Visual representation of an underwater structure

Abstract

A method of creating a visual representation of an underwater structure is disclosed. The method comprises generating a 3D model of the underwater structure by analysing imaging data of the underwater

Description

Statement on Government Support The work leading to this invention has received funding from the European Union’s Horizon 2020 Research and Innovation Program under Grant Agreement No 101005541. Field The present invention relates to a method of creating a visual representation of an underwater structure, and a system for creating a visual representation of an underwater structure. Background to the Invention Cathodic protection is a well proven electrochemical process that reduces the corrosion of metals within harsh environments. Generally, this protection is provided using anodes which are installed on offshore structures and are sacrificed overtime, in place of the parent material. When used for the protection of underwater structures (e.g. subsea assets), the cathodic protection system requires monitoring on a regular basis through measurements and inspection. These measurements are carried out on the underwater structure during inspections, utilising (for example) remotely operated underwater vehicles (ROVs) to ensure the cathodic protection system is sufficiently protecting the parent structure. Areas of low cathodic protection (i.e. having a low cathodic potential) are hot spots for corrosion. Thus, if the cathodic protection system is networking effectively to protect the entire subset asset, the integrity of the subset asset can be compromised. This can lead to premature corrosion of the steel and subsequent structural damage, containment loss (leaks) or integrity failure. The technique currently used by subsea asset owners is to gather cathodic protection data using (for example) an ROV with a cathodic potential sensor. This data is then presented on a screen, typically in tabular form, and if the inspection team notice the data is potentially problematic, they may go and conduct further investigation. Thus, the interpretation of this data is a time-consuming manual process with the significant possibly 09 04 25 1 of risks and mistakes in data, due to human error and the typical text report style 2 presentation of the data. 3 4 Thus, there is generally a need for a method and system which addresses one or more of 5 the problems identified above. 6 7 US6317387 describes an underwater apparatus, system and method for inspecting and 8 determining the condition of a submerged structure. To generate a 3D shape of the 9 structure, it is preferred that appropriate as-built plans are used. If these are not available, 10 the tracking system of the ROV is used to generate the 3D shape. 11 12 Summary of the Invention 13 14 According to a first aspect of the invention, there is provided a method of creating a visual 15 representation of an underwater structure, comprising the steps of: 16 a) collecting imaging data of the underwater structure using an imaging device, the 17 imaging data comprising photographs and / or video; 18 b) collecting integrity data of the underwater structure using a data collection device, the 19 integrity data comprising an electrical signal; 20 c) using a data processing apparatus to: 21 i) generate a 3D model of the underwater structure by analysing the imaging data of the 22 underwater structure; 23 ii) overlay the integrity data on the 3D model at a point on the 3D model representing the 24 location at which the integrity data was collected; and 25 iii) output a visual representation of an integrity condition of the underwater structure, the 26 visual representation comprising the 3D model overlaid with the integrity data. 27 The imaging device and data collection device are mounted on an unmanned underwater 28 vehicle, an autonomous underwater vehicle or a remotely operated underwater vehicle. 29 The underwater vehicle does not contact the underwater structure during data collection. 30 31 The present invention advantageously permits underwater video footage (and other input 32 imaging data) to be turned into an accurate 3D (photogrammetry) model and for current 33 (and optionally past and / or future predicted) integrity data to be represented on the 3D 34 model. Thus, the present invention provides for improved interpretation of integrity data 35 and provides owners and operators of underwater structures with better tools for managing and maintaining the integrity of underwater structures, saving them time and increasing the accuracy of the data provided to them (which is used to make decisions with respect to corrective action). As such, the present invention can be seen as having numerous advantages, including: • Removing the reliance upon human intervention, by eliminating the current manually intensive and time-consuming process of reviewing and presenting the integrity data. • Capturing and visually representing all the data required by underwater structure owners and operators to measure, prevent, and monitor underwater (e.g. subsea) corrosion. • Providing up-to-date and accurate data, eliminating the need to carry out repeated subsea inspections due to flawed or spurious data, significantly reducing the environmental impact from mobilisation and demobilisation of vessels. • Reducing the costs of subsea retrofits. In the case of cathodic protection, anode retrofitting is typically used as the preferred method for connecting sacrificial anodes to existing, corroding assets in order to minimise or halt the effects of corrosion. Each retrofit incurs significant costs, which are reduced or eliminated throughout the lifecycle of the underwater structure by the present invention. While the generation of 3D models of underwater structures using photogrammetry is known in the art, the benefits associated with overlaying integrity data on the 3D model (at an appropriate point on the 3D model representing the location at which the integrity data was collected), and outputting a visual representation of the integrity condition of the underwater structure, have not hitherto been realised. By "underwater structure "it is meant a structure / item / object, or part of a structure / item / object, which is underwater. For the avoidance of doubt, the term “structure” should be construed to include an “item” or “object” or “asset”. In some embodiments, the entirety of the structure may be underwater (such as a submarine). However, in some embodiments, part of the structure may be underwater (such as the region of a ship’s hull below the waterline). For the purpose of this application, "underwater structure "is preferably defined as the region of a structure designed to be underwater (i.e. designed to be below the waterline). 09 04 25 1 2 However, the term “underwater structure” should also be construed to include structures 3 which are not necessarily “designed” to be underwater. For example, a shipwreck or an 4 item / structure lost during salvage, or an item / structure accidentally underwater which 5 wasn’t designed for the purpose of being underwater. 6 7 The ’’underwater structure” may be on the seabed and may be partially buried. In these 8 embodiments, the entirety of the structure may be visually represented or, alternatively, 9 only the part of the structure which is not buried may be visually represented. 10 11 The underwater structure may be a subsea structure, optionally a subsea asset. 12 13 The “structure” may be, but is not limited to, steel harbour / port structures, oil and gas 14 structures, floating and fixed wind farms, wave energy structures, naval vessels, and 15 marine aquaculture structures. 16 17 The underwater structure may be a ship (more specifically, the region of the ship’s hull 18 below the waterline); a submarine; a shipwreck; or a subsea pipeline. 19 20 Preferably, the integrity data is overlaid on the 3D model in an automated process. Thus, 21 the method is preferably a computer-implemented method. 22 23 The imaging data may be obtained using any suitable imaging technique including, but not 24 limited to, visual odometry; and spectral imaging. Visual odometry techniques include, but 25 not limited to, photogrammetry (using photos and / or video); monocular cameras; stereo 26 cameras; and simultaneous localisation and mapping (SLAM). 27 28 The imaging data may comprise video data and optionally sonar data. Preferably, the 29 imaging data comprises video data. The imaging data may be bespoke video data (i.e. 30 imaging data collected specifically for the method to be performed). Thus, the method may 31 comprise the step of collecting imaging data using an imaging device. Alternatively (or 32 additionally), the video data may be legacy video data (i.e. imaging data collected for 33 another purpose). The imaging data may be bespoke photographs. Alternatively (or 34 additionally), the imaging data may be legacy photographs. 35 09 04 25 1 The integrity data may pertain to one or more of cathodic potential; non-destructive testing; 2 destructive testing; wall thickness; underwater electric potential (IIEP) signature; acoustic 3 inspection; and flooded member detection. Preferably, the integrity data is cathodic 4 potential data. 5 6 The integrity data may pertain to an electrical signal, which includes (but is not limited to) 7 cathodic potential and underwater electric potential (IIEP) signature. 8 9 The method may comprise extracting integrity data from the imaging data. The method 10 may comprise extracting integrity data from video data. Alternatively, the method may 11 comprise the step of collecting integrity data using an (integrity) data collection device. 12 13 The integrity data may be visually represented on the 3D model using colour and / or 14 texture. The integrity data may be visually represented as a heat map on the 3D model. 15 Alternatively, or additionally, the integrity data may be visually represented using a 16 mouseover event. 17 18 Steps i) and ii) of the method may be performed sequentially. Alternatively, steps i) and ii) 19 may be performed concurrently. 20 21 One or more of the 3D model, integrity data and visual representation may be further 22 output to a CAD model of the underwater structure or a digital twin of the underwater 23 structure. For example, if a CAD model / digital twin of the underwater structure as built is 24 available, the 3D model or visual representation may be aligned with the CAD model. This 25 permits for the integrity data to be projected onto the CAD model for display. This is 26 particularly beneficial if the CAD model has been annotated with other metadata that can 27 be combined with the integrity data. The metadata may, for example, provide details about 28 the construction material or the function of the area surveyed. 29 30 The output of the method may comprise point cloud data. The output of the method may 31 be in any of the industry standard formats (including, but not limited to, E57, LAS, PTS, 32 PTX, XYZ) or in a proprietary format. 33 34 A plurality of integrity data sets may be overlaid on the 3D model. This advantageously 35 permits the visual representation and comparison of historical integrity data with new (i.e. 09 04 25 1 most recent) integrity data on the same model, showing the change in the integrity of the 2 structure over time. 3 4 According to a second aspect of the invention, there is provided a system for creating a 5 visual representation of an underwater structure, comprising: 6 a) an imaging device for collecting imaging data, the imaging data comprising photographs 7 and / or video; 8 b) a data collection device for collecting integrity data of the underwater structure, the 9 integrity data comprising an electrical signal; 10 c) a data processing apparatus comprising: 11 i) means for generating a 3D model of the underwater structure by analysing the imaging 12 data of the underwater structure; 13 ii) means for overlaying the integrity data on the 3D model at a point on the 3D model 14 representing the location at which the integrity data was collected; and 15 iii) means for outputting a visual representation of an integrity condition of the underwater 16 structure, the visual representation comprising the 3D model overlaid with the integrity 17 data. 18 The imaging device and data collection device are mounted on an unmanned underwater 19 vehicle, an autonomous underwater vehicle or a remotely operated underwater vehicle. 20 The underwater vehicle does not contact the underwater structure during data collection. 21 22 Preferably the system comprises a data processing apparatus, the data processing 23 apparatus comprising means for performing steps i), ii) and iii). Preferably, the means is a 24 processor configured to perform steps i), ii) and iii). Preferably, the data processing 25 apparatus is a computer. 26 27 The system may further comprise an imaging device for collecting imaging data. 28 29 In some embodiments, the imaging device is a video camera. In some embodiments, the 30 imaging device is a device configured for profiling sonar. In some embodiments, the 31 imaging device is a LIDAR scanner. 32 33 The system may comprise a plurality of imaging devices, each device configured for a 34 different imaging technique. For example, the system may comprise both a video camera 35 and a device configured for profiling sonar, so as to provide an improved and more 09 04 25 1 accurate 3D model. In another example, the system may comprise both a video camera 2 and a LIDAR scanner. 3 4 The system may further comprise a secondary imaging device, such as a manually 5 deployed imaging device. The manually deployed imaging device may be a manually 6 deployed pole mounted (video and / or photo) camera. This may be particularly 7 advantageous in shallow water where a secondary imaging device supplements the 8 imaging data. 9 10 The system may further comprise a data collection device for collecting integrity data of 11 the underwater structure. This advantageously improves the accuracy of the integrity data 12 (compared to, for example, extracting / parsing the integrity data from legacy video data). 13 14 The data collection device may be a sensor. The sensor may be configured for measuring 15 cathodic potential. 16 17 The system may comprise a plurality of data collection devices, for collecting multiple 18 types of integrity data at the same. 19 20 The imaging device(s) and / or the data collection device(s) may be mounted on an 21 unmanned underwater vehicle (UUV). The imaging device(s) and / or the data collection 22 device(s) may be mounted on an autonomous underwater vehicle (AUV). The imaging 23 device(s) and / or the data collection device(s) may be mounted on a remotely operated 24 underwater vehicle (ROV). Thus, the imaging device(s) and / or the data collection device(s) 25 may be mounted to a device that is suitable for (i.e. configured for) gathering underwater 26 data. 27 28 The UUV, AUV or ROV does not contact the underwater structure during data collection. 29 However, in some embodiments, the data collection device(s) (but not the vehicle itself) 30 may contact the underwater structure for the purpose of integrity data collection. 31 32 The ROV may be provided by VideoRay™ or Oceanbotics™. The ROV may be an SRV-8 33 ROV, available from Oceanbotics™. 34 09 04 25 1 The system may be suitable for operating at underwater depths of shallower than 10 m. 2 The system may be suitable for operating at underwater depths of greater than 10 m, or 3 greater than 30 m, or greater than 100 m, or greater than 200 m. The system may be 4 suitable for operating at underwater depths of up to 300 m. 5 6 Embodiments of the second aspect of the invention may include one or more features of 7 the first aspect of the invention or its embodiments, or vice versa. 8 9 According to a third aspect of the invention, there is provided a use of the system 10 according to the second aspect of the invention for creating a visual representation of an 11 underwater structure. 12 13 Embodiments of the third aspect of the invention may include one or more features of the 14 first or second aspects of the invention or their embodiments, or vice versa. 15 16 According to a fourth aspect of the invention, there is provided a computer program 17 comprising instructions which, when the program is executed by a computer, cause the 18 computer to carry out the steps of the method according to the first aspect of the invention. 19 20 Embodiments of the fourth aspect of the invention may include one or more features of the 21 first to third aspects of the invention or their embodiments, or vice versa. 22 23 According to a fifth aspect of the invention, there is provided a computer-readable medium 24 comprising instructions which, when executed by a computer, cause the computer to carry 25 out the steps of the method according to the first aspect of the invention. 26 27 Embodiments of the fifth aspect of the invention may include one or more features of the 28 first to fourth aspects of the invention or their embodiments, or vice versa. 29 30 According to a sixth aspect of the invention, there is provided a method of updating a 31 previously created visual representation of an underwater structure, wherein the visual 32 representation was created according to the method of the first aspect. 33 34 Preferably, the visual representation is updated a period of time after the previous visual 35 representation was created. 09 04 25 1 2 Preferably, the visual representation is updated with more recent integrity data. Thus, the 3 method may comprise the steps of: overlaying new integrity data on the previously created 4 3D model at an appropriate point on the 3D model representing the location at which the 5 new integrity data was collected; and outputting an updated visual representation of the 6 integrity condition of the underwater structure. 7 8 Embodiments of the sixth aspect of the invention may include one or more features of the 9 first to fifth aspects of the invention or their embodiments, or vice versa. 10 11 According to a seventh aspect of the invention, there is provided a method of inspecting an 12 underwater structure, comprising the steps of: 13 a) collecting imaging data of the underwater structure using an imaging device, the 14 imaging data comprising photographs and / or video; 15 b) collecting integrity data of the underwater structure using a data collection device; 16 c) generating a 3D model of the underwater structure by analysing the imaging data; 17 d) overlaying the integrity data on the 3D model at a point on the 3D model representing 18 the location at which the integrity data was collected; and 19 e) outputting a visual representation of the integrity condition of the underwater structure. 20 21 Embodiments of the seventh aspect of the invention may include one or more features of 22 the first to sixth aspects of the invention or their embodiments, or vice versa. 23 24 Brief Description of the Drawings 25 26 There will now be described, by way of example only, various embodiments of the 27 invention with reference to the drawings, of which: 28 29 Figure 1 is a schematic of a method of creating a visual representation of a subsea asset 30 according to an embodiment of the present invention; 31 32 Figure 2A is an image of input data (imaging and integrity data) in accordance with an 33 embodiment of the invention; 34 09 04 25 1 Figure 2B is an image of the 3D model generating step in accordance with an embodiment 2 of the invention; 3 4 Figure 2C is an image of an overlaid 3D model output in accordance with an embodiment 5 of the invention; 6 7 Figures 3A and 3B are images of an overlaid 3D model output in accordance with an 8 embodiment of the invention; 9 10 Figures 4A and 4B are images of an overlaid 3D model output in accordance with an 11 embodiment of the invention; and 12 13 Figure 5 is a schematic of a system of creating a visual representation of a subsea asset 14 according to an embodiment of the present invention. 15 16 Detailed Description of the Preferred Embodiments 17 18 An explanation of the present invention will now be described with reference to Figures 1 19 to 5. In the following examples, the underwater structure is a subsea asset. However, it will 20 be appreciated that the present invention is not limited to subsea assets and instead 21 relates to any underwater structure as herein defined. 22 23 Referring firstly to Figure 1, there is shown generally at 100 a method of creating a visual 24 representation of a subsea asset according to an embodiment of the present invention. At 25 step 101, an imaging device collects imaging data of the subsea asset. While the imaging 26 device is preferably a video camera, the imaging device can be any suitable device for 27 collecting imaging data including, for example, a device configured for profiling sonar. At 28 step 102, a data collection device collects integrity data of the subset asset which is being 29 assessed. While the data collection device is preferably a sensor configured for measuring 30 cathodic potential, the data collection device can be any suitable device for collecting data 31 pertaining to the integrity of the underwater structures. This includes, but is not limited to, 32 any one or more of cathodic potential; non-destructive testing; destructive testing; wall 33 thickness; underwater electric potential (IIEP) signature; acoustic inspection; and flooded 34 member detection. 35 At step 103, using photogrammetry techniques, a computer generates a 3D model of the subsea asset by analysing the imaging data collected at step 101. Then, the computer overlays the integrity data (collected at step 102) on the 3D model at an appropriate point on the 3D model representing the location at which the integrity data was collected. While in this embodiment the integrity data is overlaid after the 3D model has been generated, it will be appreciated that the steps can be performed concurrently. That is, the 3D model is generated and, at the same time, the integrity data is overlaid on the model. This overlaid 3D model is output at step 104. The output is a visual representation of the integrity condition of the subsea asset. The visual representation may be used for analysis by, for example, the subset asset owner to determine whether any corrective action is required on the subsea asset. The overlaid 3D model can also be output to an alternative 3D model, such as a CAD model (made from, for example, as-built information) or a digital twin. As will be discussed below with regard to Figure 2, it will be appreciated that the method does not require an imaging device, and the imaging data may be, for example, legacy (i.e. already existing) video data. Similarly, it will be appreciated that the method does not require a data collection device. Figures 2A to 2C are computer screenshots showing different stages of the method of creating a visual representation of a subsea asset according to an embodiment of the present invention. In this embodiment, legacy video data is the imaging data and cathodic potential measurements are the integrity data to be overlaid on the 3D model. Figure 2A shows the legacy video data which is used in this embodiment to generate the 3D model. By “legacy video data”, it is meant that the video images were captured some time prior to the method being performed. The integrity data is extracted from the legacy video data - in this example, the text “CP: -941 mV” can be seen written at the top of the video. This means that at the point on the subsea asset shown in the video, the cathodic potential is -941 mV. The cathodic potential data (from regular screenshots of the legacy video data) is attributed to the associated image. The image is then used for photogrammetry generation of the 3D model (see Figure 2B), and the cathodic potential data is overlaid on the section of the 3D model which uses said image. In other words, the cathodic potential data is overlaid at an appropriate point on the 3D model representing the location at which the integrity data was collected. Figure 2C shows the output of the method - that is, a visual representation of the integrity condition of the subsea asset. As can be seen, the integrity data is visually represented as a heat map on the 3D model, with different colours representing different values (or ranges of values) of cathodic potential. It will be appreciated that the data need not be visually represented using a coloured heat map and that any suitable technique for visually representing data can be used including, for example, a grayscale heat map or patterns. Additionally, it will be appreciated that the integrity data need not be cathodic potential data, and that any data representative of the integrity condition of the underwater structure may be used instead. Figures 3A and 3B show two views of an exemplary output. In this example, the output is an overlaid 3D model of a submarine. As a submarine is a watercraft designed to be used underwater, the entire submarine can be seen as the “underwater structure”. Thus, integrity data is visually represented across the entirely of the submarine. The integrity data is visually represented as a heat map on the 3D model. As can be seen, the majority of the submarine has a “normal” integrity data measurement, while there are three “hot spots” showing areas having integrity data measurements which may be cause for concern and / or require further investigation. Thus, the underwater structure owner is clearly notified (in a straightforward visual way) of the areas of the underwater structure where they need to decide whether any corrective action is required. Figures 4A and 4B show two views of an exemplary output. In this example, the output is an overlaid 3D model of a ship. Unlike the submarine in Figures 3A and 3B, only part of the hull of the ship is designed to be underwater. Thus, while (in this example at least) the whole ship is 3D modelled, the underwater part of the hull can be seen as the “underwater structure”, as this is the section of the ship where integrity data is collected and represented. Similar to Figures 3A and 3B, the integrity data is visually represented as a heat map on the 3D model. As can be seen, the majority of the visually represented portion of the structure (i.e. the region of the ship’s hull below the waterline) has a “normal” integrity data measurement, while there are three “hot spots” showing areas having integrity data measurements which may be cause for concern and / or require further 09 04 25 1 investigation. Thus, the underwater structure owner is clearly notified of the areas of the 2 underwater structure where they need to decide whether any corrective action is required. 3 4 Referring to Figure 5, there is shown generally at 500 a system for creating a visual 5 representation of a subsea asset according to an embodiment of the present invention. 6 The system 500 comprises a computer 501 having a processor. The computer 501 is 7 configured to generate a 3D model of the subsea asset by analysing imaging data of the 8 subsea asset, overlay integrity data on the 3D model at an appropriate point on the 3D 9 model representing the location at which the integrity data was collected, and output a 10 visual representation of the integrity condition of the subsea asset. 11 12 In this embodiment, the imaging data and integrity data is collected using a remotely 13 operated underwater vehicle (ROV) 502. The ROV 502 is an SRV-8 ROV, available from 14 Oceanbotics™ However, the type of ROV is not limited and can be any suitable ROV, 15 including those available from VideoRay™. Similarly, any suitable UUV / AUV can be used 16 and is not limited to an ROV. For collecting imaging data, a video camera 503 is mounted 17 on the ROV 502. The video camera 503 is preferably a 4K quality video camera, so as to 18 maximise video quality, however higher or lower quality may be utilised. The video camera 19 503 is connected to the ROV 502 via the ROV's data transfer port. However, the video 20 camera 503 may instead be connected to the ROV 502 via any suitable data transfer 21 means, including USB or fibre optics. 22 23 As an optional extra, a light 504 is mounted on the ROV 502 to improve visibility and thus 24 improve video quality. 25 26 It will be appreciated that instead of a video camera 503, any suitable device for collecting 27 imaging data can be mounted on the ROV 502, such as a device configured for profiling 28 sonar. 29 30 For collecting integrity data of the subset asset, a sensor 505 is mounted on the ROV 502. 31 In this embodiment, the sensor 505 is configured for measuring cathodic potential. 32 However, it will be appreciated that the sensor 505 can be changed and replaced with a 33 suitable alternative device, depending on what integrity data is to be collected, or a 34 plurality of sensors simultaneously. 35 09 04 25 1 It will also be appreciated that the imaging device 503, data collection device 505 (e.g. 2 sensor) and light 504 can be mounted at any suitable position on the ROV 502. 3 4 The ROV 502 is in communication with the computer 501 (indicated by the dashed line). 5 While this communication could be wireless, it is preferred that the communication is 6 wired. Imaging and integrity data is sent from the ROV 502 directly to the computer 501 for 7 processing. However, alternatively, the data can be sent to an intermediary storage device 8 prior to being sent to the computer for processing. The intermediary storage device is 9 preferably external to the ROV and preferably above-water. 10 11 In use, the ROV 502 travels along and / or around the subsea asset, preferably without 12 coming into contact with the subsea asset, collecting imaging data via the video camera 13 503 and integrity data via the sensor 505. 14 15 Preferably the ROV 502 travels past the entirety of the subsea asset to be visually 16 represented, so that sufficient imaging data is collected for generation of the 3D model. 17 The imaging data and integrity data is sent, directly or indirectly, to the computer 501 for 18 processing. The integrity data is associated with the imaging data, such that the computer 19 501 is able to determine the location at which the integrity data was collected. 20 21 A 3D model is generated from analysis of the imaging data, and the integrity data is 22 overlaid on the 3D model at an appropriate point on the 3D model representing the 23 location at which the integrity data was collected. The output is a visual representation of 24 the integrity condition of the subsea asset. 25 26 A further example of the use of the present invention is visually representing the integrity 27 of a shipwreck. In the art, it is typical for 3D models to be constructed from as-built 28 information or original plans. However, this is not always available - particularly in the 29 case of a shipwreck. Precise as-built information is not available and the shape of the 30 structure is continuously changing over time, as the shipwreck collapses and moves. 31 Additionally, methods of constructing 3D models that require physical contact with the 32 underwater structure are not possible, as a shipwreck is a delicate object that is prone to 33 further collapse. Thus, the present invention is advantageously able to generate an 34 accurate 3D model (that is representative of the current state of the shipwreck) without the 35 need for physical contact with the shipwreck, and overlay integrity data on the 3D model (thus informing as to where the areas of significant corrosion are, and the areas most likely to have structural and plating failure). Relevant integrity data for a shipwreck includes, but is not limited to, wall thickness and cathodic potential. A method of creating a visual representation of an underwater structure is disclosed. The method comprises generating a 3D model of the underwater structure by analysing imaging data of the underwater structure; overlaying integrity data on the 3D model at an appropriate point on the 3D model representing the location at which the integrity data was collected; and outputting a visual representation of the integrity condition of the underwater structure. The method provides improved interpretation of integrity data and assists underwater structure owners and operators with better tools for managing and maintaining the integrity of underwater structures. Also disclosed is a system for creating a visual representation of an underwater structure, and a use thereof. Throughout the specification, unless the context demands otherwise, the terms “comprise” or “include”, or variations such as “comprises” or “comprising”, “includes” or “including” will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers. Furthermore, unless the context clearly demands otherwise, the term “or” will be interpreted as being inclusive not exclusive. The foregoing description of the invention has been presented for purposes of illustration and description and is not intended to be exhaustive or to limit the invention to the precise form disclosed. The described embodiments were chosen and described in order to best explain the principles of the invention and its practical application to thereby enable others skilled in the art to best utilise the invention in various embodiments and with various modifications as are suited to the particular use contemplated. Therefore, further modifications or improvements may be incorporated without departing from the scope of the invention as defined by the appended claims.

Claims

Claims:

1. A method of creating a visual representation of an underwater structure, comprising the steps of: a) generating a 3D model of the underwater structure by analysing imaging data of the underwater structure; b) overlaying integrity data on the 3D model at an appropriate point on the 3D model representing the location at which the integrity data was collected; and ¢) outputting a visual representation of the integrity condition of the underwater structure.

2. The method according to claim 1, wherein the integrity data is overlaid on the 3D model in an automated process.

3. The method according to claim 1 or claim 2, wherein the imaging data comprises video data and / or sonar data. 4, The method according to claim 3, wherein the video data is legacy video data.

5. The method according to any one of claims 1 to 4, wherein the integrity data pertains to one or more of cathodic potential; non-destructive testing; destructive testing; wall thickness; underwater electric potential signature; acoustic inspection; and flooded member detection.

6. The method according to claim 5, wherein the integrity data is cathodic potential data. 7 The method according to any one of claims 1 to 6, wherein the integrity data is visually represented as a heat map on the 3D model.

8. The method according to any one of claims 1 to 7, wherein steps a) and b) are performed sequentially.

9. The method according to any one of claims 1 to 7, wherein steps a) and b) are performed concurrently.

10. The method according to any one of claims 1 to 9, wherein one or more of the 3D model, integrity data and visual representation is further output to a CAD model of the underwater structure or a digital twin of the underwater structure.

11. The method according to any one of claims 1 to 10, wherein a plurality of integrity data sets are overlaid on the 3D model.

12. A system for creating a visual representation of an underwater structure, comprising: a) means for generating a 3D model of the underwater structure by analysing imaging data of the underwater structure; b) means for overlaying integrity data on the 3D model at an appropriate point on the 3D model representing the location at which the integrity data was collected; and ¢) means for outputting a visual representation of the integrity condition of the underwater structure.

13. The system according to claim 12, further comprising an imaging device for collecting imaging data.

14. The system according to claim 13, wherein the imaging device is a video camera 15. The system according to claim 13, wherein the imaging device is a device configured for profiling sonar.

16. The system according to any one of claims 13 to 15, wherein the imaging device is mounted on a remotely operated underwater vehicle.

17. The system according to any one of claims 12 to 15, further comprising a data collection device for collecting integrity data of the underwater structure.

18. The system according to claim 16, wherein the data collection device is a sensor, optionally a sensor configured for measuring cathodic potential.

19. The system according to claim 17 or claim 18, wherein the data collection device is mounted on a remotely operated underwater vehicle.

20. Use of a system according to any one of claims 12 to 19 for creating a visual representation of an underwater structure. Amended 22 December 2023 Claims: T., A method of creating a visual representation of an underwater structure, comprising the steps of: a) generating a 3D model of the underwater structure by analysing imaging data of the underwater structure, the imaging data comprising photographs and / or video; b) overlaying integrity data on the 3D model at a point on the 3D model representing the location at which the integrity data was collected; and Cc) outputting a visual representation of the integrity condition of the underwater structure.

2. The method according to claim 1, wherein the integrity data is overlaid on the 3D model in an automated process.

3. The method according to claim 1 or claim 2, wherein the imaging data comprises video data. 4, The method according to claim 3, wherein the video data is legacy video data.

5. The method according to any one of claims 1 to 4, wherein the integrity data pertains to one or more of cathodic potential; non-destructive testing; destructive testing; wall thickness; underwater electric potential signature; acoustic inspection; and flooded member detection 6. The method according to claim 5, wherein the integrity data is cathodic potential data.

7. The method according to any one of claims 1 to 6, wherein the integrity data is visually represented as a heat map on the 3D model.

8. The method according to any one of claims 1 to 7, wherein steps a) and b) are performed sequentially.

9. The method according to any one of claims 1 to 7, wherein steps a) and b) are performed concurrently. Amended 22 December 2023 10. The method according to any one of claims 1 to 9, wherein one or more of the 3D model, integrity data and visual representation is further output to a CAD model of the underwater structure or a digital twin of the underwater structure.

11. The method according to any one of claims 1 to 10, wherein a plurality of integrity data sets are overlaid on the 3D model.

12. A system for creating a visual representation of an underwater structure, comprising: a) means for generating a 3D model of the underwater structure by analysing imaging data of the underwater structure, the imaging data comprising photographs and / or video; b) means for overlaying integrity data on the 3D model at a point on the 3D model representing the location at which the integrity data was collected; and ¢) means for outputting a visual representation of the integrity condition of the underwater structure.

13. The system according to claim 12, further comprising an imaging device for collecting imaging data.

14. The system according to claim 13, wherein the imaging device comprises a video camera 15. The system according to claim 14, wherein the imaging device comprises a device configured for profiling sonar.

16. The system according to any one of claims 13 to 15, wherein the imaging device is mounted on a remotely operated underwater vehicle.

17. The system according to any one of claims 12 to 15, further comprising a data collection device for collecting integrity data of the underwater structure.

18. The system according to claim 16, wherein the data collection device is a sensor, optionally a sensor configured for measuring cathodic potential. Amended 22 December 2023 19. The system according to claim 17 or claim 18, wherein the data collection device is mounted on a remotely operated underwater vehicle.

20. Use of a system according to any one of claims 12 to 19 for creating a visual representation of an underwater structure.

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