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KONGSBERG MARITIME
Autonomous Underwater Vehicles
Pipeline Inspection with a HUGIN AUV
Richard Mills
Product Sales Manager for AUVs
KONGSBERG PROPRIETARY. This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing.
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and confidential.reproduction
Any disclosure, copying,
distribution
or use
is prohibited
if not
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with KONGSBERG in–writing.
Any authorised
reproduction in whole or in part, must include this legend. © 2014 KONGSBERG – All rights reserved.
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All rights
reserved.
Typical HUGIN Specification for Pipe Survey
Dimensions:
• Length: ~5.4 m
• Diameter: 75 cm
• Weight: ~1000 kg
Depth Rating:
• 3000 m
Power Supply:
• Rechargeable and swappable
Lithium Polymer batteries
Endurance:
• ~24 hours (3 Batteries)
Payload Sensors:
• HISAS or SSS
• EM2040 MBE
• Camera & Turbidity
• SBP
• Methane Sniffer
Environmental
Payload Module
EM 2040
Nose: FLS,
Payload controller
Removable Payload Data
Storage
Batteries, SSS arrays,
SBP RX, LED Strobe
20/02/2015
SSS/SBP PU,
SBP TX
WORLD CLASS - through people, technology and dedication.
Tail: Camera
Core vehicle systems
Communications
Navigation
Propulsion
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Typical MUNIN Specification for Pipe Survey
Dimensions:
• Length: ~4 m
• Diameter: 34 cm
• Weight: 300 kgs
Depth Ratings:
• 1500 m
Power Supply:
• Lithium Ion battery
Endurance:
• 12/24 hours
Payload:
• SSS
• EM2040 MBE
• Camera
• SBP
SBP & Camera
Module
Nose: FLS,
CT Sensor
Tail: cNODE,
Propulsion
Vehicle Control Processor,
Battery
EM2040, SSS,
IMU, DVL,
Payload Processor
20/02/2015
WORLD CLASS - through people, technology and dedication.
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PipeTracking: How it Works
Proven pipe tracking capability
• Software developed, tested and in commercial use on the HUGIN AUV now available on MUNIN
Pass 1: SSS or SAS survey
• Offset to side of pipeline, ~20 meter altitude
• Active vehicle tracking using side-scan imagery
Pass 2: EM2040 and Camera Survey
• Directly overhead pipeline, ~3-5 meter altitude
• Active vehicle tracking using MBE bathymetry and reflectivity
20/02/2015
WORLD CLASS - through people, technology and dedication.
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PipeTracking: How it Works
Pass 1 (Alongside the Pipe):
• Initial track is determined by mission plan
• SSS imagery is processed in real-time on board
the HUGIN or MUNIN
• Pipeline is identified based on set criteria
• Vehicle creates an a priori map of pipe on board
• Sends tracked points to surface via cNODE link
20/02/2015
WORLD CLASS - through people, technology and dedication.
Page 5
PipeTracking: How it Works
Pass 2 (On Top of the Pipe):
• Vehicle uses a priori map to position over the pipe
• Locates pipe in EM2040 data (processed in real-time)
• Descends to 3-5 m for photo imagery
• Sends tracked points to surface via cNODE link
• If pipe location is known within ~+/- 10 m then AUV can start with EM2040
20/02/2015
WORLD CLASS - through people, technology and dedication.
Page 6
Case Study 1: Trials and Demonstrations
Outline:
• Two pipes:
• 1: Small diameter flexible water pipe
• 2: Large diameter oil pipeline
• Operational depth: 70-300 meters
• Two pass mission: HISAS + EM2040/Camera
Pass 1: HISAS survey
• 60 meter to side of pipeline
• 20 meter altitude
• Active vehicle tracking using HISAS side-scan
imagery
Pass 2: EM2040 and TileCam Survey
• Right on top of pipeline
• 3-5 meter altitude
• Active vehicle tracking using MBE bathymetry
and reflectivity
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Tracking Using HISAS
• Flexible pipe, 10 cm diameter, partially buried
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Photo Imagery
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 30 m; Speed 4 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 30 m; Speed 4 Knots
Altitude: 4 m; Speed 3.8 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 3.5 m; Speed 3.8 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 3.5 m; Speed 3.8 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 3.5 m; Speed 3.8 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Altitude: 3.5 m; Speed 3.8 Knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
EM2040 Bathymetry
Altitude: 3.5 m
Speed: 3.8 knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 1: Trials and Demonstrations
Mosaic of Flush Buried Pipe
Altitude: 5.8 m
Speed: 3.5 knots
20/02/2015
WORLD CLASS - through people, technology and dedication.
Page 17
Case Study 2: Commercial Operations
Outline:
• Various diameter flexible pipes
• Operational depth: 10 to 3000 m
• Two pass mission: HISAS + EM2040/Camera
• Fully autonomous in shallow water
Pass 1: HISAS survey
• 20 to 50 meter to side of pipeline
• 5 to 30 meter altitude
• Active vehicle tracking using HISAS side-scan
imagery
Pass 2: EM2040 and TileCam Survey
• Right on top of pipeline
• 3-5 meter altitude
• Active vehicle tracking using MBE bathymetry
and reflectivity
• Applying Methane Sniffer for leak detection
20/02/2015
WORLD CLASS - through people, technology and dedication.
Page 18
Case Study 2: Commercial Operations
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 2: Commercial Operations
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 2: Commercial Operations
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 2: Commercial Operations
20/02/2015
WORLD CLASS - through people, technology and dedication.
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Case Study 2: Commercial Operations
20/02/2015
WORLD CLASS - through people, technology and dedication.
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