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Vision Technology to Increase Efficiency Offshore
Subsea Expo, AECC | 08 February 2018
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▪ Technology
▪ Application
▪ Case Studies
▪ Value Creation
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Sensor Package
▪ Dedicated full time vision R&D team
▪ Camera now considered a survey sensor
Learning Process
▪ 1st Generation
▪ Camera with coupled AHRS
▪ Expensive solution
▪ Difficult to mount
▪ 2nd Generation
▪ Camera with coupled MEMS IMU
▪ Fused with existing vessel/ROV survey sensors
▪ Cost effective
▪ Smaller unit
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Machine Vision
Sensor Fusion
Augmented Reality
QUICKVISION ®
INCLINOCAM ®
3DIRECT®
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INCLINOCAMUsed to continuously monitor the verticality and penetration of monopiles during installation.
Utilising two surface cameras at approximately 90° to each other the monopile is viewed from two orthogonal directions.
Allows the full inclination vector (magnitude and direction) to be determined.
Camera based real time pile inclination measurement
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®
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3DirectComputer vision based method for real time pose estimation of jackets (or similar) structures using a single camera.
The technique relies on three key components:
▪ Good detectability of a jacket silhouette to allow for edge detection.
▪ Jacket structure dimensions known to create a model file
▪ The input/compensation of camera motion (pitch and roll) measurements as a function of time.
Camera based structure position and attitude measurement
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®
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QUICKVISIONBuilt on the experience of Inclinocam and 3Direct on the surface.
QuickVision offers a flexible and robust method by providing an Augmented Reality toolset that can be combined into a fit-for-purpose touchless survey solution.
Offers efficiency offshore enabling better decision making in real time.
Subsea camera based applications
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®
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Hardware Details
Framerate: 10Hz
Angle of View: 71 x 61degrees
Field of View : Work. Dist. vs FoV ~ 1:1.4; 1:1.1
Resolution: 2456 x 2054 pixels
Sensor Type: Colour
Lens: Fixed Focus / Fixed Aperture / Pre-calibrated
Mass in air: 4.1kg
Mass in water: 2.1kg
Supply voltage: 8 - 30VDC @ < 4.5W
Depth Rating: 6000m
▪ Fixed Pose
▪ Spherical Sapphire Glass Viewport
▪ Embedded MEMS IMU
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Interface and I/O
Streaming: Gigabit Ethernet, support for 100Mbit
Camera triggering : RS232
IMU data transfer: RS422/232
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QuickVision Toolset
Inclinometer tool used to measure incline of subsea structure
Compass rose tool used to measure heading of subsea structure
Inclinometer
Measures the attitude/inclination of an object. The protractor is drawn interactively on the screen on a paused image. The tool will automatically find and snap to an edge.
COMPASS ROSE
Augments the north seeking sensor onto the screen, making it possible to measure the heading of any structure / asset subsea.
LEVEL LINE
Draws a levelled plane/horizon on the image from which the height of an object can be inferred.
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QuickVision Toolset
Bounding box tool for mudmat installation
Marker buoy and pattern tracking tool used during basket landing
BOUNDING BOX
Can infer the position and orientation of a structure by aligning the bounding box of the structure to be surveyed. This tool can be a box shape or a cylinder.
STRUCTURE MODEL
Augments a 3D CAD model to accurately infer the position and orientation of the structure.
MARKER BUOYS
Indicates intended/proposed location of a structure by placing virtual markers. Can also be used to place proposed 3D CAD models.
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If patterns are attached to an asset it becomes possible to:
▪ Automatically track the position, orientation and attitude of the asset
▪ Track/measure the relative position between two assets
▪ Navigate relative to an asset
Pattern Tracking
Pattern Targets
▪ Patterns are ‘stickers of round dark dots on light coloured backgrounds
▪ Offset of pattern relative to asset reference frame to be measured
▪ The size of the pattern depends on the camera field of view.
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QUICKVISION®
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QuickVision Benefits
Pattern tracking tool used to monitor heading of topside during installation.
Starfix navigation display during pattern tracking structure installation.
▪ Vessel / Rig / ROV time saving – minimal calibration required
▪ Augmented reality leads to more informed decision making offshore
▪ Automated positioning during critical operations
▪ Minimal user interface with minimal equipment to mobilise
▪ Robust technology with no dependency on active transponder/responder setups
▪ Operationally low risk – no requirement to dock to assets
▪ Cost effective
▪ Endless possibilities as to what you can use QuickVision for subsea
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QuickVision – Mudmat Installation
Structure3Direct Subsea MiniIPS Delta
Pitch Roll Pitch Roll Pitch Roll
1 0.460 -0.270 0.530 0.230 0.070 0.500
2 -0.355 0.920 -0.850 0.950 0.495 0.030
3 -1.200 -0.335 -1.250 -0.080 0.050 0.255
4 -1.090 -0.910 -0.710 -1.290 0.380 0.380
5 -0.600 -0.910 -0.490 -0.740 0.110 0.170
6 -0.635 -0.970 -0.350 -1.460 0.285 0.490
Mean 0.232 0.304
Standard Deviation 0.183 0.187
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▪ Mudmat Installation
▪ Pitch and Roll measurement
compared to pressure sensor level
loop
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QuickVision – Mudmat installation
Delta
STRUCTURE Easting [m] Northing [m] Heading [° G]
MUDMAT 1 0.18 0.08 1.22
MUDMAT 2 0.17 0.31 1.41
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▪ Mudmat Installation
▪ Position and heading comparison to
LBL position fixes
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Deviated Conductor Installation
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Quickvision being used to measure orientation and attitude during installation.
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QuickVision Track Record
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Scope Date Comments
Subsea Construction Support January 2017 Trial of full QuickVision toolset plus pattern tracking
Topside Installation
(Surface)
May 2017 Surface mounted cameras on HLV deck
Subsea Construction Support June 2017 Pattern Tracking of HIPPS on well
Topside Installation (Surface) September 2017 Surface mounted cameras on HLV deck
UTA Survey November 2017 Monitoring of UTA azimuth
Deviated Conductor Installation October 2017 Monitoring of deviated conductor during installation
Quickvision ® has been successfully deployed on six projects in five different regions.
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Trigonometry based optical positioning
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cB
lue
®
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cBlue® Hardware
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Size: approx. 25cm x 9cm
diameter (without battery)
Expected operational power
consumption 3W
Standby mode 20mW
Static Inclinometer <0.01 deg
Hyper Hemispherical
optical dome 300 barSmart Fisheye Camera
FOV 360x220 deg
Optical communication
receiver (25 kbits/s)
Omnidirectional 10W LED
source
Detachable 300 Wh battery-pack
Endurance 2 years at one
measurement / day
cB
lue
®
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Applications
▪ Real time relative subsea positioning
▪ Metrology measurements
▪ Displacement and subsidence monitoring
cBlue® Features and Applications
Features
▪ 6DoF measurements
▪ Precise angular measurement
▪ Fast measurement
▪ No calibration subsea
▪ Optical data communication
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cBlue® In Water Trial
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QUICKVISION®
ROV vector from cBlue positioning
▪ Dome modelling and calibration
▪ Surface based verification of pod
▪ Wet verification of system and components with the aim of proving the concept underwater
Next Steps
▪ Build 300 BAR rated pod and pressure test (in progress)
▪ ‘ROV’ proof the design
▪ Subsea trial at depth
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Summary
▪ Vision technology has the potential to reduce costs and improve efficiency offshore
▪ Cameras are now true survey sensors
▪ Reduced HSE Risk
▪ Better information allows for better decisions to be made
▪ Pattern tracking enables high accuracy relative positioning solution
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Alastair McKie
Technical Lead Surveyor
T +44 1224 257 458 | M +44 7884 088 723
a.mckie@fugro.com | www.fugro.com
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