control a buoyancy of the buoyancy structure and

[0128] a load bearing structure attached to the buoyancy structure,

[0129] where the buoyancy structure comprises

[0130] a fluid storage comprising a first fluid of a first density,

[0131] a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density,

[0132] where the buoyancy controlling system comprises a fluid conduit from the fluid storage to the first fluid receiving volume, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions, and

[0133] where the buoyancy controlling system is fixed to the buoyancy structure.

[0134] It is advantageous that the fluid storage comprises a flexible container, as the buoyancy of the buoyancy controlling system may then be selected neutral or close to neutral at a depth of operation, so that it will not affect the operation of the buoyancy system to any significant degree.

[0135] Inspicos / 10 / 03 / 2026 / 13:39As mentioned below, a pressure sensor or depth sensor set-up may be obtained by providing a main pressure sensor capable of determining its surrounding pressure and thus depth. A number of secondary pressure sensors may then be provided, such as at each first fluid receiving portion of the buoyancy system, capable of determining a relative pressure or depth relative to the main pressure sensor. In this manner, the depth or pressure of each first fluid receiving portion or sensor may be determined.

[0136] In one situation, the first fluid receiving portions are each fed via a conduit from a single fluid storage which is flexible to have its inner pressure equal to the surrounding pressure. The main pressure sensor may then be provided in this fluid storage. At each first fluid receiving portion, in the conduit, a secondary pressure sensor is provided, which is capable of generating a signal related to the pressure difference between the main sensor and the ambient pressure at the individual secondary sensor. In that case, valves on the conduit, located adjacent to the first fluid receiving portion and in between the pressure sensors and the first fluid receiving portion, is preferably closed. Naturally, all considerations, embodiments, situations and the like of all above aspects are equally relevant for this aspect. Thus, multiple portions may be provided, such as portions of a tube or individual buoys, where the buoyancy controlling system is then fixed to at least one portion. The fixing has the advantage that the fluid conduit needs not be flexible or that flexible, as it needs not take into account e.g. the impact and thus distance changes brought about by waves in situations where the fluid storage would sit at the surface of the body of water.

[0137] Thus, if provided, only one reservoir of the second fluid, which could be air or liquid CO2, could be required and it could be located in the buoyancy controlling system where it may feed the second fluid to all of or some of the second spaces. Then, the pressure inside the second spaces, and thereby inside the buoyancy structure, may be set by the buoyancy controlling system by setting a pressure of this container or an output (e.g. via a regulator) thereof.

[0138] It is also seen as an aspect of the invention that the buoyancy controlling system is capable of receiving water from the surroundings for use in decreasing the buoyancy of the tube / buoys / elements. In this manner, the buoyancy controlling system need not store such fluid or large degrees thereof. Instead, the water may be received when needed. It may be preferred that such water is filtered and / or degassed before use. It may be desired to purify the received water and / or to add an agent preventing or delaying microorganism growth in order to prevent any bags, buoys, pumps, valves, flow meters, conduits and the like from malfunctioning due to particles or microorganism growth therein. In addition or alternatively, anti-freeze may be added to the water if operation in cold conditions is expected. The buoyancy controlling system may therefore comprise means for degassing, purifying and / or

[0139] Inspicos / 10 / 03 / 2026 / 13:39adding such agents to the water derived from the surroundings of the buoyancy system. Naturally, all considerations, embodiments, situations and the like of all above aspects are equally relevant for this aspect.

[0140] In general, an aspect of the invention relates to the embodiment where the first fluid may be fed to the first space(s) from outside of the buoyancy system and not via the buoyancy control system, such as if valves are provided from each first space and to the surroundings of the buoyancy system. This facilitates swifter filling and thus reloading for renewed or continued operation, such as after harvest and attachment of new load bearing structure. This is across all aspects, embodiments, situations and considerations made above and below.

[0141] A final aspect relates to an elongate buoyancy structure comprising a plurality of first fluid receiving portions and a fluid storage for providing fluid to and / or receiving fluid from the first fluid receiving portions via one or more conduits, where a pressure sensor or depth sensor set-up comprises:

[0142] a main pressure sensor positioned at the fluid storage and being configured to determine its surrounding pressure and thus depth,

[0143] a conduit configured to transport fluid between the fluid storage and each first fluid receiving portion,

[0144] a secondary pressure sensor is provided for each first fluid receiving portion, the secondary pressure sensor being positioned in the conduit between the fluid storage and the pertaining first fluid receiving portion and being configured to output information relating to the pressure at its position in the conduit, and

[0145] a controller configured to, based on the information from each secondary pressure sensor, determine a depth of each first fluid receiving portion.

[0146] In this manner, the depth or pressure of each first fluid receiving portion or sensor may be determined. This depth may be an absolute depth, when taking into account also the output of the main pressure sensor, or otherwise a depth relative to the fluid storage or another secondary sensor.

[0147] All components of this aspect are described above and below. This structure may be used for farming bivalves or seaweed if desired.

[0148] Naturally, pumps, flow meters, valves and the like may be provided for ensuring that the amount of fluid in each first fluid receiving portion is known. Clearly, the first fluid receiving portions may be the ones described above provided in the tube or within the individual

[0149] Inspicos / 10 / 03 / 2026 / 13:39structure portions, where the buoyancy is controlled by controlling the amount of fluid added so that the overall density is controlled, as another space thereof often is gas filled, where the gas may be compressed or removed when fluid is added.

[0150] In one embodiment, one conduit extends between the fluid storage and all first fluid receiving portions. In this situation, liquid may be added to or removed from a first fluid receiving portion using a pump and where valves are provided adjacent to each first fluid receiving portion, so that the amount of fluid is only affected in first fluid receiving portions, the valves of which is / are open. In this situation, the secondary sensors may be provided in the conduit and adjacent to the pertaining first fluid receiving portion or at the same height / depth as that first fluid receiving portion, where a valve is provided in between the first fluid receiving portion and the secondary sensor. Alternatively separate conduits may be employed between the fluid storage and the individual first fluid receiving portions.

[0151] In this case, a primary sensor may be provided in the conduit close to or at the same height as the fluid storage. Then, a relative depth of a first fluid receiving portion vis-a-vis the fluid storage may be determined from the pressure sensed by the primary sensor and the pertaining secondary sensor, when the valve at that first fluid receiving portion sits between the secondary sensor and the volume of the first fluid receiving portion and is closed.

[0152] Preferably the valves for all first fluid receiving portions are closed then. In this situation, the fluid in the conduit between the primary sensor and the pertaining secondary sensor is a body of water, where the secondary sensor will experience an increased pressure if sitting lower than the primary sensor, and the increase in pressure is defined by the height difference. This is the situation for all first fluid receiving portions. In this manner, the relative or absolute depths (using also the output of the main sensor) may be determined.

[0153] In that embodiment, the structure comprises the secondary pressure sensors in the conduit(s) at the depth of the individual first fluid receiving portions. Valves are preferably provided between the volume of each first fluid receiving portion and the pertaining pressure sensor in the conduit.

[0154] In another situation, the pressure may be defined at or in the first fluid receiving portion, such as when this container is provided inside a housing or element, such as the above tube, buoy or structural element also comprising therein a space for a gas or other fluid. Then, the overall pressure inside that housing or element and thus in the first fluid receiving portion may be known or even defined and maintained. In this situation, the pressure in the conduit need only be determined in, at or at the height of the fluid storage, where the secondary sensor is positioned in this situation, when a fluid connection exists in the conduit between the pertaining first fluid receiving portion and the secondary sensor. In this situation, a valve

[0155] Inspicos / 10 / 03 / 2026 / 13:39may be positioned between the pertaining secondary sensor and the fluid storage in order to prevent fluid flow to the pertaining first fluid receiving portion at least during the period of time of determining the depth.

[0156] In this latter situation, the conduit is open between the secondary sensor, sitting at or at the height of the fluid storage, and the first fluid receiving portion, the internal pressure of which is determined or known. In this case, the relative height between the secondary sensor and the first fluid receiving portion may be determined by the pressure sensed by the secondary sensor, as the height difference will represent the pressure, relative to the pressure in the first fluid receiving portion, sensed by the secondary sensor.

[0157] This setup may be embodied both using a single conduit between the first fluid receiving portions and the fluid storage and using separate conduits from each first fluid receiving portion to the fluid storage. In the latter situation, a secondary sensor is provided in each conduit, or can be provided where valves of all other conduits will be closed so that a secondary sensor is in contact with fluid of the one pertaining conduit only. However, a single conduit between the fluid storage and all first fluid receiving portions may be employed as long as each flexible bag has therein a known pressure (such as if present in a tube or buoy) and as long as all other first fluid receiving portions are disconnected from the conduit (such as using a valve) at the time of sensing. Then, sensing may be sequential by opening the valve to one first fluid receiving portion and closing those to the others, so that the depth of that pertaining first fluid receiving portion is determined.

[0158] In this embodiment, the conduit(s) open(s) up into the volumes of the first fluid receiving portions. Valves may be provided which may be opened when pressure sensing is performed.

[0159] As mentioned, the fluid storage preferably is flexible to have its inner pressure equal to the surrounding pressure. The main pressure sensor may then be provided in this fluid storage. This is described above and below. In this situation, the secondary sensors may be provided in or capable of sensing the pressure of the fluid in the conduit either at the pertaining first fluid receiving portion or at the fluid storage.

[0160] Clearly, all embodiments, situations and considerations of each of the above aspects are equally relevant to this aspect. Equally relevant is a method of operating this structure.

[0161] In the following, preferred embodiments are described with reference to the drawing, wherein:

[0162] Fig. 1 illustrates a first embodiment of a buoyancy system in operation,

[0163] Inspicos / 10 / 03 / 2026 / 13:39Fig. 2 illustrates a cross section through the tube of figure 1,

[0164] Fig. 3 illustrates cross sections of different embodiments of tubes or buoys,

[0165] Fig. 4 illustrates a first type of conduit,

[0166] Fig. 5 illustrates a second type of conduit,

[0167] Fig. 6 illustrates a node for a buoy or a portion of a tube,

[0168] Fig. 7 illustrates the balance drive,

[0169] Fig. 8 illustrates a manner of determining depth of different portions,

[0170] Fig. 9 illustrates another manner of determining depth of different portions,

[0171] Fig. 10 illustrates another embodiment of a buoyancy system in operation,

[0172] Fig. 11 illustrates a third embodiment of a buoyancy system in operation,

[0173] Fig. 12 illustrates a fourth embodiment of a buoyancy system in operation, and Fig. 13 illustrates the structure and function of a hydraulic rope.

[0174] Figure 1 illustrates a buoyancy system 10 for use in e.g. bivalve cultivating where a buoyancy structure 20 comprising a tube comprising therein (see figure 2) a number of water bags for controlling a buoyancy of the tube 20. A number of cultivating lines 22 are connected to the tube 20 and hang below it. The cultivating lines are provided with seed organisms which will grow over time and therefore gain weight. A connection element 201 is illustrated being a collar or twine around the tube 20 and from which the cultivating line 22 hangs.

[0175] The buoyancy of the tube 20 is controlled by a balance drive 24 (fig. 1 and 7) comprising a fluid container 241 and a gas container 242 for supplying gas and / or fluid to different parts of the tube 20 for maintaining the buoyancy thereof as explained below.

[0176] To keep the system 10 in place, stretching buoys 32 (fig. 1) are provided at each end of the structure 10 and mooring anchors / tethers 30 are provided on the seabed 42 to keep the structure 10 in place both horizontally and at least partially vertically. Alternatively, the system 10 may be anchored / tethered less strictly so as to e.g. be allowed to follow the direction of a current of the body of water in which it sits.

[0177] A communication buoy 34 is provided at the surface 40 of the body of water.

[0178] Below the tube 20, and only optionally, are balancing lines 36 which extend to the bottom 42 and at the lower end, at least, of which are provided chains or alike 361.

[0179] In the tube 20 (see figure 2), a plurality of liquid bags 221 are provided along a length of the tube 20. Around the bags 221, a space 222 is present in which air or gas is allowed to take up the remaining space in the tube 20. Naturally, other components may be present in the space 222, such as vents, sensors, tubes, wires, cables, computers, or the like, which

[0180] Inspicos / 10 / 03 / 2026 / 13:39optionally could be present within liquid bags and conducted from one liquid bag to another throughout the entire tube 20.

[0181] Cross sections of different embodiments of the tube 20 are seen in figure 3, where the top illustration illustrates the set-up of figure 2 where a liquid bag 221 is lying on the bottom of the inner surface and where air or another gas is allowed to take up remaining space 222. A tube 203 extends along the longitudinal direction of the tube 20 and is perforated (has openings) along its length. The operation of the tube 203 is to allow air or gas to pass any liquid bag 221 being filled or deformed to a level where it blocks the cross section of the tube 20 preventing gas from passing the bag 221 in the longitudinal direction.

[0182] An actuating and sensing portion 310 (henceforth called a node) is provided for sensing a pressure of the liquid in the bag 221, or optionally in conduit 25, and for allowing the flow of liquid into and out of the bag 221 and to a conduit 25 (see below) for guiding liquid between the bag 221 and the balance drive 24.

[0183] A conduit (not shown) may be used for adding or removing air from the portion 222, to e.g. maintain an inner pressure in the tube 20 significantly higher than the external pressure. This may act to ensure a constant volume of the Buoy-tube 20. Also, if the inner pressure is higher than that of the surroundings, this may aid in forcing water out of a bag 221 when desired.

[0184] Another embodiment is illustrated in the middle illustration (fig. 3) where the gas or air is provided in a bag 2211 whereas the fluid is allowed to take up the remaining space 2221. Again, a tube porous 203 is provided for allowing, now fluid, to pass a too much inflated bag 2211. In this embodiment, the gas bag 2211 would be connected to the balance drive 24 via a tube and a vent / sensor as described below.

[0185] Actually, it may be decided to provide bags which may expand to a degree where it contacts the inner surface of the tube along almost all of its circumference. Then, the tube will take up further expanding forces instead of the bag material. This allows a broader range of bag materials and dimensions, as the pressure tolerance requirements may be reduced.

[0186] In the first two embodiments, the tube 20 may be sealed to prevent liquid and / or gas from leaving the tube 20. The tube 20 then may be under internal pressure. This has the advantage that the contents of the tube 20 are well defined and constant at all times. Typical tube materials may be polyethylene (PE), poly vinyl chloride (PVC), Hypalon or natural or synthetic rubber sheeting such as Butyl, latex or silicone rubber, PVC, Polyurethene, SeaStrut™ or Polyethelene, sheet materials and rubber-coated fabric membranes using

[0187] Inspicos / 10 / 03 / 2026 / 13:39polyester, nylon or aramid fibres or other impermeable fabric materials such as those under the brand names of Dacron or Gore-Tex.

[0188] In the lower illustration, a third embodiment is seen in which the tube 20 is not closed. An opening 208 is provided at the lower portion thereof allowing ingress and egress of water to / from the surroundings. In this embodiment, the amount of water in the tube 20 may be controlled by the amount of air in the bag or portion 2211. A tube (indicated) may be used for adding or removing air from the portion 221, whereby the amount of water and thus control the overall buoyancy of the tube 20.

[0189] In the first two embodiments, the buoyancy may be controlled by controlling the amount of gas and / or the amount of liquid in the tube 20. Only one of gas and liquid need be controlled, if the volume of the other is allowed to follow the "lead" of the controlled gas / liqu id . Thus, if the amount of water in the bags 221 is controlled, the volume of the space 222 may be allowed to change as required, such as when the volume of spaces 222 or 2211 is connected to a gas storage preferably set at a constant desired pressure, such as in the balance drive 24 via the tube 203 or the like. Alternatively, the volume of the gas spaces 222 and 2211 may be controlled while the liquid in spaces 221 and 2221 are allowed to flow freely to / from the balance drive 24 or even the surrounding water.

[0190] Naturally, the gas in a storage may be stored at an elevated pressure and delivered via a regulator. If returning of gas to the gas storage increases the storage gas to a value outside of an operating envelope, gas may be purged to the surroundings. Thus, the buoyancy of the tube 20 may be controlled by controlling the density thereof which again is controlled by the ratio of the volume of water therein and the gas therein (as well as the pressure of the gas).

[0191] The buoyancy of each portion of the tube 20 may be determined and controlled by controlling the flow of gas and / or water to each portion, such as each bag 221. In figure 2, portions are separated by hatched lines. A portion may comprise a single bag 221 or a plurality of neighbouring bags 221. The portion then also comprises the portion of the tube 20 in which the bag(s) 221 sit(s).

[0192] The balance drive 24 preferably also comprises a pump and a flow meter to quantify the flow of air and / or water.

[0193] Thus, from the increase in buoyancy of the tube 20, the overall weight of the cultivated organism supported thereby may be determined. The increased buoyancy may be determined by measuring by flow meter volume of first fluid removed from the bags 221, recording the volume of each ingress / egress in an accounting software in a controller thereby

[0194] Inspicos / 10 / 03 / 2026 / 13:39constantly monitoring the net combined volume of egress and ingress of liquid volume from bags 221 required to maintain average constant depth of the respective portion of buoyancy structure. The net combined egress and ingress of liquid fluid equals the change in submerged weight of the cultivated organism such as when the structure remains at the same depth. In addition, as this is determined for each portion of the tube 20, the cultivated organism weight supported by each individual portion may be determined.

[0195] A set of pressure sensors, valves (electronic or otherwise), pumps and computers monitors pressure at each point, maintains the desired pressure at each point and controls flow of fluids as desired in each case. All controlled by programs in computers of the system.

[0196] Figure 4 illustrates a system 10 comprising a balance drive 24 and a plurality of bags 221 connected to the balance drive. The balance drive 24 is connected to each bag 221 via a separate conduit 25 which will be described further below.

[0197] In figure 5, another embodiment of the system is illustrated in which the individual conduits 25 between the balance drive 24 and the individual bags 221 are replaced by a single conduit (manifold) 25 extending from the balance drive 24 and sequentially to all bags 221. In order to allow individual control of each bag 221, each bag 221 preferably has a node 310 (see figure 6), the node 310 being connected to the conduit 25 to be able to receive first fluid from the conduit 25 and deliver first fluid to the conduit 25.

[0198] An optional conduit 26 (fig.5) is indicated for allowing the second fluid to travel between the space 222 and the balance drive 24.

[0199] This node 310 has a valve 311 capable of controlling fluid flow between the conduit 25 and the inner space of a bag 221. In this manner, the control element 24 may cause a flow of first fluid to or from a single bag 221 by closing the valves 311 of the other bags 221 and keeping the valve 311 of the desired bag 221 open while creating the desired flow.

[0200] In addition to this individual controlling of the buoyancy of each bag 221, the amount of fluid transported through the conduit or passing the valve 311 may be quantified by using a flow meter. The flow meter may be provided in the balance drive 24 or in the node 310, such as flow meter 312. Thus, the valve 311 may be controlled to be open whereafter a flow of the first fluid takes place while being quantified by the flow meter 312. In this manner, the amount of fluid in the bag 221 may be constantly known and controlled. A pressure sensor P may be present in each node sensing pressure in the conduit at the point of the respective node, thereby indicating its depth as will be described below.

[0201] Inspicos / 10 / 03 / 2026 / 13:39Naturally, the node 310 may comprise a controller 313, which may control the operation of the valve 311 and receive, potentially analyse, and forward readings from the flowmeter 312. The controllers 313 communicate via a cable 252, which may be inside the tube, with a controller of the control element 24. The cable 252 may also provide electric power from the balance drive 24.

[0202] The balance drive 24 is illustrated in figure 7 and it comprises a container 241 for a first fluid, an optional container 242 for a second fluid and a controlling portion 243 comprising a controller 244 and usually also one or more pumps, a battery, a plurality of different valves, a flow meter and the like for performing its desired operation.

[0203] The balance drive 24 acts to control a flow of the first fluid between the container 241 and the bags 221. For this flow, one or more pumps may be provided. A pump may be provided in the balance drive 24 or a bag 221 if desired. Multiple pumps may be provided such as in the situation illustrated in figure 1. On the other hand, when desired, the first fluid may simply be allowed to flow freely between the bags 221 and the container 241.

[0204] It is preferred that the balance drive 24 has a pump, where the nodes 310 are provided so that a single pump controlling flow in the conduit 25 and where the valves 311 are controlled to ensure that the flow provided is for the correct bag 221.

[0205] Naturally, a pump may also be provided for the conduit 26, if provided, and so may nodes 310. On the other hand, when the flow of first fluid into bag 221 alters the volume of space 222 available for the second fluid, the second fluid may simply be allowed to flow freely between the spaces 222 and the container 242.

[0206] In some embodiments, the container 242 is provided but with an inner pressure which is much higher than that of the second fluid in the space 222. A regulator may be provided for down regulating the pressure. It may be desired that the inner pressure of the tube 20 is maintained constant such as at a pressure exceeding that of the surrounding water, such as with a predetermined higher delta pressure, in order to keep the tube 20 expanded and, thus at nearly constant volume.

[0207] Thus, by controlling the flow of the first and optionally also second fluid into and out of each individual portion of the tube 20, the buoyancy thereof may be controlled.

[0208] In the present context, the liquid is described as water but may be any liquid, such as an incompressible liquid. The liquid may be purified and filtered, added a microbial toxin such as chlorine, avance 300, or other non- corrosive bacteria and biofilm control materials certified

[0209] Inspicos / 10 / 03 / 2026 / 13:39for the food industry, or otherwise made to prevent the growth of organisms therein. This is to ensure durability and proper function of equipment within the system. The gas may be air, a noble gas or any other type of gas, such as CO2.

[0210] The bags 221, whether used for gas or liquid, preferably are flexible yet impenetrable, at least within the time span of the usefulness of the system 10, to the gas or liquid therein or outside of it. Typical bag materials may be polyethylene (PE), poly vinyl chloride (PVC), Hypalon or natural or synthetic rubber sheeting such as Butyl, latex or silicone rubber, PVC, Polyurethene or Polyethelene sheet materials and rubber-coated fabric membranes using polyester, nylon or aramid fibres or other impermeable fabric materials such as those under the brand names of Dacron or Gore-Tex.

[0211] Where the air / gas container may have non-flexible volume (e.g. gas bottle), comprise compressed air and thus may not take up too much space, the water container may be desired provided with a variable volume, such as when implemented as a fixed-size container with an internal flexible membrane. Alternatively, the water container may be a flexible pouch which, on the outer side, is contacted by the surrounding water and / or the pressure thereof.

[0212] Based on this method, the buoyancy of not only the overall tube 20 but of each portion at each bag 221 may be controlled and determined.

[0213] The operation of the tube and Balance drive may be controlled remotely via the Control buoy 34 connected to the balance drive 24 via a cable 342. The communication buoy 34 may report to a computer (or a mobile phone) ashore the buoyancy of the tube 20, such as each portion thereof, the weight of the cultivating lines 22 and may report further information such as wave information, current information, temperature information, status information, such as battery level, amount of available water / air, flow and / or pressure data for the tube or each portion thereof, or the like, as well as the presence or encounter of ships, vessels, icebergs, submarines, whales or the like. The Control buoy may contain solar cells for harvesting energy to charge batteries within the Control buoy and Balance drive.

[0214] Buoy-tubes 20 of this type may receive information either via the Control buoy 34 or from sensors of the system 10 that vessels or drifting ice are closing in, birds are eating from the cultivation lines, or that a storm is coming, so that the buoyancy of the tube 20 may be reduced to have the system do an emergency dive to not be impacted by high waves, ice, predatory birds, a vessel or ship. Also, the system 10 may have depth sensors allowing the system to report wave height, frequency, direction or the like to a central control post.

[0215] Inspicos / 10 / 03 / 2026 / 13:39In general, the tube 20 may be of a diameter more than 50 mm, having a length of more than 10m and may carry any type of cultivating lines, such as the vertical lines of figure 1 or a continuous line in loops attached to the tube at regular intervals if desired. A tube 20 for seaweed farming may be desired having a smaller diameter than one for bivalve farming.

[0216] Reverting now to the cultivating of organisms growing on the cultivating lines 22, the organisms will not only gain weight over time, they may lose weight during time of little nutrients in the environment or due to spawning, some organisms will dislodge from the cultivating lines 22, and some will grow faster than others. Thus, not only the total weight of the organisms is interesting, also the weight below different portions of the tube is interesting, such as whether the weight of the organisms below a portion has reached a threshold weight even though the overall weight of the bivalves has not reached the desired weight.

[0217] For seaweed, the density may be lower than that of water, so that it by itself provides a buoyancy.

[0218] Thus, it is desired to determine the weight below each portion of the tube 20.

[0219] Naturally, this may be obtained by providing force sensors, such as strain gauges, load cells or the like, between the cultivating lines 22 and the tube 20 (see position indicated with arrow 21). This would directly provide the weight sought for. A force sensor or the like may be provided for each cultivating line 22 or at any fastening element connecting the cultivating lines 22 to the tube 20. The tube 20 may be provided with e.g. metal fittings interconnecting the cultivating lines 22 to the tube 20, and the force sensors may be provided between such fittings and the cultivating lines 22.

[0220] It is preferred however to determine the weight using the elements already provided in the system 10.

[0221] From a buoyancy point of view, an increase in weight of the cultivating lines 22 may be countered by an increase in buoyancy of the tube 20. The same is the situation for each portion of the tube 20, and in the situation where the tube 20 is not completely stiff, an increased weight under one portion would tend to have the tube 20 bend downward at that position if the buoyancy of that portion was not adapted to the weight below that portion, even though the overall buoyancy of the tube 20 carries the weight of all of the cultivating lines 22.

[0222] Inspicos / 10 / 03 / 2026 / 13:39Then, from a buoyancy of each portion of the tube 20 and a depth (or height above the bottom 42) thereof relative to other portions of the tube 20, the weight of the cultivating lines 22 below that portion may be determined.

[0223] Reverting to figure 1, the system may further comprise the illustrated balance lines 36 which have the advantage that due to the chains 361, the suspended weight of a balance line 36 decreases with the depth of the tube 20, as with increasing depth, an increasing portion of the chain 361 will be supported by the bottom 42. This has the advantage that as the weight of the cultivating lines 22 increases, the tube 20 (with no change in buoyancy) will be drawn toward the bottom 42. The balancing lines 36 will then decrease in suspended weight until an equilibrium is found. Then, the operation of the balancing lines 36 is to achieve an equilibrium when the weight of the cultivating lines 22 changes and before the buoyancy of the tube 20 is altered.

[0224] Then, when installing the system 10, the tube 20 is provided with a small buoyancy allowing the balancing lines 36 to reach the bottom 42. The depth of the tube 20 is normally selected so that the cultivating lines 22 do not reach the bottom 42 so that starfish, crabs and the like cannot get to the bivalves. On the other hand, the depth of the tube 20 should also be so that predatory birds cannot reach the bivalves from above. Also, the use of the submerged buoys 32 assists in not alerting the birds that bivalves are cultivated here. The buoy 34 may be floating at 10-100m horizontal distance from the tube 20 to reduce risk of directing predatory birds to the cultivation lines.

[0225] The determined depth of the tube 20 is set, whereby the suspended length of the balance line is set, where a part of the chains 361 is supported by the bottom 42. Instead of a set height, the actual height over the bottom 42 may be determined and taken into account when the weight per unit length of the balance line is known.

[0226] During growth of the bivalves, the weight of the cultivating lines 22 will increase, the tube 20 will be dragged downwards and this may be counteracted by correcting the buoyancy of the tube 20 until the same height over the bottom 42 is reached. The depth determined (distance to the surface) will vary due to waves, tides and the like but may be predicted and evened out. Then, depth sensors may be used for determining when the tube 20 is at the set height over the bottom 42.

[0227] When the tube 20 is at the set depth / height, the decrease in buoyancy since the launch is caused by the increase in weight of the cultivated organisms.

[0228] Inspicos / 10 / 03 / 2026 / 13:39Thus, from the increase in buoyancy of the tube 20, the overall weight of the bivalves may be determined. In addition, from the depth of the individual portions of the tube 20, the weight below each portion may be determined.

[0229] The depth of the tube 20 and the individual portions may be determined by any type of depth sensor, such as a pressure sensor.

[0230] It is noted that the use of the anchors 30 and the buoys 32 is merely for positioning the system horizontally so as to prevent it from drifting, as the system is able to position itself vertically. Thus, the anchors / buoys are not absolutely required and they are not affecting the operation of the system.

[0231] One preferred depth sensing strategy is illustrated in figure 8 illustrating the balance drive 24 and the conduit 25 feeding fluid to the bags 221. A number of pressure sensors, P0..P6 are illustrated. P0 is a depth / pressure sensor configured to determine the absolute depth of the balance drive 24 in the body of water. Pressure sensors P1..P6 are provided for determining pressures within the single conduit 25 at different positions thereof. Clearly, if the conduit 25 at different pressure sensors P1..P6 sits at different depths, the pressure within the conduit 25 will vary as a function of the depth. Thus, from a pressure difference between e.g. Pl and P3, a relative depth of the conduit 25 at pressure sensor P3, vis-a-vis the depth of sensor Pl, may be determined.

[0232] P0, the main pressure sensor, may be positioned in the balance drive such as in the liquid reservoir which may be flexible and thus sit at ambient pressure. This provides an absolute depth measurement.

[0233] Then, when Pl, a first pressure sensor, is provided in the tube 20 adjacent to the balance drive, such as at the bag 221 closest to the balance drive 24, whereby the absolute depth of sensor Pl is that of sensor P0, whereby the absolute depths of the secondary pressure sensors P2..P6 may be determined.

[0234] Preferably, one or more sensors P2..P6 is / are provided for each bag 221 or each portion of the tube 20. Naturally, the sensors P2..P6 may be provided inside the nodes 310 to be protected and for easy delivery of sensor signals to the balancing drive 24 via the controllers 313. Nevertheless, the sensors are positioned so as to sense the pressure in the conduit 25, so that any valve 311 is positioned between the sensor P and the bag 221.

[0235] Inspicos / 10 / 03 / 2026 / 13:39Thus, from the pressures determined by P1-P6, the relative depths between the balance drive (at Pl) and the bags / nodes at the sensors P2-P6, and as the depth of Pl is as that of P0 which is an absolute value, the absolute depths of each node or P2-P6 may be determined.

[0236] It is noted that this method may be used in both the conduit set-up of figure 4 and of figure 5.

[0237] An alternative method is indicated in figure 9 in which the pressure sensors P0 and P2-P6 are used but in a different manner. In this method, the bags 221 are provided in the tube 20 in which a predetermined or known pressure exists. Thus, each bag 221 has therein a known pressure. Clearly, the same may be achieved in the embodiment of figure 12, where the bags sit inside individual buoys. What is relevant is that the bag has a known pressure thereof.

[0238] In one situation of this embodiment, a separate conduit is provided from each bag 221 and to the pertaining pressure sensor P2-P6 which is now provided in the balance drive 24. The conduit 25 is open into the bag, so no mechanical or electronical parts are required at this position. In this manner, the balance drive may contain all mechanics and electronics, such as the sensors, pump(s), valves, flow sensors and the like.

[0239] It is noted that the pressures in the bags 221 need not be the same. Different pressures merely is taken into account in the calculations.

[0240] When the pressure of the bag 221 is known, the pressure at the pressure sensor P2-P6 is a function of the pressure of the bag 221 and the height difference between the bag and the pressure sensor. Clearly, if the bag sits lower than the pressure sensor, the pressure at the pressure sensor is lower than that of the bag, as the water column (in the conduit) connects the two.

[0241] Thus, reverting to figure 9, the pressure determined of P3 is lower than that of P5, as the height difference between P5 and the right-most bag 221 is smaller than that between the leftmost bag 221 and the sensor P3.

[0242] Again, the secondary pressure sensors P2-P6 determine relative pressures or depths and now vis-a-vis the depth / pressure at the balance drive 24, the absolute pressure / depth of which is determined again using the main pressure sensor P0. Thus, again, the depth of each bag may be determined.

[0243] Clearly, in another situation the conduit of figure 5 may be used. In this situation, a single pressure sensor is required in the conduit 25 in or at the balance drive, but a valve is desired

[0244] Inspicos / 10 / 03 / 2026 / 13:39between the conduit 25 and the individual bags 221, so as to prevent fluid flow between bags and so that when the depth of on bag is determined, the other bags are sealed from the conduit.

[0245] It may be desired to also provide a pressure sensor in the buoy 34 for determining the atmospheric pressure. This may be used for compensating the pressure values of the sensor P0.

[0246] Then, from the relative pressure sensors, the relative depth of each portion of the Buoy-tube vis-a-vis the balance drive 24 may be determined. Then, the buoyancy of that portion may be adapted to ensure that the tube 20 is straight and / or that all portions are at least substantially at the same depth below the surface 40 or the same height over the bottom 42 or merely at an individual set depth / height. Then, as the buoyancy of each portion may also be determined from the air / water added / removed to that portion since launch, the increase in total weight below that portion may be determined, thus providing submerged weight of cultivated organism (livestock) at the respective point of the system by a "volumetric system".

[0247] Figure 10 illustrates another embodiment not using the balancing lines but using to-called hydraulic ropes.

[0248] Figure 13 illustrates the structure of a typical hydraulic rope 37, the structure comprising two anchor elements 371 interconnected by a weave 374 of wires or threads forming a number of helical springs or woven rope, with two different directions of rotation, around a flexible elongate container 372 which may receive fluid from a fluid feeder 375 via a conduit 376.

[0249] The operation of the flexible elongate container 372 and the weave 374 is that when a low amount of fluid is present in the elongate container 372, the weave 374 is allowed to stretch allowing a larger distance between the attachment elements 371 (left illustration), whereas if the amount of fluid in the container 372 is higher, the container 372 will widen in diameter and will thus cause the weave 374 to widen its circumference but shorten in length (right illustration).

[0250] When broadening the weave, the angle, a, between the weave strands and the longitudinal direction, D, of the structure 37 increases. Then, the distance along the longitudinal direction which the strands can make (the strands having a fixed length) becomes lower.

[0251] Inspicos / 10 / 03 / 2026 / 13:39Thus, by adding or removing fluid from the container 372, the length, L, of the structure may be controlled. Thus, in one situation, a pulling force on the attachment elements 371 may be controlled.

[0252] The fluid controlling the length of the structure is fed from the feeder 375 via a conduit 376 which preferably passes through an attachment element 371. In this manner, the container may be fixed to the anchor element and an opening from the container to the conduit 376 may be inside the anchor element.

[0253] Clearly, when the pump is inactive so that the volume of the container 372 is fixed, any pulling of the attachment elements away from each other will increase an internal pressure of the container 372. This pressure may be determined, such as at the feeder 375, and used for determining the pulling of the rope.

[0254] The operation of the embodiment of figure 10 thus may be as follows:

[0255] Initially, the system 10 is submerged and the hydraulic ropes 37 set to a length allowing the balancing lines to sit at the desired depth / height. After this, fluid flow may be blocked so as to maintain the length of the ropes. Also, this allows any pulling force to be determined.

[0256] One or more hydraulic ropes may be used to anchor the system to the bottom.

[0257] In one situation, the buoyancy structure (tube 20, balance drive 24) is controlled to have a net buoyancy so that if not kept in place by the hydraulic ropes, the buoyancy structure and the load bearing structure would rise toward the surface. In this situation, the force acting on the hydraulic ropes will be a function of the weight of the load bearing structure, including the suspended load, and the buoyancy of the buoyancy structure.

[0258] Then, the weight of the load may be determined from the buoyancy, such as from any amount of liquid removed from the buoyancy structure over time, as well as the forces from the hydraulic ropes.

[0259] In the above situation, it is the simplest if the hydraulic ropes are vertical. If the ropes are at an angle to vertical, this needs to be taken into account.

[0260] In one situation, the system may be controlled so that initially the buoyancy of the buoyancy structure is so high that the buoyancy structure and the load bearing structure would rise toward the surface if not kept down by the hydraulic ropes. Thus, a force is exerted on the

[0261] Inspicos / 10 / 03 / 2026 / 13:39hydraulic ropes, and this force is determined. Over time, the buoyancy of the buoyancy structure may then be adapted so that the force exerted on the hydraulic ropes is the same, whereby the adapting over time of the buoyancy of the buoyancy structure is a direct reflection of the increase in weight of the load.

[0262] It is noted that the hydraulic ropes may, in addition to the above purpose, be used for at least temporarily controlling the height or depth of the system. The hydraulic ropes may be shortened by adding thereto an amount of fluid, so that the system may avoid approaching waves, ships, ice or the like. Subsequently, the ropes may be restored to their original lengths, by removing the same amount of fluid, whereby the operation is resumed.

[0263] Figure 11 illustrates a slightly different embodiment compared to figure 1. In figure 11, the load carrying structure also comprises a long line 41 connected between the buoys 32, which hangs below and is supported by the tube 20 and from which the culturing lines 22 hang. The advantage of the use of the line 41 is that the pulling forces caused by the buoys 32 are taken up by the line 41 and not the tube 20.

[0264] Figure 12 illustrates an alternative embodiment of the systems 10 in which the Buoy-tube 20 is replaced with a series of individual buoys 201 each of which may be operated as a portion of the tube 20. Each buoy 201 may comprise (see figure 3) a flexible bag 221 for water and a volume 222 for gas, a bag 2211 for gas and a volume 2221 for water or a volume 2211 for gas, a volume 2222 for water and a bottom opening 208. The buoys 201 may now be interconnected by conduits or manifold conduit 25 for both water flow and gas flow (optional conduit 26) but may be operated in the same manner as the tube 20. Water may be controlled into and out of the bags 221 by a pump and monitored by a flow meter as described above, while gas could be allowed to flow between the volumes 222 between the buoys 201 and a gas container of the balance drive 24. Alternatively, the gas may be controllably flowed, monitored by a flow meter, to the bags 2211 or the volume 2211, while water is allowed to enter / exit via the opening 208 or flow from the volume 2221 to the water storage of the balance drive 24.

[0265] The same types of sensors may be provided for sensing the weight of the cultivating lines 22 supported by the individual buoys 201, and the relative heights of the buoys 201 may be determined and compensated for as described above. A long line 41 may also be used in this embodiment.

[0266] We note in general that the balancing lines 36 operate to have a decrease in suspended weight when the tube 20 dives. This effect may simply be obtained using a chain or other bendable element 361, such as a wire, tube, or other flexible element, having a determined

[0267] Inspicos / 10 / 03 / 2026 / 13:39weight per unit length, so that the suspended weight is reduced by an increased portion of this element lying on the seabed 42. The same effect may be achieved using a number of weights suspended at different distances below the tube 20. The lower the distance from the tube 10 to the ocean floor 42, the more of these weights are supported by the bottom 42 and the lower will the suspended weight be. This feature of balance lines acts as a "buffer" for small "short term" changes in weight of the livestock and stabilizes the buoyancy control of the system. In general, the balancing lines are nice to have but not need to have. Without the balance lines, the system may shift more in the vertical direction due to waves, changes in the load weight and the like, but when the load weight is determined at a set depth, the same determination may be made without the balancing lines.

[0268] We also note that the operation of the system may be powered by wave power, as the distance from the communication buoy 34 to the mooring 30 changes with the waves and tides, this movement may be used for generating power for powering the operation of the buoy 34, the balancing drive 34 and the nodes 310. The buoy 34 may additionally be provided with solar cells if desired.

[0269] Actually, in any of the above embodiments, the balance drive 24 may comprise means for receiving water from the surroundings, such as by filtering seawater from the surrounding sea, for use in decreasing the buoyancy of the tube / buoys / elements. In this manner, the balance drive needs to store less such water for that use or store no water at all. It may then be desired that the water for feeding to the bags / tube / buoys / elements is degassed and purified and / or added an anti-freeze agent and / or an agent preventing or delaying microorganism growth in order to prevent any bags, buoys, pumps, valves, flow meters, conduits and the like from malfunctioning due to ice or microorganism growth therein. The balance drive 24 may therefore comprise means for degassing, purifying or adding such agents to the water derived from the surroundings of the balance drive.

[0270] Yet another interesting aspect is the fact that in the embodiments described above, the minimum buoyancy of the tube / buoys is seen at launch when the bivalves are small. As the bivalves increase in weight, the buoyancy of the tube or buoys has to increase, which is preferably performed by removing water from the bags / buoys. Water is rarely required fed back into the bags / buoys, but it may be desired to be able to correct the buoyancy of the tube / buoys or a part of the tube. Cultivated organisms may dislodge from the culturing lines or may be eaten by birds or the like. Also, it may be desired to be able to perform an emergency dive in certain situations, such as during storms, ships / vessels / ice passing or the like. An emergency dive could require the adding of water to the tube / buoys to decrease their buoyancy in order for the weight of the cultivated organism and other elements connected to the tube / buoys to drag the tube / buoys downwards.

[0271] Inspicos / 10 / 03 / 2026 / 13:39Thus, it may be desired that the balance drive 24 comprises a reservoir of a certain amount of water or other high density fluid (often higher than 75% of the density of the surrounding water), but this amount will not need to be the total amount of water required removed from the tube 20 or buoys 201 between launch and harvesting of the bivalves.

[0272] Then, instead of dimensioning the water reservoir of the balance drive 24 to be able to hold this large amount of water (all water expected to be removed from all bags / buoys during the period of operation), the system may comprise a reservoir 241 holding a part of the liquid fluid required for the whole buoyancy structure and a valve between the water reservoir of the balance drive 24, the conduit 25 between the balance drive 24 and the bags 221, 2211, volumes 222 and 2221 or even within the tube or buoys, allowing water from the bags 221, volumes 2221 or volume 44 to be stored in reservoir of balance drive 24 or expelled to the surrounding body of water instead of being stored in the balance drive 24.

[0273] Then, it may be desired to provide water, e.g. manually from a harvesting boat, via that valve and to the bags 221, volumes 2221 or volume 44 at or before launch of the system. In this manner, the fluid need not be pumped via the balance drive 24, making the launch swifter and allowing for a relatively small reservoir 241 for the first fluid.

[0274] Then, the amount of water which may be stored in the balance drive 24 or merely outside of the bags 221, volumes 2221 or volume 44, apart from any conduit 25 required for transporting water between the bags / volumes / balance drive, may be lower than half of the volume held by the bags 221, volumes 2221 or volume 44 at launch, or even lower than 10% of that amount.

[0275] This will allow the use of a smaller and lighter balance drive 24.

[0276] Inspicos / 10 / 03 / 2026 / 13:39

Claims

37CLAIMS1. A buoyancy system for supporting a variable load, the structure comprising:a buoyancy structure,a load bearing structure attached to the buoyancy structure, the load bearing structure being configured to have the variable load be suspended therefrom andsensing elements configured to determine a force with which the load bearing structure acts on the buoyancy structure.

2. A buoyancy system according to claim 1,wherein the sensing elements comprise a force sensor provided at or between the buoyancy structure and the load bearing structure,further comprising a buoyancy controlling system configured to control a buoyancy of the buoyancy structure, where the sensing elements are configured to determine the forces from a buoyancy of the buoyancy structure,wherein the sensing elements further are configured to determine a depth of the buoyancy structure and determine the force acting on the buoyancy structure also based on the determined depth, and / orfurther comprising one or more elongate balancing lines attached, at a first end, to the buoyancy structure, a second end thereof resting on a bottom of the body of water in which the system sits.

3. A buoyancy system according to any of the preceding claims, wherein the buoyancy structure comprises a plurality of structure portions, each structure portion being attached to the load bearing structure, where the sensing elements are configured to determine a force with which the load bearing structure acts on each individual structure portion.

4. A buoyancy structure according to claim 3, wherein the sensing elements:are configured to determine a buoyancy of each structure portion and determine the forces based on the determined buoyancies orInspicos / 10 / 03 / 2026 / 13:3938are configured to determine a depth of each structure portion and determine the forces acting on the structure portions also based on the determined depths.

5. A buoyancy system according to any of claims 3-4, further comprising a buoyancy controlling system configured to control a buoyancy of one or more of the structure portions.

6. A buoyancy system according to claim 5, wherein:the buoyancy controlling system comprises a fluid storage comprising a first fluid of a first density,each of the structure portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density,the buoyancy controlling system further comprises a fluid conduit from the fluid storage to each first fluid receiving volume, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions.

7. A buoyancy system according to claim 6, wherein:the buoyancy structure is an elongate, flexible buoyancy structure with an inner space in which the first fluid receiving portions are provided as flexible bags or containers being positioned sequentially along a longitudinal direction of the inner space, the structure further comprising an elongate, porous element extending along the longitudinal direction of the inner space and between a plurality of second fluid spaces orthe sensing elements are configured to determine the force based on a pressure of the first fluid in the fluid conduit.

8. A method of operating a buoyancy system for supporting a variable load, the structure comprising:a buoyancy structure,a load bearing structure attached to the buoyancy structure, andInspicos / 10 / 03 / 2026 / 13:39sensing elements,wherein the variable load is suspended from the load bearing structure and wherein the sensing elements determine a force with which the load bearing structure acts on the buoyancy structure.

9. A method according to claim 8,further comprising the step of controlling a buoyancy of the buoyancy structure, where the sensing elements determine the forces from a buoyancy of the buoyancy structure,wherein the sensing elements further determine a depth the buoyancy structure and determine the forces acting on the buoyancy structure also based on the determined depth, and / orwherein the buoyancy system further comprises one or more elongate balancing lines attached, at a first end, to the buoyancy structure, a second end thereof resting on a bottom of the body of water in which the system sits, where the determining step comprises controlling the buoyancy of the buoyancy structure to bring the buoyancy structure to a predetermined distance to the bottom, and determining the force based on the buoyancy of the buoyancy structure.

10. A method according to any of claims 8-9, wherein the buoyancy structure comprises:a plurality of structure portions, each portion attached to the load bearing structure and wherein the sensing elements further determine a depth of each structure portion and determine the forces acting on the buoyancy structure also based on the determined depths,a plurality of structure portions, each structure portion attached to the load bearing structure, the method further comprising the step of controlling a buoyancy of one or more of the structure portions and / ora fluid storage comprising a first fluid of a first density, wherein each of the portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, theInspicos / 10 / 03 / 2026 / 13:39first density being different from the second density, the method comprising controlling a ratio of the first fluid and the second fluid in each of the one or more portions.

11. A computer program product for determining a force with which a load bearing structure acts on a buoyancy structure to which the load bearing structure is attached and where the variable load is suspended from the load bearing structure, the computer program product being configured so as to, when executed on a processor of a sensing element, determine the force based on information received from the sensing element.

12. A buoyancy system for supporting a variable load, the structure comprising:an elongate buoyancy structure with an inner space, the buoyancy structure comprising a plurality of portions, each portion comprising:one or more flexible bags or containers, the bags / containers being positioned sequentially along a longitudinal direction of the inner space, each bag / container defining a first space, anda second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density, andan elongate, porous element extending along the longitudinal direction of the inner space and between a plurality of second fluid spaces.

13. A buoyancy system for supporting a variable load, the structure comprising:a buoyancy structure comprising a plurality of structure portions each comprising an inner space, each of the structure portions comprises a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density,a buoyancy controlling system configured to control a buoyancy of one or more of the structure portions, the buoyancy controlling system comprisinga fluid storage comprising a first fluid of a first density, andInspicos / 10 / 03 / 2026 / 13:39a fluid conduit from the fluid storage to each first fluid receiving volume, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in each of the one or more structure portions,where the fluid storage has a maximum storage volume being no more than 50% of the combined volume of the inner spaces of the structure portions.

14. A buoyancy system for supporting a load, which may be variable, the structure comprisinga buoyancy structure,a buoyancy controlling system configured to control a buoyancy of the buoyancy structure andwhere the buoyancy structure comprisesa fluid storage comprising a first fluid of a first density,a first fluid receiving portion, defining a first space, and a second fluid space separated from the first space and comprising a second fluid of a second density, the first density being different from the second density,where the buoyancy controlling system comprises a fluid conduit from the fluid storage to the first fluid receiving volume, wherein the buoyancy controlling system is configured to control a ratio of the first fluid and the second fluid in the buoyancy structure,where the buoyancy controlling system is fixed to the buoyancy structure.Inspicos / 10 / 03 / 2026 / 13:39

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