Acoustic Pipeline Inspection Mind The Gap Mike Liddell Chief Surveyor, Fugro Survey Limited UUVS @ Oceanology 2012 13 th March 2012
Contents Menu Introduction to Pipeline Inspection The Current Toolkit ROV & ROTV Shallow Water Solutions ROTV New Capabilities Deep Water Solutions AUV Capabilities Reporting and Processing Delivery of Results Date
Pipeline Inspection Deployment of the Best Technical Solutions has cemented position as the provider of pipeline inspection survey services Best Technical Solutions Best Survey Platforms Best Survey Sensors and Hardware Optimised Acquisition and Processing Software Integrated Data Delivery Tools Experienced Inspection Personnel Backed up by a commitment to annual training Overseen by dedicated Project Management Two distinct yet complementary offerings ROTV based Sonar Inspection (Acoustic Pipeline Inspection) ROV based Visual Inspection
The Current Pipeline Inspection Toolkit ROTV Rapid Assessment Tool Span Determination Burial Status Displacement and Debris 140 km per day Sonar based payload ROV In-depth Engineering Tool Quantitative Measurements Span Measurements Depth of Burial 25 km per day Video, MBES, CP and Pipetracker
ROTV Pipeline Inspection Pedigree The world leaders in Acoustic Pipeline Inspection Over 100,000 km of ROTV based Pipeline Inspection during last 20 years Enhanced Reporting Tools to Deliver Results Fast. Based around High Frequency Side Scan Sonar
ROV The Complete Tool The diverse payload and intervention capabilities of an ROV make it the ultimate tool for IRM activities. Interaction between ROV Pilot and Online Inspection Engineer means that as specific areas of interest are identified vehicle can slow down and indepth investigation undertaken. This ability along side the flexibility to undertake manual intervention activities, maintenance, CP stabs etc mean that autonomous platforms can never replace. However there is significant scope to reduce the GAP between the acoustic inspection tools and the full capability ROV. Optimise ROV time. Faster Results.
Filling the GAP ROTV AUV New Payload New Generation Vehicle
The Vessels Optimum AUV and ROTV Mothership, The most modern and capable Geophysical Survey Vessels, Acoustically Quiet, Environmentally Green, Designed for the Purpose. Starfix.HP Starfix.G2 POSMV 320 HiPAP 500 EM302 EM710 EA600 SBP300 DP
The Shallow Water Solution - ROTV 10-200m Water Depth. Best in Class Side Scan Sonar, Multibeam Echosounder and Inertial Navigation Solution. Edgetech 4200HF, Kongsberg EM3002, IXSEA ROVINS
Adding ROV Capabilities to an ROTV Improved Navigation - IXSEA ROVINS High Quality Attitude Heading Reference System for MBE Robust Sub Sea In bottle Inertial Navigation System Fully integrated into ROTV Added Multibeam Echosounder Capability EM3002 Head mounted in neutrally buoyant hydrodynamic foam with carbon fibre outer shell. SVS and Survey Depth sensor EM2040, Reson, R2SONIC or SAS capable Upgrades to MacArtney Nexus MK IV Mux Dual 1Gbps Ethernet channels Plug and Play with a greater range of survey sensors.
The Deep Water Solution - AUV 10m - 3000m Water Depth Best in Class Side Scan Sonar, Multibeam Echosounder, Sub Bottom Profilers, Stills Camera and Inertial Navigation Solution. Dive duration measured in Days not Hours!!!
Positioning Solution Full USBL Aiding INS Solution We track the vehicle. We know where it is. Most importantly, It knows where it is. 1m Accuracy in 1000m WD Real Time and Post Processed INS Solution Real Time Examples 1100m Water Depth 4 m altitude camera pass over grab sample location
The AUV Inspection Solutions Side Scan Sonar Taking the ROTV approach to the 3000m contour Sophisticated Pipeline Tracking module USBL seeded navigation solution. No issue if pipeline enters burial and no pipeline to track. Follow database position Two day endurance 4-5 knots (350-400km production per dive).
The AUV Inspection Solutions Multibeam ES Either based upon sonar pass OR database position Pipeline Profiling above the pipeline. Trench Profile, Span status and height AUV dynamically tracking pipeline from a 4m altitude MBE Coverage of 12m, providing sounding density of 30mm across track Out of Straightness analysis. INS stabilised.
The AUV Inspection Solutions Stills Camera Based upon real time pipeline tracking with MBES steering AUV Altitude 4-6m Stills Images at around 1Hz for full coverage along product Create Video Slide Show
Stills Camera Image Processing Techniques Original Invert Images can be rapidly enhanced using Image Processing Techniques Optimised for product and visibility conditions Enhance
High Resolution Images
AUV Inspection Solutions Sub Bottom Profiler Geophysical Tool for profiling the seabed. Transects over pipeline provide a distinctive hyperbola response from a pipeline. From hyperbola depth of burial can be directly measured Tow fish or Hull mounted sensors historical not very efficient AUV with rapid manoeuvrability becomes an efficient tool
Depth of Burial Coverage Rates Each Crossing is 25m long line Objective is 25m interval, Line Turn is 40m curve Crossing and Line Turn = 65 m @ 4.5 knots Equates to 128 Crossing Per Hour. 3.2km of pipeline per hour 10m crossing Interval. 200 Crossing Per Hour 2.0km of pipeline per hour 50m crossing Interval. 80 Crossing Per Hour 4.0km of pipeline per hour MBE data collect across each crossing to provide indication of residual trench profile SSS to validate there is no exposure between crossings
Processing and Reporting Effectively have three distinct data sets (ROTV, AUV and ROV) Need a solution that can handle these dataset in both a spatial and temporal context Database Driven Solution ( SQL Database) Facility to IMPORT and EXPORT a multitude of data formats Support for Video, XTF Sonar and Images Full customisable Event Codes
A Universal Pipeline Data Viewer Starfix.Review Free utility that is provided to clients with Inspection Report Provides Survey Data alongside Video, Sonar and Image Data The Ability for Operator to jump to area of interest. Go to KP xxx
Event Filtering Starfix.Review Tools to enable Integrity Engineer to isolate features of interest Simple Event Query Builder Show me SPANS longer the 10m After KP176
Sonar Inspection Data Lite GIS Functions in Plan View ( Load CAD and TIFF Images) Side Scan Sonar Mosaic
Summary Acoustic Pipeline Inspection complements Visual Inspection (IRM Campaign) ROTV ideal shallow water API tool to 200m WD ROTV offering improved by INS and MBE upgrade AUV provides a practical tool for API in deep water (3000m WD) AUV provides a totally new class of pipeline inspection tool Engineering Class MBE (Leak Detection) High Resolution Stills Camera Sub Bottom Profiler ( Depth of Burial) High productivity solution (150km + per day) Integrated Data Processing and Reporting Tools The Universal Data Viewer
The New Pipeline Inspection Toolkit
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