Embed Size (px)
Citation preview
Improved Operational Efficiency Through
3D Laser Scanning TechniquesPresented by Grace Chia, Sales Engineer, Seatronics
About Us
SEATRONICS
• The Marine Technology Specialists; Market leaders in provision of marine electronics to the subsea
services market
• Global partners and distributors of 2G Robotics ULS range of systems
2G ROBOTICS
• Founded in 2007 in Waterloo, Ontario, Canada
• Dedicated to advanced research, development, and engineering for the production of innovative and
cutting-edge solutions
• Over fifty systems built and deployed worldwide on all seven continents
Ultra High Resolution that could not be achieved
previously
Time savings
Why Laser Scanning?
Stationary Scanning Dynamic Scanning
2048points
360°
52 Hz laser line capture
52 Hz laser line capture
Basic Principles of Operation: Triangulation
50 degFOV
Data Processing
• Data is captured in real-time and can be easily processed while still offshore
• .xyz conforming to LAS data output.
• Dedicated drivers in EIVA, HYPACK, and QPS software.
ULS-100 ULS-200
• Stationary Only
• 0.13m to 1m range
• Stationary Only
• 0.25m to 2.5m range
Typical Applications:
• Interior pipes, tubes, tunnels, piles
• Small size damage or asset condition
• Flume tanks and sediment experiments
• Confined spaces
Basic Specs:
• 480 points per line
• 9 lines/s
• 360 degree rotation, 50 degree laser swath
• mm resolution
• RS-485 communication protocol
• 350m depth rating
What is available from 2G?
ULS-500 PRO
ULS-500 PRO Accessories
• Dynamic or Stationary
• 1.5m to 20m range
• Rotary Actuator for stationary scanning
• SeaShot Imager Stills Camera & SeaShot LED
Typical Applications
• Spool metrology
• As-built surveys
• Damage assessment
• Pipelines
• AUV integrations
Basic Specs
• 2048 points/line
• 52 Hz laser line capture; ~90Hz in pre-release
• PPS time synchronization for vehicle integrations
• 4000m depth rating
• Gb Ethernet
What is available from 2G?
Operating Conditions
Laser Range = Visibility Range (up to 20m)If you can see if with a camera, the laser will work!
Operating Conditions
Ambient Light = More Noise
More Outlier Points Will Appear In The Scan
Operating Conditions
Shiny objects are difficult to scan since the laser reflects off the object at defined angles and not back towards the sensor.
Operating Conditions
Further Distance = More Coverage, but More Gaps Between Points
Operating Conditions
Case Studies: Oil and Gas
Company
DOF Subsea
Location
The Underwater Centre, UK
Objective
Dynamic ROV Metrology Survey
Product
ULS-500 Pro
Dynamic Spool Metrology
The two target structures were laid on the
sea floor in a water depth of
approximately 32m and approximately
18m apart. They were rotated to roughly
align the small flanges.
• 2GR ULS 500 Pro system
• Sonardyne Sprint AAINS system and
Syrinx DVL
• Sonardyne ROVNAV 6 Mini SVS
Paroscientific DQ CTD
• Gen 5 Multiplexer
• Mobilised on board The Underwater
Centre XL ROV
Dynamic Spool Metrology
Dynamic Spool Metrology
Comparison to LBL Results
15m hub to hub metrology completed in 20 minutes- 4 scans 3 of which were redundant. Compared to stationary laser
scanner approach which took 6 hours
Operational in conditions where other systems couldn’t operate due to proximity of ROV ranges to target.
Contactless method of performing metrologies
Real time 3D data in large volumes
Seabed profile Inherent part of the delivery (3D point cloud)
Minimal Calibration Auto-calibration, mechanical integration,...
Reduced operational vessel and ROV time!
Operational Efficiency
The benefits of mobile laser metrology may be summarised as follows:
Non-Intrusive - no prior subsea intervention is required in advance of metrology, and no subsea bracketry,
control spheres or metrology aids are required.
Flexible Deployment - modular system which can be easily fitted to an ROV (for Dynamic data
acquisition), or mounted onto a tripod (for static data acquisition).
Time to Survey - significant reduction in the time (and therefore vessel cost) needed to gather the survey
data in comparison to traditional techniques such as pure acoustic LBL.
Time to Data - quick delivery of results offshore; typically within six hours of data acquisition. It is normal
for data processing to be conducted in parallel with array recovery operations. Inferred Metrology - with
prior dimensional control information, hub position and orientation can be inferred using laser scan data.
More than Metrology - the 3D model used for metrology serves as an As-Built model of the subsea
installation and the surrounding area to provide a baseline for future intervention work.
Operational Efficiency
“The parallel development of high resolution underwater laser and high precision acoustically
aided inertial navigation has revolutionized the capability to perform mobile metrology
operations in a timescale previously unattainable.” DOF Subsea Mobile Laser Metrology
Report 001165-SV-CL-403-0004C
“It is now entirely practical to deploy a limited LBL array in close proximity to the targets and
conduct high speed data acquisition operations followed by immediate processing on board
the vessel. Preliminary results are typically available within hours of deploying the array, thus
saving significant vessel time and allowing operational decisions to be made without delay.”
DOF Subsea Mobile Laser Metrology Report 001165-SV-CL-403-0004C
User Feedback
Company
Confidential
Location
Ghana, Africa – 1300m water depth
Objective
Dynamic ROV Survey of a problematic oilfield for condition assessment. Included spool metrology and pipeline surveying.
Product
ULS-500
Oilfield Mapping and Metrology (2016+)
Oilfield Mapping and Metrology (2016+)
Oilfield Mapping and Metrology (2016+)
Oilfield Mapping and Metrology (2016+)
Company
Oceaneering Survey Services
Location Global
Objective
• Free span detection, pipeline movement, other damage.
• 7 Oceaneering Owned ULS-500’s operating on 6 Hugins worldwide.
• Over 10,000km of pipeline scanned with ULS-500 to date.
Product ULS-500
Hugin AUV Pipeline and Seabed Mapping
Hugin AUV Pipeline and Seabed Mapping
Sample Results (1): Concrete Mattresses for Cross Over Pipes
Hugin AUV Pipeline and Seabed Mapping
Sample Results (2): Buoyancy Collars
Hugin AUV Pipeline and Seabed Mapping
Sample Results (3): With Stills Overlay
Company
Ocean Atlantic Petroleum
Location
Angola
Objective
Geometry and Ovality of 44” ID I-Tube to facilitate installation of high power umbilical cable
Product
ULS-200
I-Tube Inspection (2015)
Solution: Spring Actuated Centralizer Frame with ULS 200
I-Tube Inspection (2015)
Marine Archeology & Salvage
Company NOAA
Location 30 miles offshore North Carolina, USA >200m depth
Objective
Provide 3D documentation of an underwater WWII battlefield
Solution
ULS-500 PRO interfaced with EIVA NaviSuite and attached to a frame mounted to a
Triton 1000/2 submarine with SPRINT for positioning
U-576 WWII U-Boat Survey (2016)
U-576 WWII U-Boat Survey (2016)
• Range: 15m+
• Up to 30,720 points/sec
• 30 profiles/sec
• Integrated stills imaging and
smart subsea light
U-576 WWII U-Boat Survey (2016)
Company
ADUS DeepOcean
Location
Tyrrhenian Sea, Italy
Objective
Assess damage to underwater portion of the Costa Concordia during the salvage operation. Produce point cloud model of the entire underwater portion of starboard hull.
Product
ULS-500
Costa Concordia Salvage (2012-2013)
Costa Concordia Salvage (2012-2013)
Close Up 3D Point Clouds Details
Sample Results (1): Close up of 3D Point Cloud Details
Costa Concordia Salvage (2012-2013)
Scientific Research
Company: Genex Systems
Location: Turner Fairbank Highway Research Center, VA
Objective: Measuring real-time sediment bed load
Product: ULS-100
Sediment Transport
What is the resolution required?
What is the range that the project can offer?
Is it better to do it in Scan Mode or Profile Mode?
Things to consider about Laser Scanning
