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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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