Visual assistance and control of diving remote control vehicle

Abstract

The present disclosure describes monitoring and operating a subsea well system, such as performing operations in construction and control of targets in a subsea environment. A submersible ROV that performs operations to build and control targets (e.g., completion components) in a subsea environment, the ROV having one or more imaging devices that capture data that is processed to provide information that assists in control and operation of the ROV and / or completion system when the ROV is subsea.

Description

Technical Field

[0001] The present disclosure describes controlling a submersible remotely operated vehicle (ROV). Background Art

[0002] In petrochemical exploration and production, many offshore wells are located at depths far beyond the reach of divers. In these instances, submersible remotely operated vehicles (ROVs) are controlled from above the water surface to perform some operations in well construction and control. ROVs perform a variety of tasks in petrochemical exploration, each of which utilizes precise control of the ROV and one or more robotic arms to ensure the correct and safe execution of the task. Precise control of ROVs in subsea environments is challenging, and improper control of the ROV can cause operational delays. Summary of the Invention

[0003] The present disclosure describes monitoring and / or operating industrial systems, such as performing operations in the construction and control of targets in an industrial environment, such as subsea well systems, offshore wind systems, subsea mining systems, energy production and collection systems, oil and gas extraction, and others. In specific embodiments, an ROV has one or more imaging devices that capture data that is processed to provide information that assists in the control and operation of the ROV while the ROV is on the seafloor. Specific examples described herein include an ROV that performs operations in the construction and control of targets (e.g., completion components) in a subsea environment. The ROV has one or more imaging devices that capture data that is processed to provide information that assists in the control and operation of the ROV and / or completion system while the ROV is on the seafloor.

[0004] Some aspects described herein include a submersible ROV that can use a fiducial marker located at an identified target to identify a target interface and tool to facilitate streamlined operations at the identified target. For example, the submersible ROV can use the fiducial marker to determine the interface location and identify operating parameters at the target location. Optionally, the submersible ROV can analyze information from the fiducial to automate the operation of the submersible ROV. For example, the submersible ROV can use the fiducial information and location to perform seabed operations (such as tool identification and exchange), operate the interface based on the location and operating parameters determined based on the fiducial information, and / or perform other automated procedures. In some aspects, the fiducial information can facilitate the retrieval of information useful in performing automated procedures (e.g., requiring limited or no human operator involvement), and / or guide the submersible ROV when performing automated procedures.

[0005] Some example aspects described herein include systems for identifying, maintaining, and / or extracting interface and operational history data logs. The system can track and store operational parameters that provide historical operational parameters associated with one or more identified interfaces, operations, subsea equipment items, and the like. The historical operational parameters can facilitate improved operation at the identified interface(s) by providing the system with information about parameters that have been previously encountered at the identified interface(s). The historical operational parameters can be provided in real time during operation to facilitate improved operational efficiency by providing historical parameters. In some aspects, the historical operational parameters can reduce trial and error and / or uncertainty regarding expected operational parameters (e.g., expected torque required to operate an interface). Alternatively or additionally, the historical operational parameters can be used to determine and monitor maintenance schedules, and / or predict maintenance needs, improving overall system reliability and preventing unexpected operational challenges during the service life of the subsea equipment item.

[0006] Some aspects described herein include a system that facilitates installation / orientation of subsea assets (e.g., installation / orientation of a subsea Christmas tree) by facilitating objective determination of the position and orientation of the subsea asset during installation. The system can utilize predetermined and tracked orientation information of a submersible ROV and fiducial markers that track the subsea asset to determine the orientation and position of the subsea asset during installation, after installation (e.g., concurrently with the installation operation), and during the useful life of the subsea asset after installation. The determined orientation and position can be used to ensure that the orientation and position of the subsea asset conforms to a predetermined specified orientation and position, and / or to provide an objective measurement of the orientation and position that can be recorded, monitored, and / or used in future operations over time. In some aspects, the determination provides an objective measurement of position and / or orientation that is easily repeatable (e.g., the measurement of position and / or orientation is based on little or no subjective / human observation).

[0007] In an example embodiment, a subsea equipment operation and management system for operating and managing a subsea equipment item is provided. The subsea equipment operation and management system includes a fiducial marker and a camera, the camera being configured as a camera carried by a submersible ROV. The camera is configured to obtain fiducial data from the fiducial marker via a sensor when the fiducial marker is attached to the subsea equipment item. The subsea equipment operation and management system also includes a processor and a memory having instructions stored thereon. The processor and memory are operable to cause the system to perform operations, which may include analyzing the fiducial data to obtain operational information about the subsea equipment item, the operational information including an interface identifier.

[0008] Implementations may include one or more of the following features. In a subsea equipment operation and management system, the sensor is a camera. The user interface display is configured to display a video feed captured by the camera, wherein the user interface display is configured to display enhanced graphics including operational information overlaid on the video feed. The operational information includes operational parameters associated with the interface. The operational parameters include a rated torque value for operating the interface. The operational parameters include historical torque values ​​required to operate the interface during previous operations. The operational parameters include one or more of revolutions, pressure, pH, or volume values. The benchmark data identifies the location of a database storing operational information. The database is located on the submersible ROV. The database is located remotely from the submersible ROV and the equipment item. The submersible ROV is configured to automatically engage the interface using the benchmark data. The user interface includes a prompt to a human operator to initiate automatic engagement of the interface. The user interface includes prompting the human operator to select a benchmark marker from a plurality of benchmark markers within a field of view on the user interface. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0009] In an exemplary embodiment, a method for performing subsea operations using a submersible ROV is provided. The method includes: capturing one or more fiducial markers at a subsea target using an imaging device of the submersible ROV; identifying an interface of the subsea target based on the fiducial markers; analyzing the fiducial data to obtain operational information about the subsea equipment item, the operational information being associated with the interface; and actuating the interface based on the operational information by engaging the submersible ROV with the interface.

[0010] Implementations may include one or more of the following features. The method of identifying an interface for a seafloor target based on a fiducial marker may include determining a position of the interface relative to the fiducial marker. The method of identifying an interface for a seafloor target based on a fiducial marker may include determining operating parameters of the interface. The operating parameters include a rated torque value for operating the interface or a historical torque value for operating the interface. Actuating the interface may include automatically actuating the interface in response to input from a human operator to initiate automatic engagement with the interface, the input being received prior to the submersible ROV engaging the interface. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0011] In an exemplary embodiment, a subsea equipment and management system is provided. The subsea equipment and management system includes: a device for capturing one or more fiducial markers at a subsea target by a submersible ROV; a device for identifying an interface of the subsea target based on the fiducial markers, the submersible ROV being configured to actuate the interface based on information obtained via the fiducial markers.

[0012] Implementations may include one or more of the following features: The subsea equipment and management system information includes operating parameters.

[0013] In an example embodiment, a system includes a processor and a memory having instructions stored thereon, the processor and the memory being operable to cause the system to perform operations including receiving data from a submersible ROV, the data including an image, the image including an alignment fiducial captured by a camera of the ROV. The operations include analyzing fiducial data from the image for the alignment fiducial, the fiducial data including one or more interface identifiers and interface positioning information for each of the one or more interface identifiers. The operations include automatically controlling movement of an arm of the ROV based on the fiducial data to engage a component of the interface based on the interface positioning information.

[0014] Implementations may include one or more of the following features. In the system, operations may further include transmitting the benchmark data to a user interface display at a location remote from the submersible ROV, wherein the user interface display is configured to display a video feed captured by a camera, and the user interface display is configured to display enhanced graphics including operational information overlaid on the video feed. The interface location information includes the location of one or more interfaces relative to the alignment benchmark. The interface location information includes an interface map that stores one or more locations of operable interfaces at a seabed target relative to the alignment benchmark. The benchmark data identifies a database location where operational information is stored. The submersible ROV is configured to automatically engage with the interface using the benchmark data. The user interface includes a prompt to a human operator to initiate automatic engagement of the interface. The user interface includes prompting the human operator to select a benchmark marker from a plurality of benchmark markers within a field of view on the user interface. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0015] In an example embodiment, a method for performing subsea operations using a submersible ROV is provided. The method includes receiving data from the submersible ROV, the data including an image, the image including an alignment fiducial captured by a camera of the ROV; and analyzing fiducial data from the image for the alignment fiducial, the fiducial data including one or more interface identifiers and interface positioning information for each of the one or more interface identifiers. The method also includes automatically controlling movement of an arm of the ROV based on the fiducial data to engage a component of the interface based on the interface positioning information.

[0016] Implementations may include one or more of the following features. The method may include transmitting the benchmark data to a user interface display at a location remote from the submersible ROV, wherein the user interface display is configured to display a video feed captured by a camera, the user interface display being configured to display enhanced graphics including operational information overlaid on the video feed. The interface location information includes the location of one or more interfaces relative to an alignment benchmark. The interface location information includes an interface map that stores one or more locations of operable interfaces at a seabed target relative to the alignment benchmark. The benchmark data identifies a database location that stores the operational information. The database is located on the submersible ROV. The database is located remote from the submersible ROV and the equipment item. The method may include automatically engaging the interface using the benchmark data. The method may include recording operational parameters from the interface during engagement with the interface. The operational parameters are recorded in a database located on the submersible ROV. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0017] In an example embodiment, a subsea equipment operation and management system for operating and managing a subsea equipment item using a submersible ROV is provided. The system includes a fiducial marker configured to be attached to the subsea equipment item. The system also includes a sensor configured to be connected to the submersible ROV, the sensor configured to obtain fiducial data from the fiducial marker. The system also includes a processor and a memory storing instructions, the processor and memory being operable to cause the system to perform operations, which may include recording operational information associated with the subsea equipment item while engaging the subsea equipment item.

[0018] Implementations may include one or more of the following features. In a subsea equipment and management system, operational information includes identification of an interface of a subsea equipment item engaged by a submersible ROV during operation. Based on benchmark data obtained from a benchmark marker, the operational information is associated with the equipment item in a database. The operational information is retrieved from the database based on the identifier of the equipment item. The operational parameters include a torque value for operating the interface or a number of revolutions for operating the interface. The operational information includes submersible ROV parameters, which include position, orientation, and tool configuration. The operational information includes environmental parameters, which include depth, temperature, or pressure. The operational parameters include the time of the operation, the type of operation, and the operational parameters. The operational parameters are recorded in a database located on the submersible ROV. The operational parameters are recorded in a database remote from the submersible equipment item and the submersible ROV. The subsea equipment and management system may include a user interface that displays historical operational information obtained during previous operations associated with the subsea equipment item when the submersible ROV performs an operation associated with the subsea equipment item. The historical operational parameters include a torque value for operating the interface or a number of revolutions for operating the interface. The processor and the memory having instructions stored on the memory are operable to cause the system to prompt a user to initiate a maintenance operation based on historical operational information recorded to a database during previous operations. The processor and the memory having instructions stored on the memory are operable to cause the system to initiate a maintenance operation in response to user input to initiate the maintenance operation. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0019] In an example embodiment, a method of performing subsea operations is provided, comprising capturing one or more fiducial markers at a subsea target using imaging equipment of a submersible ROV, and recording operational information based on fiducial data obtained via the fiducial markers while operating at the subsea target.

[0020] Implementations may include one or more of the following features. In the method, recording includes associating the operational information with a subsea target in a database remote from the subsea target. The database is located on a submersible ROV. The database is located on a server remote from the submersible ROV and the subsea target. Operational parameters include a time of operation, a type of operation, and operational parameters. The operational information includes submersible ROV parameters, including position, orientation, and tool configuration. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.

[0021] In an example embodiment, a subsea equipment operation and management system for operating and managing a subsea equipment item using a submersible ROV is provided. The system includes a fiducial marker and a submersible ROV. The submersible ROV may include a robotic arm and a sensor, and the submersible ROV is configured to obtain fiducial data from the fiducial marker via the sensor. The system also includes a processor and a memory storing instructions, the processor and memory being operable to cause the system to perform operations. The operations may include monitoring the orientation and position of the ROV, calculating the orientation and position of the fiducial marker, and determining a first orientation and position of the subsea equipment item based on the orientation and position of the fiducial marker and the orientation and position of the ROV.

[0022] Implementations may include one or more of the following features. In a subsea equipment operation and management system, the subsea equipment item includes a subsea Christmas tree. The subsea equipment item may include a conductor housing. The subsea equipment item may include a tubing head. The sensor is a machine vision camera. A method may include, in response to determining that an unmounted subsea target is not within a specified orientation, determining a difference between the determined orientation and position and the specified orientation and position. The method may include, in response to determining that the unmounted subsea target is within a specified orientation and position range, issuing an operational instruction to finalize the installation of the subsea target. Calculating the orientation and position of a fiducial marker may include detecting a distance to the fiducial marker, calculating an angle of the fiducial marker relative to a primary fiducial marker, and detecting the orientation of the fiducial marker. Subsea equipment operation and management system operations may include determining whether the unmounted subsea target is within a specified orientation. Subsea equipment operation and management system operations may include, in response to determining that the unmounted subsea target is not within a specified orientation, determining a difference between the determined orientation and position and the specified orientation and position. The method may include executing the operational instruction to adjust the orientation and position of the unmounted subsea target. The method may include sending an operational instruction to at least one of an ROV and a vessel to adjust the orientation and position of an unmounted subsea target. Subsea equipment operations and management system operations may include, after the subsea target has been mounted, determining whether the mounted subsea target is within a specified orientation. Subsea equipment operations and management system operations may include, in response to determining that the unmounted subsea target is not within the specified orientation, determining the determined orientation and position and a difference between the specified orientation and position. Subsea equipment operations and management system operations may include determining a second orientation and position of the subsea equipment item based on the orientation and position of a fiducial marker and the orientation and position of the ROV at a second time after the first orientation and position. Subsea equipment operations and management system operations may include determining the difference between the first orientation and the second orientation of the subsea equipment item. The subsea equipment item is a blowout preventer (BOP). Tracked ROV navigation parameters include at least one of the ROV's depth, altitude, orientation angle, pitch angle, roll angle, yaw angle, and bank angle. Calculating the orientation and position of the fiducial marker may include correlating a detected distance, angle, and orientation of the fiducial marker with one or more tracked ROV navigation parameters. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

[0023] In an example embodiment, a method for performing subsea operations is provided. The method includes capturing one or more fiducial markers at an unmounted subsea target using an imaging device of a submersible ROV; calculating an orientation and position of the fiducial markers; determining an orientation and position of the unmounted subsea target based on the orientation and position of the fiducial markers; and determining whether the orientation and position of the unmounted subsea target is within a specified orientation and position range.

[0024] The devices, systems, and techniques described herein may provide one or more of the following advantages. First, some aspects described herein provide a rich array of operational information to facilitate efficient operation of a submersible ROV. When encountering a subsea target, the operational information array may facilitate faster operation by providing information about the subsea target to an operator (e.g., a human operator, a computer-controlled operator, etc.) in real time.

[0025] Second, some aspects described herein provide for increased automation of individual subsea operations and sequences of operations. These operations and sequences of operations can be performed by an operator simply by clicking or pressing a button at a control interface that facilitates automated operations controlled by the system. Increased operational automation can reduce reliance on individual operators, reduce the training required for each operator, and promote increased reliability of the subsea system, for example, by reducing variation between human operators. Ultimately, the increased reliability facilitated by automated operations can reduce operational risk and limit production downtime and / or costly subsea repairs.

[0026] Third, some aspects reduce maintenance costs for subsea systems by facilitating access to rich equipment history. Each time a subsea target is manipulated, the equipment history can be accurately tracked and / or recorded. For example, historical data from each operation is automatically recorded and stored by the system. During subsequent operations involving the same subsea target, operation, etc., the historical data is readily available to operators and / or ROVs. In some aspects, maintenance can be performed with less time and greater accuracy based on the tracked historical data readily available each time a target is encountered.

[0027] Fourth, some aspects provide improved bookmarking for captured subsea video of indexed operations. Video captured by one or more imaging devices can automatically capture the asset, tool, interface, operating parameters (e.g., how much torque was applied), time, etc., and can record the information for later retrieval. The recorded information can be stored as indexed video and / or can be recorded by any parameter, including by asset, tool, interface, operating parameter, time, etc.

[0028] Fifth, some aspects promote enhanced safety of subsea operations and prevent unintended operational outcomes by providing administrative lockouts on specific interfaces that may be rarely operated. An operator can be notified of the lockout at an interface before being allowed to operate the interface or initiate an automated operation associated with the interface. Alternatively or additionally, interacting with a specific interface or initiating a specific automated operation may require approval from authorized personnel. In some aspects, administrative notifications / confirmations and / or lockouts can reduce operator error and prevent unexpected and / or unintended operational outcomes, further enhancing overall system reliability and performance.

[0029] The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will be apparent from the description and drawings, and from the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Shown is a perspective view of an example system including an ROV that facilitates industrial installation and production.

[0031] Figure 2 An example submersible remotely operated vehicle (ROV) is shown operating on the seafloor.

[0032] Figure 3 Shown Figure 2 A perspective view of the ROV's arm.

[0033] Figure 4 Fiducial markers are shown.

[0034] Figure 5 FIG shows an example interface with fiducial markers.

[0035] Figure 6 An example view of a user interface is shown.

[0036] Figure 7 An example process for subsea installation and production is shown.

[0037] Figure 8 Another example interface including fiducial markers is shown.

[0038] Figure 9 An example process for subsea maintenance and production is shown.

[0039] Figure 10 Another example view of a user interface is shown.

[0040] Figure 11 is another example view of the user interface.

[0041] Figure 12 Another example view of a user interface is shown.

[0042] Figure 13 A perspective view of another example system for subsea exploration and production is shown.

[0043] Figure 14 An example process for subsea installation is shown.

[0044] Like reference numbers in the various drawings indicate like elements. DETAILED DESCRIPTION

[0045] refer to Figure 1, an example system 100 for subsea installation and production is shown. The example system 100 includes a submersible remotely operated vehicle (ROV) 102, one or more subsea targets 104 (such as items of equipment associated with a subsea well), a user interface 106 in communication with the ROV 102, a vessel 108, and / or a server 110. The ROV 102 is navigated to the subsea target 104 and interacts with a fiducial marker, such as fiducial marker 112, associated with the subsea target 104. In some examples, the submersible ROV 102 utilizes the fiducial marker 112 to extract information about the subsea target 104, including position / location information associated with the subsea target 104 or an interface of the subsea target 104 and operating parameters at the subsea target 104. The extracted information is communicated between the ROV 102, the user interface 106, the vessel 108, and / or the server 110 to facilitate the subsea target 104 and / or the operation of the ROV 102 relative to the subsea target 104.

[0046] ROV 102 is controlled by an automated or semi-automated control system and / or a human operator interacting with a user interface 106. In some aspects, user interface 106 and the human operator can be located remotely from ROV 102. For example, user interface 106 and the human operator can be located on a vessel 108 (e.g., a platform, ship, or other vessel) located above the surface 114 of a body of water, or at a remote location on shore (e.g., at the location of server 110). The operator monitors and / or controls ROV 102 via user interface 106 as it moves around a subsea environment (e.g., to and around subsea target 104) and performs operations.

[0047] ROV 102 includes a tool carousel 109 that carries a variety of tools that can be attached and exchanged with each robotic arm 116. In various exemplary aspects, ROV 102 provides a highly stable, powerful work platform suitable for complex deepwater intervention tasks in oil and gas development. System 100 is suitable for performing tasks associated with drilling support and completion activities, including simultaneous vertical and horizontal thrust and high-capacity hydraulic tool interfaces.

[0048] ROV 102 includes two robotic arms 116. Each robotic arm 116 has one or more tools 118 that can be attached to the end of each arm 116. The robotic arms 116 have multiple joints 122, each of which is configured to pivot and / or rotate to enable the robotic arms 116 to be adjustable in multiple degrees of freedom. Each robotic arm 116 has a joint 122 that provides six degrees of freedom (i.e., movement along the X-axis, Y-axis, Z-axis, roll, pitch, and yaw). The joints 122 include: mechanical joints that enable movement between multiple connected segments of the arm 116, one or more actuators for driving the movement of the joints, and in some cases, one or more sensors, such as position and force (linear and / or torque) sensors.

[0049] ROV 102 includes at least one processor 117a and at least one memory 119a, as well as various sensors, such as imaging devices, for navigation and operation of ROV 102. For example, ROV 102 includes a forward-facing camera 130 and a rear-facing camera 132 positioned between two robotic arms 116 (e.g., in the center of ROV 102). ROV 102 includes a rear-facing camera that faces rearward and can be positioned on the opposite (rear) side of ROV 102 similar to forward-facing camera 130. Each robotic arm 116 includes a wrist camera 134 positioned at the wrist of the robotic arm 116.

[0050] Various imaging devices can be streamed in real time to the user interface 106, the vessel 108, and / or the server 110 to facilitate remote operation of the ROV 102. Each of the ROV 102, the user interface 106, the vessel 108, and / or the server 110 includes a processor and memory (e.g., similar to the processor 117a and the memory 119a) for performing the various operations described herein. For example, the user interface 106 includes a processor 117b and a memory 119b, the vessel includes a processor 117c and a memory 119c, and / or the server includes a processor 117d and a memory 119d. The video and / or imaging feeds from each imaging device can be displayed at the user interface 106 individually or together with multiple feeds from the various imaging devices. Alternatively or additionally, the feeds of one, some, or all of the imaging devices are recorded for further reference and analysis. The recorded video feed is stored on memory 119a at the ROV 102, at the vessel 108, at the server 110, and / or at another location (e.g., for later upload to a database and / or memory 119b, 119c, 119d located at the user interface 106, the vessel 108, the server 110, and / or at another location), or transmitted (e.g., in real time) to a remote location (such as the vessel 108, the server 110, or at another location). As described in more detail herein, the video feed can be enhanced with various information as a heads-up display to facilitate monitoring and / or operating the ROV 102.

[0051] In an example, one or more of the imaging devices include a machine vision camera using a combination of software and hardware. For example, the machine vision camera includes (e.g., and / or is directly or indirectly connected to) at least one processor 117 and at least one memory 119, the at least one memory storing instructions for the various subsea operations described herein. In some aspects, the machine vision camera includes a digital sensor and specialized optics to acquire images so that the system provided herein can process, analyze, and measure various characteristics used to make decisions during subsea processes. One or more of the imaging devices provides wide-angle views, standard-angle views, high-definition color output, black and white debug views (e.g., to facilitate tracking and identification), fixed focus and aperture, and adjustable / dimmable lighting. In an example, ROV 102 includes a high-definition color camera, a machine vision camera, a miniature color camera (such as the GREYTIP SHARK subsea camera available from Imenco AS), and a low-light black and white camera (such as the NIGHT SHARK camera available from Imenco AS). In various example aspects, ROV 102 includes lighting to facilitate visibility in low-light or dark environments. ROV 102 includes multiple lights (eg, individually / selectively controllable) to generate a desired light output. In some aspects, ROV 102 includes multiple 24VDC LED lights and multiple 120VAC LED floodlights.

[0052] ROV 102 is navigated to subsea target 104 (e.g., via automatic control and / or input from an operator received at user interface 106), and one or more of the imaging devices is pointed toward target 104. For example, ROV 102 is navigated near subsea target 104 such that forward-facing camera 130 and / or wrist camera 134 are pointed toward target 104. At least one of forward-facing camera 130 and wrist camera 134 is adjusted (e.g., by an operator and / or automatically by ROV 102) until fiducial marker 112 is recognized by at least one of forward-facing camera 130 and wrist camera 134.

[0053] Fiducial markers 112 provide information about subsea target 104. For example, fiducial markers 112 facilitate identification of subsea target 104, such as the name or type of subsea equipment or a specific identifier for the subsea target. For example, fiducial markers 112 facilitate determination that subsea target 104 is a tool holder, a subsea tree, a riser, a tubing head, a conductor casing, an umbilical, a blowout preventer (BOP), a wellhead, a manifold, a jumper, a flowline, etc., and / or an operational interface including hot-swappable ports, valves, other operational interfaces, etc. associated with subsea target 104. Identifying subsea target 104 via fiducial markers 112 facilitates efficient and accurate identification of subsea target 104 and its interfaces, promoting operational efficiency and reliability when performing operations by ROV 102.

[0054] Alternatively or additionally, the fiducial marker 112 facilitates determining operational information associated with the subsea target 104 associated with (e.g., attached to) the fiducial marker 112. In exemplary aspects, the operational information includes operational parameters associated with an interface of the subsea target 104, such as a rated torque value for operating the interface, a rated number of revolutions for operating the interface, pressure, volume, force, voltage, current, pH readings, optical properties, and the like. In some aspects, the operational information includes specified values ​​or expected values. Alternatively or additionally, the operational information includes historical values ​​associated with the subsea target 104 or a particular interface of the subsea target 104 measured during previous operations, or historical averages derived based on previous measurements. For example, the operational information includes one or more historical torque values ​​required to operate the interface during one or more previous operations, which, in some scenarios, may more accurately reflect the expected torque values ​​required to operate the interface. For example, the expected torque values ​​may deviate from the original specified values ​​due to damage or wear during the service life of the interface, or due to environmental or operational characteristics. Historical torque values, such as a torque value required in a previous operation, an average of torque values ​​required in multiple previous operations, or an expected torque value calculated based on historical torque values ​​(e.g., based on a trend in torque values ​​over multiple historical values), can be used to inform the current operation.

[0055] In an exemplary aspect, fiducial marker 112 serves as a bookmark for information about seafloor target 104. For example, information about seafloor target 104 is stored remotely from fiducial marker 112, and fiducial marker 112 provides the location of the information (e.g., in a database stored on ROV 102, vessel 108, server 110, another location, etc.). In an exemplary aspect, information associated with multiple seafloor targets 104 and multiple interfaces for each seafloor target 104 is stored locally on ROV 102. ROV 102's forward-facing camera 130, wrist camera 134, and / or one or more other cameras comprise machine vision cameras that include memory for storing operational information. The fiducial marker is recognized by the machine vision camera and provides an address, bookmark, pointer, etc., to information stored in the machine vision camera's memory. Alternatively or additionally, information about seafloor target 104 is stored in memory elsewhere on ROV 102, on vessel 108, on server 110, and / or at another location remote from ROV 102. The information is communicated to the user interface 106 and / or the ROV 102 (eg, in real time) to facilitate operation of the ROV 102 based on the information.

[0056] In some aspects, the fiducial marker 112 serves as an asset identifier that identifies the seafloor target 104 (such as the name, type, unique identifier, etc. of the seafloor target 104), as well as a data table or data repository associated with the seafloor target 104 and / or an interface to the seafloor target 104. The data table / repository may be retrieved by the ROV 102, an operator, etc., from any number of databases storing the data table / repository (such as at the vessel 108, at the server 110, and / or at another location).

[0057] The information stored in the memory is populated and updated so that accurate information is obtained when identifying a fiducial. For example, information associated with a particular subsea target 104 is populated before, during, or after the subsea target 104 is installed. When the ROV 102 is at a surface location (e.g., on a vessel 108, on shore, etc.), the information can be loaded into the camera's memory or delivered to the ROV 102 via a communication link. In some aspects, fiducial markers 112, which can serve as bookmarks or identifiers for information in a remote database, facilitate accurate and up-to-date information. The fiducial markers 112 can be (e.g., permanently) attached to the subsea target 104, such as at the surface during manufacture of the subsea target 104, and remain on the subsea target 104 while the subsea target 104 is installed at a subsea location. The database storing information about the subsea target 104 (including historical operational information associated with the subsea target 104 and one or more of its interfaces) can be updated during the life of the subsea target 104 while the fiducial markers 112 remain unchanged. For example, as described in more detail herein, operational information including historical operational parameters may be stored in a database at a location associated with a fiducial marker 112 (e.g., associated with an identifier of the fiducial marker 112, associated with a seafloor target 104 identified by the fiducial marker 112, etc.).

[0058] Alternatively or additionally, the fiducial markers 112 themselves provide information about the seafloor target 104. For example, the fiducial markers 112 are encoded to identify the seafloor target 104, its interface(s), and / or operational information. This information can be retrieved by one or more sensors of the ROV 102 (such as its camera), used by the ROV 102, transmitted to the user interface 106 or other components of the system 100, and used to facilitate the operation of the ROV 102.

[0059] The ROV 102 analyzes information from the fiducial markers 112 to facilitate improved operation of the ROV 102 and / or automate operation of the ROV 102. For example, an operator at the user interface 106 utilizes information from the fiducial markers 112 to perform subsea operations, such as tool identification and exchange, operate an interface based on location and operating parameters determined based on the fiducial information, and / or perform other automated processes, as described in more detail below.

[0060] Figure 2 Another example of an ROV 102 operating on the seafloor is shown. The ROV 102 can be monitored and / or controlled by a human operator from a control interface 212 located on a vessel 230 (e.g., a platform, ship, or other vessel) above the surface 214 of a body of water or at a remote land location to fly through the water and perform operations with, for example, items of subsea equipment such as subsea targets 104 ( Figure 1 In various exemplary aspects, the control interface 212 includes one or more features of the user interface 106 described above. The ROV 102 includes two robotic arms 116 with a tool attached to the end of each arm 116.

[0061] The control interface 212 is communicatively coupled to the submerged ROV 102. In some cases, the ROV 102 is connected to the control interface 212 via a tether management system (TMS) 207, which is also at least partially submerged and supported by the vessel 230. An operator monitors and / or controls the ROV 102 to navigate the subsea environment and perform operations via the control interface 212.

[0062] The control interface 212 at the container 230 is connected to the TMS 207 via an umbilical cable 226. By providing more or less tether cables 228 extending between the TMS 207 and the ROV 210, the TMS 207 is extendable and retractable. The umbilical cable 226 and the tether cable 228 transmit power and data between the control interface 212 and the TMS 207 and the ROV 102. In some aspects, the ROV 102 is connected to one or more system components (such as the TMS 207) via the fiber optic Gigabit Ethernet backbone of the digital telemetry system (DTS). The data transmitted on the fiber optic Gigabit Ethernet backbone of the umbilical cable 226, the tether cable 228 and the DTS include control signals and other control communications to the actuators of the TMS 207 and the ROV 102, output signals from the TMS 207 and the ROV 102, and other data. The DTS includes a real-time computer (RTC), which is connected to the system via an optical fiber path that can implement rapid spanning tree protocol redundancy.

[0063] The ROV 102, in turn, provides power (e.g., electrical power and / or hydraulic power) and exchanges data with the tool through the robotic arm 116, thereby enabling an operator to actuate and operate the tool via the control interface 212. The tool and the ROV 102 communicate data via the robotic arm 116, including control signals to actuators in the tool, outputs from sensors in the tool, and other data, which in turn may be communicated using the control interface 212.

[0064] Each manipulator arm 116 has a tool changer 120 that can be operated to connect to various tools carried by the tool carousel 109. There are many different tools that can be used with the ROV, including torque tools, cutters, hot-swap tools, and other tools. The tool changer 120 is mounted at the end of the manipulator arm 116 and operates as an interface between the arm 116 and the selected tool. The tool changer 120 enables the ROV 102 to change tools 18 on the seafloor without external assistance.

[0065] As discussed in more detail below, an operator can operate the robotic arm 116 via the control interface 212 and the user interface 106 to engage the tool carousel 209 to pick up and exchange tools at the end of the robotic arm 116. The tool carousel 209 can be on the ROV 102 (e.g., Figure 1 ), on the TMS 207 (e.g., as shown in the tool carousel 109), Figure 2 ), in two locations, and / or elsewhere. In some aspects, the ROV 102 can automatically select a tool from the tool carousel 209, or the operator can use the control interface 212 to select a specific tool or tool holder from a menu. The tool carousel 209 moves the tool holders to present the tool holders for easy storage and pickup of one or more tools by the robotic arm 116. In some examples, the tool carousel 209 has tool holders arranged on a disk of the tool carousel 209 that rotates on its central axis to selectively align the tool holder to be presented.

[0066] The tool carousel 209 stores a plurality of subsea tools that can be operated by the robotic arm 116 of the ROV 102. The tools may include cutters, such as 1-1 / 2" hard wire cutters, 2" soft wire cutters, and 3" hard wire cutters. The tools may include hub cleaning tools, such as 5-1 / 2" brushes, 18-3 / 4" brushes, dredges, and water jets. The tools may include washers, such as 5-1 / 2" washers and 18-3 / 4" washers. The tools may include grinders, water jets, paddle valve turning tools, dual port hot swappers, and pH meters. The tools may include jaws, such as parallel jaws, four finger jaws, three finger jaws, and jumbo (11") jaws. Tools can include various hot swappers, such as dual-port hot swappers, high-flow hot swappers, suction hot swappers, seal test hot swappers, 4.5K hot swappers with isolation valves, 15k hot swappers with intensifiers and isolation valves, and suction hot swappers (e.g., 500 psi). Tools can include torque tools, such as valve turning tools, 1-2 level torque tools, and 3-4 level torque tools.

[0067] In some aspects, the tool carousel 209 stores multiple subsea tools and includes one or more hot-swappable containers for flushing and pressure verification for use by the robotic arms 116. This tool storage arrangement enables rapid, automatic tool exchange at the touch of a button from the control interface 212 or the user interface 106. The tool carousel 209 can be rotated through a full circle to any angular position to present the tool to the front center of the ROV 102 for extraction by any of the robotic arms 116. To remove the tool, one of the robotic arms 116 automatically latches the tool and engages all applicable hydraulic, electrical, and communication connections. The robotic arm 116 then unlocks the tool, rotates it out of the holder, and positions it in front of the ROV 102 for use by the operator.

[0068] The robotic arm 116 is intuitively controlled by a controller (in first-person mode or articulated mode) or a master controller at the control interface 212, or can be directly controlled by the operating system in an automated sequence. Feedback on the tool and robotic arm 116 is provided on a console touch screen (e.g., user interface 106) and can be superimposed on the monitor wall video feed as a heads-up display (HUD) at the control interface 212 and user interface 106.

[0069] Figure 3An end view of one of the robotic arms 116 of the ROV 102 is shown. The robotic arm 116 has a plurality of pivot and rotation joints 122 that enable the robotic arm 116 to be moved and controlled in multiple degrees of freedom. An operator can control the robotic arm 116 at a control interface 212 to manipulate the arm to a desired orientation. In some cases, the joints 122 in the robotic arm 116 collectively provide six degrees of freedom (i.e., movement along the X-axis, Y-axis, Z-axis, roll, pitch, and yaw). Each joint 122 includes a mechanical joint that enables movement between connected segments of the arm 116, one or more actuators for driving the movement of the joint, and in some cases, one or more sensors, such as position and force (linear and / or torque) sensors.

[0070] The robotic arm 116 has a wrist camera 134 positioned at the wrist of the robotic arm 116. The wrist camera 134 can have a lens 335 that is directed above the tool changer 120 to provide an imaging area that shows a portion of the tool changer 120 and is not blocked by the tool changer 120. The wrist camera 134 streams real-time to the user interface 106, the vessel 108, and / or the server 110 to facilitate remote operation of the ROV 102. In some aspects, the wrist camera 134 is a machine vision camera that uses a combination of software and hardware to inspect and analyze objects (e.g., reference targets) in the imaging area of ​​the wrist camera. The ROV 102 is navigated to the seafloor target 104 via controls at the user interface 106 and / or the control interface 212, and / or through automated sequences initiated and / or monitored by an operator via the user interface 106 and / or the control interface 212. Robotic arm 116 is articulated to a desired position, wherein wrist camera 134 is guided to a seafloor target, such as seafloor target 104. Wrist camera 134 is adjusted until a fiducial marker is recognized by wrist camera 134.

[0071] refer to Figure 4 , an example fiducial marker 412 is shown. In various example aspects, the fiducial markers described herein for subsea exploration and operations include one or more features of fiducial marker 412. In example aspects, fiducial marker 412 is a unique tag mounted to a subsea target to identify the subsea target and provide operational information about each target to ROV 102. Fiducial marker 412 can be positioned at various subsea targets to enable subsea operations at multiple subsea locations.

[0072] The fiducial marker 412 includes a machine-readable marker 416 that can be read by an imaging device of a submersible ROV. For example, the fiducial marker 412 includes a barcode, a quick response "QR" code, an augmented reality code (e.g., an augmented reality QR code), or another type of machine-readable marker.

[0073] Fiducial marker 412 includes a human-readable marker 414, such as an alphanumeric code 414. Component 414 can facilitate visual identification by a human operator and can provide an indication of a subsea asset or facilitate retrieval of operational information independent of analysis of machine-readable marker 416. In some aspects, human-readable marker 414 provides redundancy by providing an additional mechanism for identifying a subsea target or information related to a subsea target. In some aspects, human-readable marker 414 and machine-readable code include some or all of the same information (e.g., in different formats). In some aspects, human-readable marker 414 includes different information than machine-readable code 416.

[0074] Alternatively or additionally, the fiducial marker 412 includes one or more information stores that can be read or detected by the ROV 102. For example, the fiducial marker 412 includes an RFID tag, a BLE tag, an NFC tag, etc. that stores information about the seafloor target 104 and can be detected by the ROV 102. In some aspects, one or more components of the fiducial marker 412 facilitate detection by the ROV 102 without a direct line of sight or other visual image detection of the fiducial marker 412. Such components can facilitate navigation of the ROV 102 to obtain a visual line of sight (e.g., to obtain a visual line of sight to a visual component of the fiducial marker 412) and / or can facilitate information transfer without a visual line of sight.

[0075] Fiducial marker 412 provides information about subsea target 104. For example, fiducial marker 412 identifies the subsea target as a tool holder, an operating interface including a hot-swap port, a valve, or other subsea target based on the information provided at fiducial marker 412 to facilitate operation of ROV 102. Alternatively or additionally, fiducial marker 412 serves as a bookmark for one or more stores of information about subsea target 104, where the information is stored elsewhere, such as on ROV 102 or server 110 (e.g., in an indexed reference table). For example, fiducial marker 412 is identified by one or more of the imaging devices of ROV 102, and the information about the subsea target is stored at server 110 and transmitted to user interface 106 and / or ROV 102 to facilitate operation of ROV 102 based on the information.

[0076] Figure 5An example subsea target 500 is shown that includes a fiducial marker 512. In various example aspects, subsea target 500 includes one or more features of subsea target 104 described above. The subsea target includes operable control interfaces, such as hot swap ports 540a, 540b, valve controls 543a, 543b, 543c, and pressure ports 545a, 545b, 545c, 545d, 545e. Fiducial marker 512 is located on subsea target 500 at a fixed, predetermined position and orientation relative to the control interfaces. Thus, the relative positions of the operable controls of interface 500 relative to fiducial marker 512 are known. The known position of fiducial marker 512 can be used to guide the operation of ROV 102 and its robotic arm 116 to operate the controls and / or to confirm that the correct operable controls are engaged. In some instances, the fiducial marker 512 provides a 2D or 3D positional location including a horizontal distance, a vertical distance, and / or an elevation distance from each operable control. Alternatively or additionally, the fiducial marker provides a vector associated with the operable control, such as, for example, the distance and direction (e.g., provided by angle 554) between the fiducial marker 512 and the operable control 543a. In this way, the ROV can accurately locate the operable control 543a relative to the fiducial marker 512 to facilitate manipulating its arm to engage the operable control 543a. The relative positioning information can also be used to confirm the desired operable connection being manipulated, thereby enhancing operational reliability.

[0077] For example, the position of valve control 543a relative to fiducial marker 512 is predetermined (e.g., at the time of initial manufacture or upon installation of fiducial marker 512). When one or more of the above-described imaging devices reads fiducial marker 512, a vertical distance 550 and a horizontal distance 552 from fiducial marker 512 to valve control 543a are determined (e.g., retrieved from a database / lookup table stored on ROV 102, vessel 108, server 110, and / or another location). Alternatively or additionally, when fiducial marker 512 is read by one or more of the above-described imaging devices, an angle 554 between fiducial marker 512 and valve control 543a is determined.

[0078] In operation, the ROV 102 travels near the panel 501 of the seafloor target 500, and one or more of the ROV's imaging devices are directed at the panel 501 to read the fiducial marker 512. In response to the fiducial marker 512 being read, the fiducial marker 512 (and / or locally stored memory, server 110, etc.) provides relative position information (e.g., vector, vertical distance, horizontal distance, relative angle) for each or more of the operable controls at the interface 500. The valve control 543a can be selected by the operator, and a tool (e.g., a torque tool) at the end of the robotic arm 116 can engage the valve control 543a and operate the valve control 543a based on the known relative position information from the fiducial marker 512.

[0079] Identification of the position of the operable interface relative to the fiducial marker 512 can facilitate automated or semi-automated navigation and operation of the ROV with limited human operator intervention. Upon reading the fiducial marker 512 and determining the relative positioning information, the ROV can automatically navigate to the position and move the robotic arm 116 to engage the identified operable interface without operator intervention in the navigation of the robotic arm 116. Thus, the position information determined from the fiducial marker 512 can facilitate efficient engagement with the operable interface and enhance the reliability of manipulating the desired operable interface.

[0080] In some example aspects, the ROV stores relative positioning information of the fiducial marker 512 and one or more operable interfaces (such as operable interface 540, operable interface 543, and operable interface 545). For example, the relative positioning information associated with the fiducial marker 512 and the panel 501 is preloaded into the memory of the ROV. Upon identifying the fiducial marker 512, the ROV can retrieve the relative positioning information associated with the fiducial marker 512, such as by retrieving the distance and angle at the position of the operable interface 543a relative to the fiducial marker 512. In this way, the fiducial marker 512 can be used as a beacon or anchor position from which the relative positions of the operable interfaces of the panel 501 can be mapped and navigated. In some aspects, this configuration can facilitate simplified operation by utilizing position information already stored locally at the ROV. The local memory of the ROV can include position information for several fiducial markers and panels 501 for different configurations, such as some or all fiducial markers and panels located in a particular seabed field or area. Alternatively or additionally, the position information is stored at a remote memory location, such as on a surface vessel, a remote server, etc., and transmitted to the ROV (eg, in real-time) to facilitate operation of the ROV.

[0081] In an exemplary aspect, panel 501 includes a single fiducial marker 512, and relative positioning information of multiple operable interfaces is mapped based on the single fiducial marker 512. Alternatively or additionally, panel 501 includes multiple fiducial markers 512. The relative positions of one or more operable interfaces are mapped to a first fiducial marker, and the relative positions of one or more different operable interfaces are mapped to a second fiducial marker. In some aspects, each operable interface is associated with a single fiducial marker, and / or each operable interface is associated with its own unique fiducial marker.

[0082] Figure 6 An example user interface 606 is shown that includes an ocean floor target 600 with a fiducial marker 612 in the view. In various example aspects, the ocean floor target 600 and the user interface 606 include one or more features of the ocean floor target 104 and the ocean floor target 500 and one or more features of the user interface 106, e.g., as described above. In some aspects, the view shown on the user interface 606 is received from a video output of a forward-facing camera on the ROV 102, such as the forward-facing camera 130. The user interface 606 is presented to an operator or manager of the ROV 102 and is used to monitor, control, and / or manage the operation of the ROV 102. In some aspects, the operator or manager can observe the automated operation of the ROV 102 from various imaging devices, including, for example, Figure 6 Alternatively or additionally, the automated operation of the ROV 102 may be interrupted or controlled by an operator.

[0083] ROV 102 is navigated to panel 601 of subsea target 600, and one or more of the ROV's imaging devices (e.g., forward-facing camera 130) are directed to panel 601 so that fiducial marker 612 is read. In response to fiducial marker 612 being read, fiducial marker 612 (and / or locally stored memory, server 110, etc.) provides information about subsea target 600, including interface information such as the type of control interface present on panel 601, relative position information (e.g., vector, vertical distance, horizontal distance, relative angle) of one or more of the operable interfaces at panel 601, operating parameters of one or more of the operable interfaces at panel 601, historical operating parameters of one or more of the operable interfaces at panel 601, and other relevant information about subsea target 600.

[0084] User interface 606 displays a real-time video stream of the operation of ROV 102. For example, when ROV 102 navigates to subsea target 600, user interface 606 displays a view from forward-facing camera 130. The view from forward-facing camera 130 includes at least a portion of robotic arm 116 and / or shows the orientation, movement, and operation of robotic arm 116 in the real-time video. The real-time video displayed at user interface 606 displays information at various times throughout the real-time video, and the displayed information is based on relevant information about the operation of ROV 102 at the time the information is displayed. For example, user interface 606 displays ROV 102 navigation information, including depth 613, altitude 615, and orientation angle 617, which facilitates subsea navigation of ROV 102 by tracking and displaying the position of ROV 102 in real time. As ROV 102 moves, the navigation information is tracked and updated in real time, and the accurate tracking and display of the navigation information facilitates improved navigation and control of ROV 102.

[0085] When fiducial marker 612 is read, user interface 606 displays information about subsea target 600. For example, user interface 606 displays information about subsea target 600, its location, information about one or more operable interfaces on subsea target 600, and relative positioning information between fiducial marker 612 and the one or more operable interfaces. For example, fiducial marker 612 provides information about a valve on subsea target 600. User interface 606 displays information 618 about the valve, such as the valve name, valve type, valve revolutions, valve operating torque, and valve damage torque. In another example, fiducial marker 612 simultaneously and / or independently provides information 618 about a hot-swap port. User interface 606 displays information about the hot-swap port, including the hot-swap port name, hot-swap port type, volume, operating pressure, maximum pressure, and damage pressure. User interface 606 displays this information as a prompt on user interface 606 and / or as an overlay on information on user interface 606. In various exemplary aspects, user interface 606 includes an association between fiducial marker 612 and the information or prompt. For example, the user interface enhances the video feed to highlight the fiducial marker 612, such as with a colored box or other indicator surrounding or overlaying the fiducial marker 612. Alternatively or additionally, the prompt includes an indicator or supplemental designation that visually indicates the association between the fiducial marker 612 and the information provided by the prompt.

[0086] Figure 7An example automated subsea process 700 for subsea installation and production is shown. Process 700 is used to monitor, control, and / or manage the operation of ROV 102. In some aspects, an operator or manager can observe the automated operation of process 700 at a user interface (such as user interface 106 or user interface 606). In other aspects, the automated operation of process 700 can be interrupted or controlled by an operator. In various example aspects, process 700 includes one, some, or all of the following operations.

[0087] Process 700 includes an operation 701 of navigating ROV 102 to a subsea target. In some aspects, navigation of ROV 102 is automated, and the subsea target location is provided to ROV 102 so that ROV 102 can navigate to the subsea target. In some aspects, navigation of ROV 102 can occur with the supervision and occasional intervention of an operator. Step 701 can include navigation from a vessel to a subsea target or from one subsea target to another subsea target.

[0088] Process 700 includes an operation 703 of adjusting one or more imaging devices to capture one or more fiducial markers at a seafloor target. Adjustment of the one or more imaging devices includes movement of the ROV 102, movement of the robotic arm 116, movement of the imaging device (e.g., tilt, rotation, extension), focus and / or lighting of the imaging device (e.g., turning a light on, turning a light off, changing from a color view to a black and white view, etc.) to facilitate an improved view of the one or more imaging devices. Adjustment of the imaging device may continue automatically until the one or more fiducial markers are identified and captured.

[0089] Process 700 includes an operation 705 for analyzing the fiducial marker. The fiducial marker serves as a bookmark for information about the seafloor target, and the information is stored remotely from the fiducial marker. The fiducial marker provides one or more information that can be used to determine the location of related information (such as an identifier of the seafloor target). The identified location is, for example, in a database stored on ROV 102, vessel 108, server 110, or the like. The fiducial marker is recognized by the machine vision camera and provides the address, bookmark, pointer, identifier, etc. of the seafloor target to information stored in the memory of the machine vision camera on ROV 102. Alternatively or additionally, the information about the seafloor target is stored elsewhere on ROV 102, on vessel 108, on server 110, and / or in a memory remote from ROV 102. The information is transmitted to user interface 106 and / or ROV 102 (e.g., in real time) to facilitate operations of ROV 102 based on the information.

[0090] Process 700 includes an operation 707 of identifying a subsea target based on analysis of the fiducial markers. For example, the fiducial markers 112 facilitate determining whether the subsea target 104 is a tool holder, a subsea tree, a riser, an umbilical, a BOP, a wellhead, a manifold, a jumper, a flowline, etc., and / or an operational interface including hot-swappable ports, valves, etc. associated with the subsea target 104. In some aspects, the fiducial markers serve as asset identifiers that identify the subsea target (such as the name, type, unique identifier, etc. of the subsea target), as well as data tables associated with the subsea target and / or its interfaces. The ROV 102, an operator, etc., can retrieve the data tables from any number of databases storing the data tables. Identifying the subsea target 104 via the fiducial markers 112 facilitates efficient and accurate identification of the subsea target 104 and its interfaces, promoting operational efficiency and reliability when performing operations by the ROV 102.

[0091] Process 700 includes an operation 709 of identifying one or more interfaces and corresponding interface locations of a fiducial marker on the panel relative to a seafloor marker based on analysis of the fiducial marker. The fiducial marker provides information about the seafloor target. For example, the fiducial marker is encoded to identify the seafloor target 104, its interface(s), and / or operational information. In response to the fiducial marker being read, the fiducial marker (and / or locally stored memory, server 110, etc.) provides relative position information (e.g., vector, vertical distance, horizontal distance, relative angle) for one or more of the operable controls at the interface.

[0092] In some exemplary aspects, relative positioning information of a fiducial marker and one or more operable interfaces is stored by the ROV. For example, the relative positioning information is preloaded into the ROV's memory. Upon identifying a fiducial marker, the ROV can retrieve the relative positioning information associated with the fiducial marker, such as by retrieving the distance and angle of the operable interface relative to the fiducial marker's location. The fiducial marker 512 can be used as an anchor point from which to map and navigate the relative positions of the operable interfaces of a subsea target.

[0093] Process 700 includes an operation 711 of determining one or more operations to be performed at an interface location. Each of the one or more operable interfaces is operable by ROV 102, and the operations may be automatically predetermined before navigating to a subsea target, or may be selected upon encountering the subsea target. Operation 711 provides for determining an operation or list of operations that may be performed at the subsea target based on the one or more operable interfaces present at the subsea target.

[0094] Process 700 includes an operation 713 of identifying one or more tools to perform the determined operation or list of operations. For example, at operation 711, one of the operations includes determining that a valve control operation should be performed, wherein a valve is rotated to adjust a valve position (e.g., to adjust pressure, to operate between an open and closed configuration, etc.). Operation 713 determines that the torque tool performs the valve control operation.

[0095] Process 700 includes an operation 715 of determining whether at least one of the robotic arms has the determined tool. For example, operation 715 determines whether one of the robotic arms has a torque tool that is compatible with the valve control. If the robotic arm does not have the determined tool, process 700 continues at operation 717 by picking up the determined tool (e.g., from a tool carousel).

[0096] At operation 719, if at least one of the manipulators has the determined tool, the tool is navigated to the interface. Identification of the position of the operable interface relative to the fiducial marker facilitates automatic or semi-automatic navigation and operation of the ROV with limited human operator intervention. Without operator intervention in the navigation of the manipulator, the ROV automatically navigates to a location and moves the manipulator to engage the identified operable interface. At operation 721, the operation is performed at the interface by the manipulator and the tool. At operation 723 (which may occur simultaneously with operation 721), operating parameters are recorded during the operation. For example, if a torque tool applies a sensed number of revolutions, a sensed amount of torque, operation 723 tracks and records the operating parameters as they occur.

[0097] Figure 8 Another example seafloor target 800 is shown in a view on user interface 806, having fiducial markers 812a and 812b positioned on panel 801 of seafloor target 800. In various exemplary aspects, seafloor target 800 includes one or more features of seafloor target 104 and seafloor target 500 described above. Seafloor target 800 includes an operable control interface, such as hot swap ports 840a and 840b and pressure ports 845a, 845b, 845c, and 845d. Fiducial markers 812a and 812b are each located at a fixed, predetermined position and orientation on seafloor target 800 relative to the control interface. Therefore, the relative position of operable controls of seafloor target 800 relative to at least one of fiducial markers 812a and 812b is known. The known positions of fiducial markers 812a and 812b can be used to guide ROV 102 and its robotic arm 116 to operate the operable controls. In some examples, the fiducial markers 812a, 812b provide a 2D location that includes a horizontal distance and a vertical distance from each operable control.

[0098] like Figure 8 As shown, panel 801 includes multiple benchmarks 812a and 812b. Each of benchmarks 812a and 812b can be read by one or more imaging devices described herein, and each benchmark 812a and 812b can be targeted by the imaging device. Each benchmark 812a and 812b can store different information about the seabed target 800 and can be independently targeted and selected for different operations. For example, benchmark 812a is the target benchmark for a particular operation. Benchmark 812a is highlighted or otherwise designated on user interface 806a, and information associated with benchmark 812a is presented on user interface 806. For example, the video on user interface 806 is enhanced with a green box (arrow, line, etc.) at the target benchmark 812a, while one or more other benchmarks (e.g., benchmark 812b) are enhanced with a red box or without any highlighting. In some aspects, enhancing multiple benchmarks with different indicators can be used to confirm the detected benchmarks and indicate which benchmark is selected. For example, the presence of an indicator can be used to indicate that a reference has been detected (e.g., and read). A green box (solid line) around reference 812a indicates that reference 812a has been detected and read, and that reference 812a is targeted. For example, the enhanced information overlaying the video feed is associated with the target reference 812a. The view of the user interface 806 includes enhanced information 821 overlaying the video feed. The enhanced information 821 includes an interface identifier 821a associated with the target reference and operational information 821b related to the interface. In some aspects, the enhanced information includes an indicator that visually associates the information with the target reference 812. For example, the target reference 812a is surrounded by a colored box (e.g., green), and the enhanced information 821 is surrounded by the same colored box, with some or all text displayed in the same color (e.g., green) as the target reference 812. This visual association can quickly indicate to the viewer which interface / reference the enhanced information is associated with.

[0099] Alternatively or additionally, a target reference (e.g., reference 812a) can be selected by an operator or automatically selected via an automated protocol for operation associated with the target reference's information. The red box (solid line) around reference 812a indicates that reference 812a has been detected and read, and that reference 812a is targeted. For example, the enhanced information overlaying the video feed is not associated with reference 812b, and reference 812b can be used to be targeted (e.g., by a human operator selecting reference 812 via user interface 806). Alternatively or additionally, the user interface includes enhanced information associated with a non-target reference 812b. The enhanced information includes an indicator that visually associates the information with the non-target reference 812b. For example, the non-target reference is surrounded by a colored box (e.g., red), and the enhanced information is surrounded by the same colored box, with some or all text displayed in the same color (e.g., red) as the target reference 812. Different visual associations can facilitate simultaneous display of enhanced information associated with different references 812a, 812b.

[0100] The video feed at the user interface 806 may be enhanced with various information as a heads-up display to facilitate monitoring and / or operating the ROV 102. For example, the information includes information associated with the position / location of the ROV 102, such as depth 860, altitude 861, heading 862, pitch, roll, yaw, and bank information 864, which is continuously updated in real time on the video feed displayed at the user interface 806. The video feed at the user interface 806 is also enhanced with an operation number 870, time 871, and date 872, which are continuously updated in real time on the displayed video feed.

[0101] Automated operations are performed at subsea target 800 in a manner similar to the automated operations described above. The automated operations include navigating robotic arm 116 and tool 118 to engage operational controls at panel 801. While performing the operations, the automated processes and operations identify, maintain, and / or extract interface and operational history data. For example, the system can record operational information associated with subsea target 800 while engaging operational controls of subsea target 800. Simultaneously recording operational information can be accomplished using multiple sensors and tools (e.g., tool 118) that engage operational controls of subsea target(s) (e.g., subsea target 800). The operational parameters are stored on a memory device at ROV 102, vessel 108, server 110, and / or another location (e.g., for subsequent upload to a database located at vessel 108, server 110, another location, etc.), or (e.g., physically) transmitted to a remote location, such as vessel 108, server 110, etc.

[0102] Fiducial markers 812a and 812b facilitate determining operational information associated with the subsea target 800 to which fiducial markers 812a and 812b are attached. In an exemplary aspect, the operational information includes operational parameters associated with one of the control interfaces at the subsea target 800, such as a rated torque value for operating the interface, a rated number of revolutions for operating the interface, pressure, volume, force, voltage, current, pH readings, optical characteristics, and the like. The operational information is obtained during operation by one or more sensors on the ROV 102, tool 118, and / or robotic arm 116. For example, the ROV 102, tool 118, and / or robotic arm 116 may include imaging equipment, accelerometers, pH meters, gyroscopes, pressure sensors, torque sensors, flow rate sensors, and the like. Each sensor on the ROV 102, tool 118, and / or robotic arm 116 collects, tracks, and records signals obtained during operation at the control interface. The signals collected from the sensors are collected, indexed, recorded, and maintained as historical operational information of the control interface and the subsea target.

[0103] In some aspects, the operational information includes specified values ​​or expected values. Alternatively or additionally, the operational information includes historical values ​​measured during previous operations associated with the seabed target 800 or a specific interface of the seabed target 800, or historical averages obtained based on previous measurements. For example, when the torque tool applies a sensed number of revolutions or a sensed amount of torque, the system tracks and records the operational parameters (e.g., when the operational parameters occur / occur simultaneously with the operation). The operational information includes historical torque values ​​required to operate the interface during previous operations, which in some scenarios can more accurately reflect the expected torque values ​​required to operate the interface because the torque values ​​may deviate from the original specified values ​​due to wear during the life of the interface or due to environmental or operational characteristics. Each operational parameter tracked, recorded, and displayed can include one or more of the interface or target, the time of operation, the type of operation, and the operational parameter. The operational parameters are indexed together to include one or more of the interface or target, the time of operation, the type of operation, and the operational parameter.

[0104] In some aspects, the operational information includes submersible ROV parameters, including position, orientation, and tool configuration. Position information includes the location of the ROV 102 at the time the parameters were recorded, such as depth, altitude, heading, or a combination thereof, so that the position information can be tracked and traced when recording the operational parameters. Orientation information includes pitch, roll, yaw, and bank information to accurately represent the orientation of the ROV 102 when recording the operational parameters. Tool configuration information includes the type of tool used to perform the operation, the size of the tool used, and to which manipulator the tool is connected. Operational information includes environmental parameters at the operating location, including depth, temperature, and / or pressure.

[0105] The operational information also includes identification of the interfaces of the subsea equipment items engaged by the submersible ROV 102 during operation. For example, the operational information includes identification of interfaces, such as one or more hot-swap ports, valve controls, pressure ports, etc. The operational information is recorded by each specific interface, so that interface-specific operational information is stored and recorded. For example, a subsea target may include multiple interfaces, such as multiple hot-swap ports, multiple valve controls, and multiple pressure ports. Each hot-swap port, valve control, and pressure port that is operated is tracked, and the operational information is automatically recorded and segmented by each interface.

[0106] Based on benchmark data obtained from one or more benchmark markers (e.g., benchmark markers 812a, 812b) at seafloor target 800, operational information is associated with an equipment item in a database (e.g., a database located on ROV 102, vessel 108, server 110, another location, etc.). The operational information can be retrieved from the database based on an identifier, such as at least one of benchmark markers 812a, 812b, of the equipment item. As described above, benchmark markers 812a, 812b are located at a fixed, predetermined position and orientation relative to the control interface on seafloor target 800. Operations performed at the control interface are recorded in real time during operation to capture operational parameters recorded to the database based on the specific control interface at seafloor target 800. Thus, operational parameters measured at the operable controls of interface 800 are known and recorded as historical operational parameters specific to seafloor target 800, and the historical operational parameters of seafloor target 800 can be accessed via one or more benchmark markers 812a, 812b.

[0107] Retrieval of historical operational information can be facilitated by reading fiducial markers 812a, 812b. When fiducial markers 812a, 812b are read (e.g., automatically or via one or more subsequent operations based on the information obtained from reading the fiducial markers), known operational information for controlling the interface is accessed, and fiducial markers 812a, 812b serve as bookmarks for operational information for the particular seafloor target 800 to which fiducial markers 812a, 812b are attached. In response to reading fiducial markers 812a, 812b, historical operational information for the seafloor target 800 stored in a database (e.g., a database located at ROV 102, vessel 108, server 110, etc.) is transmitted to user interface 806 for display and to ROV 102 for operation.

[0108] Historical operation information can be used to inform ROV 102 of previous operations at an operable control interface. For example, hot swap port 840a has been previously operated and has had low voltage during the last five operations at hot swap port 840a. Previous operations at hot swap port 840a are recorded in a database and associated with seafloor target 800 via at least one of fiducial markers 812a and 812b. ROV 102 navigates to seafloor target 800, and at least one of fiducial markers 812a and 812b is read by an imaging device of ROV 102. One or more operations are determined based on the control interfaces mapped on seafloor target 800 in association with fiducial markers 812a and 812b. In addition to mapping the relative position of each control interface at seafloor target 800, reading fiducial markers 812a and 812b prompts the transfer of historical operation information of seafloor target 800 stored in the database to user interface 806 and ROV 102. Thus, the operator and ROV 102 are presented with the previous operation at hot-swap port 840a, which previously had a low pressure reading. In some aspects, a pressure reading is provided at user interface 806 to inform the operator of an expected pressure range based on historical pressure results at hot-swap port 840a at subsea target 800. Thus, historical operational information accessed from the database via fiducial markers 812a, 812b can facilitate efficient engagement and enhanced operation of operational interfaces by providing expected operational results based on historical data specific to each subsea target (e.g., subsea target 800) and each control interface (e.g., hot-swap port 840a).

[0109] The historical operating parameters can facilitate improved operation at the identified interface(s) by providing the system with information about parameters that have been previously encountered at the identified interface(s). The historical operating parameters can be provided in real time during operation to facilitate improved operational efficiency by providing the historical parameters. In some aspects, the historical operating parameters can reduce trial and error and / or uncertainty regarding expected operating parameters (e.g., expected torque required to operate the interface).

[0110] Historical operating parameters facilitate enhanced monitoring and maintenance of assets. In some aspects, implementation of maintenance protocols is facilitated based on readily accessible historical operating parameters for a particular asset, interface, or the like. For example, automated maintenance protocols can be implemented to efficiently, effectively, and predictably initiate and / or perform maintenance operations based on known historical operating information for one or more subsea targets. The maintenance protocol can be automatically executed by ROV 102, which has at least one processor and memory onboard or in remote communication with ROV 102, with instructions stored on the memory operable to cause the system to prompt a user to initiate a maintenance operation. The maintenance protocol initiates a prompt based on historical operating information recorded to a database during one or more prior operations, such as a measured parameter that deviates from an expected or specified parameter by a threshold, the number of operations performed on the asset, the age of the asset, or combinations thereof. A user can initiate an operation at a user interface (e.g., user interface 806), implement a recommended maintenance operation, or perform further inspection and / or monitoring based on the recommended maintenance.

[0111] Figure 9 An example automated subsea process 900 for subsea maintenance and production is shown. Process 900 is used to monitor, control, and / or manage the operation of ROV 102. In some aspects, an operator or manager can observe the automated operation of process 900 at a user interface (such as user interface 106, user interface 606, or user interface 806). In other aspects, the automated operation of process 900 can be interrupted or controlled by an operator.

[0112] Process 900 includes an operation 901 of navigating an ROV 102 to a subsea target. In some aspects, navigation of the ROV 902 is automated, and the subsea target location is provided to the ROV 102 so that the ROV 102 can navigate to the subsea target. In some aspects, navigation of the ROV 102 can occur under the supervision and / or intervention of an operator. Operation 901 can include navigating from a vessel to a subsea target or from one subsea target to another subsea target.

[0113] Process 900 includes an operation 903 of adjusting one or more imaging devices to capture one or more fiducial markers at a seafloor target. Adjustment of the one or more imaging devices may include movement of the ROV 102, movement of the robotic arm 116, movement of the imaging device (e.g., tilt, rotation, extension), focus of the imaging device, and / or adjustment of lighting (e.g., turning on a light, turning off a light, changing from a color view to a black and white view, etc.) to facilitate an improved view of the one or more imaging devices. Adjustment of the imaging device may continue automatically until the one or more fiducial markers are identified and captured.

[0114] Process 900 includes an operation 905 for analyzing the fiducial marker. The fiducial marker serves as a bookmark for information about the subsea target, including relative positioning information and a map of the subsea interface and one or more control interfaces at the subsea target, as well as historical operational information related to each control interface at the subsea target. The information about the subsea target is stored remotely from the fiducial marker and ROV 102 and can be transmitted to the user interface and ROV 102 during process 900. The fiducial marker provides the location of the information (e.g., in a database stored on ROV 102, vessel 108, server 110, etc.). The fiducial marker is recognized by the machine vision camera and provides an address, bookmark, pointer, etc. to the information stored in the memory of the machine vision camera. Alternatively or additionally, the information about the subsea target is stored elsewhere on ROV 102, on vessel 108, on server 110, and / or in a memory at another location remote from ROV 102. The information is transmitted to user interface 806 and / or ROV 102 (e.g., in real time) to facilitate operations of ROV 102 based on the information.

[0115] Process 900 includes an operation 907 of identifying a subsea target based on analysis of fiducial markers. For example, fiducial marker 812a facilitates determining whether subsea target 800 is a tool holder, a subsea tree, a riser, an umbilical, a BOP, a wellhead, a manifold, a jumper, a flowline, etc., and / or an operational interface including hot-swappable ports, valves, etc. associated with subsea target 800. In some aspects, the fiducial marker serves as an asset identifier (such as the name, type, unique identifier, etc.) that identifies the subsea target, as well as a data table associated with the subsea target and / or its interface. ROV 102, an operator, etc., can retrieve the data table from any number of databases storing the data table. Identifying subsea target 104 via fiducial markers 812a and 812b facilitates efficient and accurate identification of subsea target 800 and its interface, promoting operational efficiency and reliability when performing operations by ROV 102.

[0116] Process 900 includes an operation 909 of identifying one or more interfaces of the seafloor target and historical operational information for each interface based on analysis of the fiducial marker. The fiducial marker provides historical operational information about the seafloor target. For example, the fiducial marker is encoded to identify the seafloor target 800, its interface(s), and historical operational information for each interface. In response to the fiducial marker being read, the fiducial marker (and / or locally stored memory, server 110, etc.) provides relative position information (e.g., vector, vertical distance, horizontal distance, relative angle) for one or more of the operable controls at the interface, and provides historical operational information for each operable control at the interface.

[0117] The historical operational information includes various operational parameters as described above for each operational interface at the identified subsea target, such as a rated torque value for the operational interface, a rated number of revolutions for the operational interface, pressure, volume, force, voltage, current, pH readings, optical characteristics, etc. The operational information includes historical values ​​associated with the subsea target or a particular interface of the subsea target measured during previous operations, or historical average values ​​obtained based on previous measured values.

[0118] In some exemplary aspects, the ROV stores relative positioning information of the fiducial marker and one or more operable interfaces, as well as historical operational information of the operable controls. For example, historical operational information for maintenance operations is preloaded into the ROV's memory. Upon identifying a fiducial marker, the ROV can retrieve the historical operational information associated with the fiducial marker, such as by retrieving the number of revolutions previously applied to a pressure valve.

[0119] Process 900 includes an operation 910 of transmitting historical operating parameters to a user interface and the ROV. During process 900 at a user interface (e.g., user interface 806), the historical operating parameters are superimposed on a live video feed to show the historical operating parameters that have been recorded for each control interface. The historical operating parameters can reduce trial and error and / or uncertainty regarding the expected operating parameters (e.g., the expected torque required to operate the interface).

[0120] Process 900 includes an operation 911 for determining one or more operations to be performed at an interface location. Each of the one or more operable interfaces is operable by ROV 102, and the operations may be automatically predetermined before navigating to a subsea target, or may be selectable upon encountering the subsea target. Additionally or alternatively, the operations may be updated in real time based on historical operational information of subsea target 800. For example, if subsea target 800 has historical operational information indicating a pressure reading that was lower than expected during a previous operation, operation 911 may add the check pressure reading operation if a check pressure operation was not previously added to the maintenance protocol. Operation 911 provides for determining an operation or list of operations that may be performed at the subsea target based on the one or more operable interfaces present at the subsea target and the historical operational information of the one or more operable interfaces present at the subsea target.

[0121] Process 900 includes operation 913 of identifying one or more tools that perform the determined operation or list of operations. For example, at operation 911, one of the operations includes determining that a valve control operation should be performed, wherein a valve is rotated to adjust valve pressure. Operation 913 determines that the torque tool performs the valve control operation.

[0122] The process 900 includes an operation 915 for determining whether at least one of the robotic arms has the determined tool. Continuing with the above example, the operation 915 determines whether one of the robotic arms has a torque tool that is compatible with the valve control. If the robotic arm does not have the determined tool, the process 900 continues at operation 917 by picking up the determined tool (e.g., from a tool carousel).

[0123] At operation 919, if at least one of the manipulators has the identified tool, the tool is navigated to the interface. Identification of the location of the operable interface relative to the fiducial marker facilitates automated or semi-automated navigation and operation of the ROV with limited human operator intervention. Without operator intervention in the navigation of the manipulator, the ROV automatically navigates to a location and moves the manipulator to engage the identified operable interface. Historical operational information is utilized before performing an operation to determine the expected outcome, and the historical operational information is provided to the ROV 102 and the operator before and during the operation.

[0124] At operation 921, an operation is performed at the interface via the manipulator and tool. At operation 923 (which may occur simultaneously with operation 921), operating parameters are recorded during the operation and added to the historical operating information for each interface being operated. The operating information is acquired during the operation by one or more sensors on the ROV 102, tool 118, and / or manipulator 116. For example, the ROV 102, tool 118, and / or manipulator 116 may include imaging equipment, accelerometers, pH meters, gyroscopes, pressure sensors, torque sensors, flow rate sensors, and the like. Each sensor on the ROV 102, tool 118, and / or manipulator 116 collects, tracks, and records signals acquired during the operation at the control interface. The signals collected from the sensors are collected, indexed, recorded, and maintained as historical operating information for the control interface and the subsea target. In this example, if a torque tool applies a sensed number of revolutions and a sensed amount of torque, operation 923 tracks and records the operating parameters as they occur, and adds the tracked values ​​to the historical operating information for the operable control. Similarly, sensor data from one or more of an imaging device, an accelerometer, a pH meter, a gyroscope, a pressure sensor, a torque sensor, and a flow rate sensor is tracked and recorded. At operation 923, operational information is recorded and associated with the subsea target while engaging the operational controls of the subsea target. Simultaneously recording operational information can be accomplished using a plurality of sensors and tools (e.g., tool 118) engaged with the operational controls of the subsea target(s) (e.g., subsea target 800). The operational parameters are stored on a memory device at ROV 102, at vessel 108, at server 110, and / or at another location (e.g., for subsequent upload to a location located at vessel 108, server 110, etc.), or transmitted (e.g., in real time) to a remote location, such as vessel 108, server 110, etc.

[0125] Figure 10 、 Figure 11 and Figure 12 An example sequence of operations performed by ROV 102 is shown while a real-time video stream is provided to user interface 1006. The sequence of operations includes reading multiple fiducials to facilitate multiple operations and is performed with little or no human intervention. An operator or supervisor can observe the automated operation of ROV 102 from various imaging devices. In other aspects, the automated operation of ROV 102 can be interrupted or controlled by the operator, who presents overlay prompts throughout the various operations of the sequence through operator button interactions that facilitate the operation of ROV 102.

[0126] Figure 10 A user interface 1006 is shown showing a real-time view from the wrist camera 134 with the navigation arm 116 positioned near the tool turntable 109. The ROV 102 is navigated to the tool turntable 109 and the wrist camera 134 is adjusted until the fiducial markers 1012a, 1012b are captured in the video feed.

[0127] Operator prompts 1021 are superimposed on the video feed at various times throughout the operational sequence to facilitate operation by providing the operator with information regarding the operation being performed and, from time to time, providing the operator with the ability to interrupt or change the ongoing operation by making a selection at the operator prompt 1021. In some aspects, the operator prompts 1021 facilitate button operation and operational sequences of the ROV 102. For example, the user interface 1006 includes a prompt for the human operator to initiate an auto-engagement interface. The user interface includes prompting the human operator to select a fiducial marker from a plurality of fiducial markers 1012a, 1012b within a field of view on the user interface 1006. The identification of the fiducial markers 1012a, 1012b provides positional information about the tool carousel 109, including the tools available at the tool carousel 109 and the position of each tool at the tool carousel 109 relative to at least one of the fiducial markers 1012a, 1012b.

[0128] like Figure 10As shown, the operator prompt 1021 includes information about the status of the operation, a pause button 1023, and a cancel button 1025. The status information indicates the operation being performed (e.g., tool exchange), the target of the operation (e.g., exchange for a suction hot swapper), and the current state of the operation (e.g., moving the arm to a position). When the ROV 102 is performing an automated operation, the operator allows the ROV 102 to continue the operation by not selecting the pause button 1023 or the cancel button 1025. The operator has the option of pausing the operation by selecting the pause button 1023 or canceling the operation by selecting the cancel button 1025.

[0129] Figure 11 The user interface 1006 is shown from the perspective of the wrist camera 134, with the navigation arm 116 and tool changer 120 advanced to engage the tool carousel 109. During the tool exchange sequence, the operator allows the ROV 102 to continue by not selecting the Pause button 1023 or the Cancel button 1025. Figure 10 After the operation, Figure 11 The operator prompt 1021 is updated in real time to reflect the current operation and shows that the operator is retracting the tool.

[0130] In this example, fiducial marker 1012b is read to determine the tool port that is open and configured to receive the tool being changed by ROV 102. Fiducial marker 1012b provides relative positioning information for ROV 102 to navigate robotic arm 116 into alignment to stow the tool in the available tool port.

[0131] Figure 12 A user interface 1006 is shown, wherein the user interface displays a video feed from the forward-facing camera 130 (e.g., the camera view from the ROV is changed to that from the forward-facing camera 130). The robotic arm 116 is advanced into another tool port that accommodates a tool for performing another operation. The fiducial marker 1012a is read and used to determine which tool port has the desired tool, where the tool port is, and the precise relative positioning of the tool and tool port, so that the robotic arm 116 can navigate to the tool and pick it up with little or no human intervention. In some aspects, the tool is a torque tool.

[0132] After picking up a tool (e.g., a torque tool) from the tool carousel 109, the ROV 102 navigates to a seafloor target (e.g., such as seafloor target 800). At the seafloor target, at least one fiducial marker 812a, 812b is read. When fiducial markers 812a, 812b are read, known operational information of the control interface at the seafloor target 800 is accessed, and fiducial markers 812a, 812b act as bookmarks to the operational information (e.g., number of revolutions, torque, volume, pressure, pH, etc.) of the specific seafloor target 800 to which fiducial markers 812a, 812b are attached. In response to the reading of fiducial markers 812a, 812b, historical operational information of the seafloor target 800 stored in a database (e.g., a database located on the ROV 102, on the vessel 108, on the server 110, at another location, etc.) is transmitted to the user interface 806 for display and to the ROV 102 for operation.

[0133] ROV 102 performs an operation at seafloor target 800 using a tool picked up from tool carousel 109. The operation is performed based on information provided by fiducial markers 812a, 812b, including relative positioning information of operable controls at seafloor target 800 and historical operational information about each operable control at seafloor target 800.

[0134] Figure 10 、 Figure 11 and Figure 12 The operational sequence shown in FIG is performed by ROV 102 while providing a live video stream to user interface 1006. The operational sequence includes reading multiple references to facilitate multiple operations and is performed with little or no human intervention. In some aspects, the automated operation of ROV 102 can be interrupted or controlled by an operator who presents overlay prompts (e.g., operator prompts 1021) throughout the various operations of the sequence through operator button interactions that facilitate the operation of ROV 102.

[0135] Now refer to Figure 13 , shows an example system 1300 that facilitates installation and orientation of subsea assets. The example system 1300 includes a submersible ROV 1302 (e.g., including a tool carousel 1309), a head 1301 of a subsea well, and a subsea Christmas tree 1303. In various example aspects, the ROV 1302 includes the above-referenced Figures 1 to 12One or more features of ROV 102 are described. A subsea Christmas tree 1303 can be lowered (e.g., from vessel 108) for installation at wellhead 1301 of a subsea well. Subsea Christmas tree 1303 monitors and controls production from the subsea well and manages fluid or gas injection into the well, among other operations. ROV 1302 facilitates proper installation and orientation of subsea Christmas tree 1303 at wellhead 1301 of a subsea well by utilizing a plurality of sensors and imaging devices on ROV 1302, in conjunction with one or more fiducial markers 1312a, 1312b on subsea Christmas tree 1303.

[0136] System 1300 facilitates the installation / orientation of subsea assets (e.g., the installation / orientation of subsea Christmas trees 1303) by performing and facilitating objective determination of the position and orientation of subsea assets during installation. System 1300 utilizes predetermined and tracked orientation information of ROV 1302 and tracking of fiducial markers 1312a, 1312b of the subsea assets to determine the orientation and position of the subsea assets during and after installation. The determined orientation and position can be used to ensure that the orientation and position of the subsea assets conform to predetermined specified orientation and position, and / or provide an objective measurement of the orientation and position that can be recorded, monitored, and / or used in future operations over time. In some aspects, the determination provides an objective measurement of position and / or orientation that is easily repeatable (e.g., the determination involves little or no subjective / human observation).

[0137] In various examples, the subsea asset (e.g., subsea target 500, subsea target 600, subsea target 800) is an existing subsea asset that has been previously installed. Measuring the position and / or orientation of the previously installed subsea asset provides a more stable or relatively fixed location of the subsea asset. Subsea assets that are being installed or have not yet been installed are not fixed in position, and determining the orientation and position of the uninstalled subsea asset can be used to ensure that the orientation and position of the subsea asset conforms to a predetermined specified orientation and position while the subsea asset is being installed and is subject to further adjustments, and / or provides an objective measurement of the orientation and position that can be recorded, monitored, and / or used in future operations over time.

[0138] ROV 1302 carries multiple sensors that monitor, track, and update the orientation and position of ROV 1302 in real time as it navigates the seabed. For example, ROV 1302 tracks depth, altitude, orientation, pitch, roll, yaw, and bank. ROV 1302 also tracks and monitors the position of robotic arm 1316 during operation and autonomously navigates robotic arm 1316 to engage with operable controls at a seabed target. ROV 1302 is autonomously navigated to subsea Christmas tree 1303, and at least one of ROV 1302's multiple imaging devices can be directed toward fiducial markers 1312a and 1312b of subsea Christmas tree 1303.

[0139] In an exemplary aspect, each fiducial marker 1312a, 1312b is assigned an orientation reference on the fiducial marker 1312a, 1312b. In some aspects, the orientation reference is the known center of the fiducial marker independent of the seabed target to which the fiducial is attached. The fiducial marker 1312a, 1312b has a known shape (such as a square), and the known center is predetermined based on the known shape of the fiducial marker 1312a, 1312b. The known center of the fiducial marker 1312a, 1312b is unique for each fiducial marker 1312a, 1312b. A processor at the submersible ROV 1302 or a remote location uses the known center to determine the orientation of the fiducial marker 1312a, 1312b by determining various measurements relative to the known center. The various measurements include distance detection, angle measurement, and / or orientation detection.

[0140] The distance detection of the fiducial markers 1312a and 1312b can be performed based on the field of view of one or more of the imaging devices from ROV 1302. The distance detection is determined based on the known center and the size of the fiducial markers 1312a and 1312b. Each imaging device on ROV 1302 is calibrated to detect the orientation reference (e.g., the known center) of each fiducial marker 1312a and 1312b, and the known center of each fiducial 1312a and 1312b has a size that is related to the distance to the fiducial marker 1312a and 1312b. For example, if the imaging device of ROV 1302 is further away from the fiducial marker 1312a and 1312b, the size of the known center in the captured image and / or video will be smaller than when the imaging device of ROV 102 is closer to the fiducial marker 1312a and 1312b. The imaging device and ROV 1302 analyze the size of the orientation reference (eg, known center) of the fiducial markers 1312a, 1312b in real time during operation of the ROV 1302 to continuously update the distance of the ROV 1302 from the fiducial markers 1312a, 1312b.

[0141] The angle measurement of the fiducial markers 1312a and 1312b can be measured using one or more of the fiducial markers 1312a and 1312b. For example, one of the fiducial markers 1312a and 1312b is a primary marker and the other is a secondary marker. In this example, the fiducial marker 1312a is a primary marker and the fiducial marker 1312b is a secondary marker. The primary marker (i.e., fiducial marker 1312a) serves as a reference point for the secondary marker (i.e., fiducial marker 1312b). The orientation reference (e.g., known center) of the fiducial marker 1312a is used to calculate a vector from the known center of the fiducial marker 1312a to the known center of the fiducial marker 1312b. The calculated vector between the fiducial markers 1312a and 1312b is used for both distance calculation and angle measurement between the fiducial markers 1312a and 1312b.

[0142] The orientation of the fiducial markers 1312a and 1312b can be detected based on a Cartesian coordinate system for each fiducial marker 1312a and 1312b. The base of the Cartesian coordinate system is located at an orientation reference (e.g., a known center) for each of the fiducial markers 1312a and 1312b. The orientation reference of the fiducial markers 1312a and 1312b serves as the base from which the x-axis, y-axis, and z-axis of the Cartesian coordinate system extend. Based on the three-axis Cartesian coordinate system of the orientation reference for each fiducial marker 1312a and 1312b, the orientation of the fiducial markers 1312a and 1312b is provided by providing a three-dimensional reference associated with each fiducial marker 1312a and 1312b to the imaging device of the ROV 1302. The imaging device and ROV 1302 analyze the orientation of the three-axis Cartesian coordinate system of each fiducial marker 1312a, 1312b in real time from the perspective of the imaging device of ROV 1302 during operation of ROV 1302 to continuously update the orientation of each fiducial marker 1312a, 1312b relative to ROV 1302.

[0143] ROV 1302 and the imaging sensor analyze the distance detections, angle measurements, and / or orientation detections of fiducial markers 1312a and 1312b in relation to the tracking depth, altitude, orientation angle, pitch angle, roll angle, yaw angle, and / or tilt angle of ROV 1302. ROV 1302 calculates the correlation between the distance detections, angle measurements, and orientation detections of fiducial markers 1312a and 1312b and the tracking depth, altitude, orientation angle, pitch angle, roll angle, yaw angle, and tilt angle of ROV 1302 to correlate the orientation and location of a subsea target (e.g., a subsea Christmas tree 1303 during installation) as a real-time objective measurement that can be recorded, monitored, and / or used for future operations over time.

[0144] ROV 1302 monitors, tracks, and updates its orientation and location, and captures the positions and orientations of fiducial markers 1312a and 1312b. The orientation and location of ROV 1302 and the positions and orientations of fiducial markers 1312a and 1312b are analyzed by one or more processors on ROV 1302. The orientation and location of ROV 1302 and the positions and orientations of fiducial markers 1312a and 1312b are transmitted to one or more servers, memories, and / or processors elsewhere on ROV 1302, on a vessel, on a server, and / or at another location remote from ROV 1302. Information is transmitted to and from ROV 1302 (e.g., in real time) to facilitate operations of ROV 1302 based on the information. For example, the orientation and position of ROV 1302 and the positions and orientations of fiducial markers 1312a, 1312b determined by one or more processors of ROV 1302 are transmitted to a server remote from ROV 1302 (e.g., at a vessel), the server having one or more processors and memory, which determine the orientation and position of a seabed target (e.g., a seabed Christmas tree 1303) by calculating correlations between the range detections, angle measurements, and orientation detections of fiducial markers 1312a, 1312b and the tracking depth, altitude, orientation angle, pitch, roll, yaw, and tilt angles of ROV 1302 to associate real-time objective measurements of the orientation and position of the seabed target (e.g., a seabed Christmas tree 1303 during installation), which can be recorded, monitored, and / or used in future operations over time.

[0145] System 1300 is used for the installation, monitoring, and operation of various subsea assets, including subsea Christmas trees 1303. Examples of subsea assets that may include fiducial markers affixed thereto include subsea drilling systems, blowout preventers, conductor casings, tubing heads, umbilical and riser systems, pipelines, flowlines, subsea manifolds, jumper systems, subsea control systems, and instrumentation. System 1300 utilizes one or more fiducial markers (e.g., fiducial markers 1312a, 1312b) attached to each of the exemplary subsea assets in a manner similar to fiducial markers 1312a, 1312b to correlate real-time objective measurements of the orientation and location of subsea targets, which can be recorded, monitored, and / or used in future operations over time.

[0146] In various exemplary aspects, system 1300 is utilized to install a completion system during the installation of a series of subsea assets. As the subsea assets are installed, the orientation and position of one or more subsea assets are measured (e.g., sequentially). The orientation / position of each subsea asset is compared to a specified range for the particular asset. If the measured orientation / position is within the specified range, the measured orientation / position is recorded in a database (e.g., as described above), and the subsequent subsea asset is installed. This process continues until the completion system is fully installed.

[0147] In some aspects, system 1300 is utilized during the installation of more than one (e.g., two or more) pieces of equipment. System 1300 identifies one or more fiducial markers on each piece of equipment and analyzes the position of each piece of equipment. In an example where there are two pieces of equipment spaced apart from each other (e.g., a wellhead and a tubing head before and / or during installation), system 1300 analyzes the position of each piece of equipment by analyzing the base points on each piece of equipment. System 1300 analyzes the position and orientation information of each piece of equipment and determines the relative distance between the pieces of equipment (e.g., the distance in each x, y, pitch, roll, yaw angle).

[0148] For example, ROV 1302 is navigated to an area for installing or operating one or more subsea targets (such as a wellhead and a tubing head). ROV 1302 captures and analyzes one or more fiducial markers on each subsea target. Analysis of the fiducial markers facilitates determining the position and orientation information of each subsea target. The position and orientation information of each subsea target is used to determine the relative position and orientation of the subsea targets relative to each other (e.g., distance in each x, y, x, pitch, roll, yaw angle). ROV 1302 and system 1300 can determine that the tubing head is 6 feet above the wellhead, 2 feet from the wellhead, and at a 29-degree angle to the wellhead. The relative position of the subsea targets is transmitted to a vessel (e.g., vessel 108), and instructions can be transmitted to the vessel to adjust the position of the subsea targets (e.g., tubing head). For example, instructions can be sent from ROV 1302 to a boom operator to operate the boom in direction and distance to adjust the relative position and orientation of the subsea targets as needed based on the relative position and orientation analysis. Instructions may be communicated in the form of specific directions regarding range and direction, or may be transmitted as a video feed from the ROV 1302 to the vessel to show a real-time view of the seafloor target including an overlay of relative position and orientation information.

[0149] The system 1300 advantageously determines the individual position and orientation of a subsea target and the relative position and orientation of two or more subsea assets while utilizing a single ROV 1302. While more than one ROV 1302 may be used for the operation and installation of a subsea target, a single ROV 1302 is used to determine the individual position and orientation of a subsea target and the relative position and orientation of two or more subsea assets.

[0150] Figure 14 An example automated subsea process 1400 for subsea installation and production is shown. Process 1400 is used to monitor, control, and / or manage the operation of an ROV (such as ROV 1302) to install subsea assets. In some aspects, an operator or manager can observe the automated operation of process 1400 at a user interface (such as user interface 106, user interface 606, or user interface 806). In other aspects, the automated operation of process 1400 can be interrupted or controlled by an operator.

[0151] Process 1400 includes step 1401 of navigating ROV 1302 to a subsea target. In some aspects, navigation of ROV 1302 is automated, and the subsea target location is provided to ROV 1302 so that ROV 1302 can navigate to the subsea target. In some aspects, navigation of ROV 1302 can occur under the supervision and occasional intervention of an operator. Step 1401 can include navigating from a vessel to a subsea target or from one subsea target to another subsea target. Step 1401 includes navigating ROV 1302 to a subsea installation area, such as where a subsea Christmas tree 1303 is lowered to land on a subsea wellhead 1301 for installation.

[0152] Process 1400 includes step 1403 of adjusting one or more imaging devices to capture one or more fiducial markers at a seafloor target. Adjustment of the one or more imaging devices includes movement of ROV 1302, movement of robotic arm 1316, movement of the imaging device (e.g., tilt, rotation, extension), adjustment of the focus and lighting of the imaging device (e.g., turning a light on, turning a light off, changing from a color view to a black and white view, etc.) to facilitate an improved view of the one or more imaging devices. Adjustment of the imaging device may continue automatically until one or more fiducial markers (e.g., fiducial marker 1312a, fiducial marker 1312b) are identified and captured.

[0153] Process 1400 includes a step 1405 of analyzing the fiducial markers. The fiducial markers can be used to obtain location and / or orientation information about the subsea asset to which the fiducial markers are attached. In some aspects, the fiducial markers serve as bookmarks for information about the subsea target, including an orientation reference for the fiducial markers (e.g., fiducial markers 1312a, 1312b), the fiducial markers' shapes and sizes, relative positioning information, and / or a map of subsea interfaces to one or more control interfaces at the subsea target, as well as historical operational information related to each control interface at the subsea target. Information about the fiducial markers and subsea targets is stored remotely from the fiducial markers and ROV 1302 and can be communicated to the user interface and ROV 1302 during process 1400. The fiducial markers provide the location of the information (e.g., in a database stored on ROV 1302, vessel 108, server 110, etc.). The fiducial markers are recognized by the machine vision camera during installation of the subsea asset (e.g., when tree 1303 is lowered) and provide addresses, bookmarks, pointers, etc., to information stored in the machine vision camera's memory. Alternatively or additionally, information about the benchmarks and seafloor targets is stored in memory elsewhere on the ROV 1302, at the vessel 108, at the server 110, and / or at another location remote from the ROV 1302. The information is communicated to the user interface and / or the ROV 1302 (e.g., in real time) to facilitate operation of the ROV 1302 based on the information.

[0154] Process 1400 includes step 1407 of calculating the orientation and positioning of the fiducial markers. Step 1407 includes calculating distance detection, angle measurement, and orientation detection for each fiducial marker (e.g., fiducial marker 1312a, fiducial marker 1312b). In some aspects, distance detection of the fiducial markers utilizes imaging equipment, and ROV 1302 analyzes the size of the orientation reference (e.g., known center) of fiducial marker 1312a, fiducial marker 1312b in real time during operation of ROV 1302 to continuously update the distance between ROV 1302 and fiducial marker 1312a, fiducial marker 1312b. In some aspects, angle measurement utilizes the orientation reference (e.g., known center) of fiducial marker 1312a to calculate a vector from the known center of fiducial marker 1312a to the known center of fiducial marker 1312b. The calculated vector between fiducial marker 1312a and fiducial marker 1312b is used for both distance calculation and angle measurement between fiducial markers 1312a, 1312b. Orientation detection utilizes the imaging device and ROV 1302 to analyze the orientation of the three-axis Cartesian coordinate system of each fiducial marker 1312a, 1312b in real time from the perspective of the imaging device of ROV 1302 during operation of ROV 1302 to continuously update each fiducial marker 1312a, 1312b related to the orientation of ROV 1302.

[0155] Process 1400 includes a step 1409 of determining the orientation and location of the subsea target based on the calculated orientation and location of the fiducial markers. ROV 1302 and the imaging sensor analyze the distance detections, angle measurements, and orientation detections of fiducial markers 1312a and 1312b in relation to the tracking depth, altitude, orientation, pitch, roll, yaw, and tilt of ROV 1302. ROV 1302 calculates the correlation between the distance detections, angle measurements, and orientation detections of fiducial markers 1312a and 1312b and the tracking depth, altitude, orientation, pitch, roll, yaw, and tilt of ROV 1302 to provide a real-time, objective measurement of the orientation and location of the subsea target (e.g., a subsea Christmas tree 1303 during installation).

[0156] Process 1400 includes a step 1411 of determining whether the determined orientation and position of a subsea installation target (e.g., subsea tree 1303) are within predetermined specified ranges of orientation and position. In some aspects, a subsea target (e.g., subsea tree 1303) has an acceptable range of orientations and an acceptable range of positions associated with successful installation of the subsea target. The range of acceptable orientations and positions is related to the tolerance level of the particular subsea target to ensure successful and reliable installation of the subsea target. The range of acceptable orientations and positions for the subsea target(s) is stored in a memory elsewhere on ROV 1302, at vessel 108, at server 110, and / or at another location remote from ROV 1302. The information is communicated to a user interface and / or ROV 1302 (e.g., in real time when fiducial markers associated with the subsea targets are read) to facilitate operation of ROV 1302 based on the information.

[0157] Process 1400 includes step 1413, wherein if the determined orientation and location of the seafloor target is outside of at least one of the predetermined specified orientation and location ranges, step 1413 includes determining a difference between the determined orientation and location and the predetermined specified orientation and location. The difference between the determined orientation and location and the predetermined specified orientation and location provides an objective measure of the correction to be applied to the orientation and location of the seafloor target. The correction to the orientation and location of the seafloor target is converted into operational instructions for the ROV 1302 and the vessel 108 to coordinate operations to correct the orientation and location of the seafloor target.

[0158] Process 1400 includes a step 1415 of sending operational instructions to adjust the orientation and / or position of the subsea target. The operations include corrections to the orientation and position of the subsea target to achieve a predetermined specified range of orientation and position. The operational instructions are provided to ROV 1302 and vessel 108 to coordinate operations to correct the orientation and position of the subsea target. In some aspects, the operational instructions include navigation instructions to ROV 1302 to engage with the subsea target (e.g., via robotic arm 1316) at various locations of the subsea target to apply the adjustments. The operational instructions include navigation instructions to vessel 108 to adjust the positioning of vessel 108 and / or actuate controls on vessel 108 to affect the position of the subsea target suspended and supported by vessel 108 before the subsea target is installed.

[0159] Process 1400 includes step 1417 of performing operations to adjust the orientation and / or position. For example, ROV 1302 engages with the subsea target at various locations of the subsea target (e.g., via robotic arm 1316) to apply adjustments to the position and orientation of the subsea target. Additionally and / or alternatively, vessel 108 navigates to the adjusted position and / or actuates controls on vessel 108 to affect the position of the subsea target suspended and supported by vessel 108 prior to installation of the subsea target.

[0160] After step 1417, the process returns to step 1411 to determine whether the determined orientation and position are within a predetermined specified range of orientations and positions. Process 1400 includes step 1419, wherein if the determined orientation and position are within the predetermined specified range of orientations and positions, step 1419 includes sending an operational instruction to continue or finalize the installation. The installation can continue by releasing the subsea target from the vessel and attaching it to the installation location (e.g., releasing the subsea Christmas tree 1303 onto the head 1301 of the well). In some aspects, the ROV 1302 and the vessel 108 coordinate operations to complete the installation of the subsea asset. For example, the vessel 108 releases the subsea Christmas tree 1303, and the ROV 1302 secures the subsea Christmas tree 1303 to the head 1301 of the well.

[0161] Process 1400 includes step 1421 of sending a command to ROV 1302 to check orientation and positioning after installation is complete. After installation is complete, ROV 1302 is navigated to read one or more fiducial markers (e.g., fiducial marker 1312a, fiducial marker 1312b) of a seafloor target, and ROV 1302 analyzes the positioning and orientation of the fiducial markers and the associated seafloor target. In some aspects, the positioning and orientation of the fiducial markers are analyzed in the same or similar manner as described above with reference to steps 1405, 1407, and 1409.

[0162] Process 1400 includes a step 1423 of determining whether the determined orientation and location of the subsea target is still within a predetermined specified range of orientations and locations. If so, process 1400 proceeds to step 1425 of completing the installation of the subsea asset. If, at step 1423, the determined orientation and location are outside the predetermined specified range of orientations and locations, process 1400 proceeds to step 1413 and continues through process 1400 to correct the installation orientation and location of the subsea asset.

[0163] Although this specification contains many specific implementation details, these details should not be interpreted as limitations on the scope of the disclosed technology or what may be claimed, but rather as descriptions of features that may be unique to specific aspects of the disclosed technology. Certain features described in this specification in the context of individual aspects may also be implemented, in part or in combination, in a single aspect. Conversely, various features described in the context of a single aspect may also be implemented individually in multiple aspects or in any suitable subcombination. For example, a feature, end effector, arm, or other feature described in an example context may be used in combination with one or more other end effectors, arms, or other features. Furthermore, although multiple features may be described herein as functioning in certain combinations and / or initially claimed as such, in some cases one or more features from a claimed combination may be deleted from the combination, and the claimed combination may be directed to subcombinations or variations of subcombinations. Similarly, although multiple operations may be described in a particular order, this should not be construed as requiring that such operations be performed in a particular order or sequentially, or that all illustrated operations be performed to achieve the desired result. Specific aspects of the subject matter have been described. Other aspects are within the scope of the appended claims.

Claims

1. A subsea equipment operation and management system for operating and managing a subsea equipment project, the system comprising: Benchmarks; a sensor configured to be carried by a submersible ROV, the sensor configured to obtain benchmark data from the benchmark marker via the sensor when the benchmark marker is attached to an item of subsea equipment; as well as A processor and a memory having instructions stored therein, the processor and the memory being operable to cause the system to perform operations, the operations comprising: The baseline data is analyzed to obtain operational information about the item of subsea equipment, the operational information including interface identification.

2. The submarine equipment operation and management system according to claim 1, wherein: The sensor is a camera.

3. The subsea equipment operations and management system of claim 2, comprising a user interface display at a location remote from the subsea equipment item and the submersible ROV, wherein the user interface display is configured to display a video feed captured by the camera, wherein the user interface display is configured to display enhanced graphics including the operational information overlaid on the video feed.

4. The submarine equipment operation and management system according to claim 1, wherein: The operational information includes operational parameters associated with the interface.

5. The submarine equipment operation and management system according to claim 4, wherein: The operating parameters include a rated torque value for operating the interface.

6. The submarine equipment operation and management system according to claim 4, wherein: The operating parameters include historical torque values ​​required to operate the interface during previous operations.

7. The submarine equipment operation and management system according to claim 4, wherein: The operating parameters include one or more of a rotational speed value, a pressure value, a pH value or a volume value.

8. The subsea equipment and management system of claim 1, comprising a database, wherein the reference data identifies a database location where the operational information is stored.

9. The subsea equipment and management system of claim 8, wherein the database is located onboard the submersible ROV.

10. The subsea equipment and management system of claim 8, wherein the database is remotely located from the submersible ROV and equipment items.

11. The subsea equipment and management system according to claim 1, wherein: The submersible ROV is configured to automatically engage the interface using the reference data.

12. The subsea equipment and management system according to claim 11, wherein: The user interface includes a prompt to a human operator to initiate said automatic engagement with said interface.

13. The subsea equipment and management system according to claim 11, wherein: The user interface includes a prompt to a human operator to select a fiducial marker from a plurality of fiducial markers within a field of view of the user interface.

14. A method of performing subsea operations using a submersible ROV, the method comprising: capturing one or more fiducial markers at a seafloor target via an imaging device of a submersible ROV; an interface for identifying the seafloor target based on the fiducial marker; analyzing the fiducial marker to obtain operational information regarding the operational information associated with the interface; as well as The interface is actuated based on the operational information by engaging the submersible ROV with the interface.

15. The method of claim 14, wherein identifying an interface of the subsea target based on the fiducial marker comprises determining a position of the interface relative to the fiducial marker.

16. The method of claim 15, wherein identifying an interface of the subsea target based on the fiducial marker comprises determining an operating parameter of the interface.

17. The method of claim 16, wherein the operating parameter comprises a rated torque value for operating the interface or a historical torque value for operating the interface.

18. The method of claim 16, wherein: Actuating the interface includes automatically actuating the interface to initiate automatic engagement with the interface in response to input from a human operator, the input being received prior to engagement of the submersible ROV with the interface.

19. A submarine equipment and management system, comprising: means for capturing one or more fiducial markers at said seafloor target by a submersible ROV; as well as Means for identifying an interface of the seafloor target based on the fiducial marker, the submersible ROV being configured to actuate the interface based on information obtained via the fiducial marker.

20. The subsea equipment and management system of claim 19, wherein the information includes operating parameters.

21. A system comprising a processor and a memory, the memory storing instructions, the processor and memory being operable to cause the system to perform operations comprising: receiving data from a submersible ROV, the data comprising an image including an alignment fiducial captured by a camera of the ROV; analyzing fiducial data of the alignment fiducial from the image, the fiducial data comprising one or more interface identifiers and interface positioning information for each of the one or more interface identifiers; as well as Movement of an arm of the ROV is automatically controlled based on the reference data to engage components of the interface based on the interface positioning information.

22. The system of claim 21, wherein: The operations further include: The baseline data is transmitted to a user interface display at a location remote from the submersible ROV, wherein the user interface display is configured to display a video feed captured by the camera, the user interface display being configured to display enhanced graphics including operational information overlaid on the video feed.

23. The system of claim 21, wherein: The interface positioning information includes the positioning of one or more interfaces relative to the alignment datum.

24. The system of claim 21, wherein: The interface location information includes an interface map storing one or more locations of operable interfaces at seafloor targets relative to the alignment datum.

25. The system of claim 21, the system comprising a database, wherein the reference data identifies a database location where the operational information is stored.

26. The system of claim 25, wherein the database is located onboard the submersible ROV.

27. The system of claim 26, wherein the database is located remotely from the submersible ROV and equipment items.

28. The system of claim 21, wherein: The submersible ROV is configured to automatically engage the interface using the reference data.

29. The system of claim 28, wherein: The user interface includes a prompt to a human operator to initiate said automatic engagement with said interface.

30. The system of claim 28, wherein: The user interface includes a prompt to a human operator to select a fiducial marker from a plurality of fiducial markers within a field of view of the user interface.

31. A method of performing subsea operations using a submersible ROV, the method comprising: receiving data from a submersible ROV, the data comprising an image including an alignment fiducial captured by a camera of the ROV; analyzing fiducial data of the alignment fiducial from the image, the fiducial data comprising one or more interface identifiers and interface positioning information for each of the one or more interface identifiers; as well as Movement of an arm of the ROV is automatically controlled based on the reference data to engage components of the interface based on the interface positioning information.

32. The method of claim 31 , further comprising: The baseline data is transmitted to a user interface display at a location remote from the submersible ROV, wherein the user interface display is configured to display a video feed captured by the camera, the user interface display being configured to display enhanced graphics including operational information overlaid on the video feed.

33. The method of claim 31, wherein The interface positioning information includes the positioning of one or more interfaces relative to the alignment datum.

34. The method of claim 31, wherein The interface location information comprises an interface map storing one or more locations of operable interfaces at the seafloor target relative to the alignment datum.

35. The method of claim 31, wherein the reference data identifies a database location where operational information is stored.

36. The method of claim 35, wherein the database is located onboard the submersible ROV.

37. The method of claim 35, wherein the database is located remotely from the submersible ROV and equipment item.

38. The method of claim 31 further comprising automatically engaging the interface using the reference data.

39. The method of claim 38, further comprising recording operating parameters from the interface during engagement with the interface.

40. The method of claim 39, wherein the operating parameters are recorded in a database located onboard the submersible ROV.

41. A subsea equipment operation and management system for operating and managing a subsea equipment project using a submersible ROV, the system comprising: a fiducial marker configured for attachment to an item of subsea equipment; a sensor configured to be coupled to the submersible ROV, the sensor configured to obtain benchmark data from the benchmark marker; as well as A processor and a memory storing instructions, the processor and the memory being operable to cause the system to perform operations comprising: Operational information associated with the item of subsea equipment is recorded while engaging the item of subsea equipment.

42. The subsea equipment operation and management system according to claim 41, wherein: The operational information includes identification of interfaces of the subsea equipment items engaged by the submersible ROV during operations.

43. The subsea equipment operation and management system according to claim 41, wherein: The operational information is associated with the equipment item in a database based on the reference data obtained from the reference marker.

44. The subsea equipment operation and management system of claim 43, wherein the operational information is retrievable from the database based on an identifier of the equipment item.

45. The subsea equipment operation and management system according to claim 41, wherein: The operation information includes the time, type and parameters of the operation.

46. ​​The subsea equipment operation and management system according to claim 45, wherein: The operating parameter includes a torque value for operating the interface or a number of revolutions for operating the interface.

47. The subsea equipment operation and management system according to claim 46, wherein: The operational information includes submersible ROV parameters including position, orientation and tool configuration.

48. The subsea equipment operation and management system according to claim 46, wherein: The operation information includes environmental parameters, including depth, temperature or pressure.

49. The subsea equipment operation and management system according to claim 41, wherein: The operational information is recorded in a database located onboard the submersible ROV.

50. The subsea equipment operation and management system according to claim 41, wherein: The operational information is recorded in a database located remotely from the equipment item and the submersible ROV.

51. The subsea equipment operation and management system of claim 41, the system comprising a user interface that displays historical operation information obtained during previous operations associated with the subsea equipment item when the submersible ROV performs operations associated with the subsea equipment item.

52. The subsea equipment operation and management system according to claim 51, wherein: The historical operation information includes a torque value used to operate the interface or a number of revolutions used to operate the interface.

53. The subsea equipment operation and management system according to claim 41, wherein: The processor and the memory having instructions stored thereon are operable to cause the system to prompt a user to initiate a maintenance operation based on historical operating information logged to a database during previous operations.

54. The subsea equipment operation and management system according to claim 41, wherein: The processor and the memory having instructions stored on the memory are operable to cause the system to initiate a maintenance operation in response to a user input.

55. A method of performing a subsea operation, the method comprising: capturing one or more fiducial markers at a seafloor target via an imaging device of a submersible ROV; as well as While operating at the seafloor target, operational information is recorded based on reference data obtained via the reference markers.

56. The method of claim 55, wherein recording comprises associating the operational information with the subsea target in a database remote from the subsea target.

57. The method of claim 56, wherein the database is located onboard the submersible ROV.

58. The method of claim 57, wherein the database is located at a server remote from the submersible ROV and the subsea target.

59. The method of claim 55, wherein The operation information includes the time, type and parameters of the operation.

60. The method of claim 59, wherein The operational information includes submersible ROV parameters including position, orientation and tool configuration.

61. A subsea equipment operation and management system for operating and managing a subsea equipment project using a submersible ROV, the system comprising: Benchmarks; a submersible ROV comprising a robotic arm and a sensor, the submersible ROV being configured to obtain reference data from the reference marker via the sensor; as well as A processor and a memory, wherein the memory stores instructions, wherein the processor and the memory are operable to cause the system to perform operations, the operations comprising: monitoring the orientation and positioning of the ROV; calculating the orientation and location of the fiducial marker; determining a first orientation and location of the item of subsea equipment based on the orientation and location of the fiducial marker and the orientation and location of the ROV; determining whether the orientation and location of the item of subsea equipment is within a specified orientation and location range; Operational instructions are sent to at least one of the ROV and the vessel to adjust the orientation and position of the item of subsea equipment.

62. The subsea equipment operation and management system according to claim 61, wherein: The subsea equipment items include subsea Christmas trees.

63. The subsea equipment operation and management system according to claim 61, wherein: The subsea equipment item includes a conductor housing.

64. The subsea equipment operation and management system of claim 61, wherein: The subsea equipment items include tubing heads.

65. The subsea equipment operation and management system of claim 61, wherein: The sensor is a machine vision camera.

66. The subsea equipment operation and management system of claim 61, wherein: The operations include: operating at least one of the ROV and the vessel to adjust the orientation and positioning of the item of subsea equipment; and After the item of subsea equipment has been adjusted, it is determined whether the item of subsea equipment is within a specified orientation.

67. The subsea equipment operation and management system according to claim 61, wherein: The operations include: In response to determining that the item of subsea equipment is not within the specified orientation, a difference between the determined orientation and position and the specified orientation and position is determined.

68. The subsea equipment operation and management system of claim 61, wherein: The operations include: After the subsea target has been installed, it is determined whether the item of subsea equipment is within a specified orientation.

69. The subsea equipment operation and management system according to claim 68, wherein: The operations include: In response to determining that the item of subsea equipment is not within the specified orientation, a difference between the determined orientation and position and the specified orientation and position is determined.

70. The subsea equipment operation and management system of claim 68, wherein: The operations include: A second orientation and location of the item of subsea equipment is determined based on the orientation and location of the fiducial marker and the orientation and location of the ROV at a second time after the first orientation and location.

71. The subsea equipment operation and management system according to claim 70, wherein: The operations include: A difference between the first orientation and the second orientation of the item of subsea equipment is determined.

72. The subsea equipment operation and management system according to claim 71, wherein: The subsea equipment item is a blowout preventer (BOP).

73. A method of performing a subsea operation, the method comprising: capturing one or more fiducial markers at an unmounted seafloor target via imaging equipment of a submersible ROV; monitoring the orientation and positioning of the ROV; calculating the orientation and location of the fiducial marker; determining the orientation and location of the unmounted subsea target based on the orientation and location of the fiducial marker and based on the orientation and location of the ROV; A determination is made as to whether the orientation and location of the unmounted subsea target is within a specified orientation and location range.

74. The method of claim 73, further comprising: In response to determining that the unmounted subsea target is not within the specified orientation, a difference between the determined orientation and position and the specified orientation and position is determined.

75. The method of claim 74, further comprising: Operational instructions are sent to at least one of the ROV and the vessel to adjust the orientation and position of the unmounted subsea target.

76. The method of claim 75, further comprising: The operational instructions are executed to adjust the orientation and position of the unmounted subsea target.

77. The method of claim 73, further comprising: In response to determining that the uninstalled subsea target is within the specified orientation and position range, operating instructions are terminated to finalize installation of the subsea target.

78. The method of claim 73, wherein calculating the orientation and position of the fiducial marker comprises detecting a distance to the fiducial marker, calculating the fiducial marker relative to an angle of a primary fiducial marker, and detecting the orientation of the fiducial marker.

79. The method of claim 78, wherein calculating the orientation and position of the fiducial marker comprises correlating the detected distance, angle, and orientation of the fiducial marker with one or more tracked ROV navigation parameters.

80. The method of claim 79, wherein The tracked ROV navigation parameters include at least one of a depth, an altitude, an orientation angle, a pitch angle, a roll angle, a yaw angle, and a tilt angle of the ROV.

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