taking lidar subsea - subsea uk, aberdeen, …...principles of lidar 2)pulse reflected from target...
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TAKING LIDAR SUBSEA
Adam Lowry, Nov 2016
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3D AT DEPTH
Based in the technology hub of Boulder, Colorado, 3D at Depth is dedicated to
the development of underwater laser measurement sensors and software
• Patented subsea LiDAR technology
• 6 full time working systems with 100% redundancy
• Track record; completed 90+ projects
• Two Subsea LiDAR systems SL1 & SL2
• Developing the SL3
• Office locations in Boulder, CO / Houston, TX / Perth, WA
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WHAT IS LIDAR?
• Light Detection and Ranging• (ToF) – Time of Flight
• Has been around since 1960’s• Used for aerial surveys
• Measure Range to Satellite's
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PRINCIPLES OF LIDAR
2)Pulse reflected from target
3) Portion of Scattered Light Collected by sensor
1) Laser pulse
transmitted at
40kHz
D at Depth Subsea LiDAR3
Beam divergence angle: 0.02°
Beam diameter at 10m: 3.6mm
Beam diameter at 20m: 7.3mm
Phased Array Sonar
Beam divergence angle: 0.5°
Beam diameter at 10m: 8.7cm
Beam diameter at 20m: 17.5cm
4) Beam is moved to cover the target using servo mirrors
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TRIANGULATION VS LIDAR (TOF)
• Highly accurate timing circuitry
• 1mm = 3.3 picoseconds
Triangulation Laser
• Range limited by geometry
• High Resolution at short ranges (<3m)
• Exponential error growth with range
• LiDAR is not fundamentally range limited by geometry
Triangulation vs LiDAR
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ROV & DIVER DEPLOYED SOLUTIONS3km or 1.5km Rated ROV
Mountable Pan and Tilt unit
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30° X 30° SECTOR SCANS
• Sector Scanner
• Pan/Tilt and scan
• 2.1m points per
sector in Hi-Res
mode
•0.05° Pan & Tilt
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BACKSCATTER
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MAIN SOFTWARE TOOLS
3D Collect – Scanning Interface 2D QuickView – QA Verification
3D Cloud – RAW to LAS & E57 LAS Viewer / CC / Leica Cyclone
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SUBSEA LIDAR – 3 MODES OF OPERATION
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FAST SCAN & STATIC SURVEY SCAN
Static Scan of WellROV landed “On bottom”
Fast Scan top of wellROV mid water
Fast Scan top of wellROV mid water
Data Collection Time – 1.5s
Data Collection Time – 1.5s Data Collection Time – 3 to 5mins
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COMBINE STATIC SURVEY SCANS AND FAST SCANS
• Red point clouds were collected with the ROV on
the seabed using survey mode (3 to 5 mins)
• The two datasets are easily merged.
• Greyscale point cloud was
collected while the ROV was mid
water using fast scan mode (1 to 2
secs)
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MOBILE MODE SCANNING
• Successfully mapped the seafloor from a 22 meter range.
• Successfully captured 8 continuous hours of laser scan data with navigation data at 2900m depth
• Currently working on improving the tightly coupled integration of laser and INS.
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SCANS, REGISTRATION & ACCURACY
Single 30° x 30° scan.
±4mm Accuracy Point
to Point distance
measurement
Anywhere in the field
of view
Pan & Tilt ±0.05°.
Full scan position – 18 Scans ±4mm to ±8mm accuracy. For
distances Anywhere in the field of view.
Multiple registered scan positions add a mean absolute error of
approx. 5 to 15mm across all the registered scans
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REGISTRATION TARGETS
Spheres
B/W Survey Targets
Reflective Targets
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SPOOL PIECE METROLOGY – SHORT < 30M
• Over 120 metrologies performed since Q2 2014
• All jumpers and spools successfully installed
• Average bottom time was only 3 hours per metrology
• Average time to complete metrology field report was 4 hours.
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SPOOL PIECE METROLOGY – LONG > 30M
• 10 Long Spool metrologies performed in 2015
• Results were within project specification tolerances
• Significant time savings are possible over full LBL array
deployment
• These results in relatively shallow water ~200m, more
time can be saved in deeper water.
• Method Robust and Flexible, 2hrs per scan location.
• Hybrid Method used with both Acoustics and laser.
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REGISTRATION OF SUBSEA STRUCTURES
Terrestrial Scanned StructureDimensional Control with Total Station
Terrestrial Scanned StructureRegistered into the subsea point cloud
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COMPLEX METROLOGY
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PIPELINE DAMAGE ASSESSMENT
• Quantification of distances, angles and heights is straightforward.
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PIPELINE DAMAGE ASSESSMENT
• Cloud extruded to 3D Mesh
• Curvature• Lateral
Distance
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PIPELINE DAMAGE ASSESSMENT
• Calculate Pipeline Ovality at the Apex
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3D MODELLING, 3D PRINTING, REVERSE ENGINEERING
• A 3D CAD model was created from the point cloud
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3D MODELLING, 3D PRINTING, REVERSE ENGINEERING
• From the 3D model, the physical part was 3D printed using Fused deposition modelling (FDM) technology.
• Assembled well cap shown on right 650mm diameter.
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AS BUILT SURVEYS
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ITALY WITH THE BBC