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OPT9221: I wonder if 3D TOF can be used in such application offshore where range is about 25m and both Barge (Carrying vessel) and structure are moving relative to each other.

David Wilson12
Prodigy 120 points
Part Number: OPT9221

This is an initial general query to check the suitability of TI products for the appliaction.

It is an offshore application where a crane must lower equipment very accurately into the sea.

We in Horizon Survey used to perform such installation using survey sensors DGPS, GYRO and IMU interfaced to online navigation system Qinsy.

 The new scope is to monitor the structure during installation for accurate position, heading and tilt. The structure would be carried by a crane from the lifting barge or heavy lift.

 For above purpose, the laser tracker, Lidar or 2D / 3D camera/s shall be used in addition to the assist from survey sensors (DGPS, GYRO and IMU). Qinsy generally used to interface survey sensors.

 You may add any kind of targets and you could be provided with the structure in 3D prior to the operation.

 Attached image may provide with better understanding, but please let me know if you still missing some clarification.

 Please see this video : https://youtu.be/yPjmhnx0g3w

 I’m really looking for your quick response as quickly as possible.

 I will pass this to commercial team with your positive response  as they are bidding for something similar at the moment.

The Project main target would be “Client Requirement”:

 JACKET POSITIONING

The location and orientation of the jacket shall be as specified on the contract drawings. SUB-CONTRACTOR shall check the jacket set on the seabed to the following tolerances:

 Jacket position range: +/-0.5m of the specified jacket coordinates

• Verticality : +/-0.2°

• Heading : +/- 2.5°

 EQUIPMENT REQUIREMENTS

To carry out the services required, SUB-CONTRACTOR shall provide the minimum equipment, hardware, data QC software and personnel as specified in this documents.

The positioning sensors shall be installed on board of CONTRACTOR vessel and use a vision based technology that track the position of Jacket and give a real-time position, elevation and inclination and heading of the Jacket, the positioning sensor shall be interfaced with CONTRACTOR Navigation Software and have the following accuracy:

• +/- 0.xm relative position and elevation ;

• +/- 0.x° relative heading;

• +/- 0.x° pitch and roll;

 The key advantageous points that should be on our solution should be:

-               Minimal equipment on the structure to be installed; however if you may need targets for the OPS. We can add.

-               Minimal personnel interface with structure to be installed.

-               IMU integration for the Barge / Lift vessel motion compensation.

-               Final would be the ability to interface the same with our navigation systems or to get absolute values from it to be shown on our NAV system.

I kept the relative tolerance in grey and you may fill it with figures that you think achievable with confidence.

 I saw many products on you website that may help in this application, so could you please get in touch; hence we can work together on this project.

  • 0
    Prodigy 40 points
    thank you David for your help posting my question. I wish this great community can help finding the best solution for such application.
  • 0
    TI__Expert 3495 points
    I think for this application, using multiple HD cameras is likely the best solution given the 25m range. In the video it appears jacket alignment is based on line structures in the image, then iterative error minimization algorithm is applied to align the jacket over the drill pipe. Rich line structure of jackets is easy for HD cameras to pick up and forms a good basis for accurate alignment. I don't think 320x240 3D-TOF camera has adequate spatial resolution for such application.
  • 0 in reply to Larry Li
    Prodigy 40 points

    Hi Larryy,

    Thanks for the follow up.

    You would be far ahead than me choosing / suggesting the right sensor to be used for this application. I would be more beneficial in survey side where lifting vessel movement shall be compensated using survey sensors DGPS, GYO and IMU.

    Going back to your question, we can be provided with the3 D drawing of the jacket, so if you don't think that TOF sensor suitable for this application then I do much appreciate any suggestion and recommendation for HD camera model and software / development  that can used to utilize the camera information and the altitude information together and produce the final real-time solution.

  • 0 in reply to Abdel Aziz Ghoneim
    Prodigy 40 points
    Hi John Fullilove,

    Many thanks for your question.
    The first thing that came up to my mind as a solution for this application was TOF camera technology. But I saw also pieces on the website dealing with laser and other remote ranging solutions...

    I would appreciate your prfessional guidance for the best technology to utilize in such application and feel free to request for any clarification.