Offshore Pile Attitude Monitoring Using Imaging and Inertial Sensors
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Solution Overview
Problem
Current methods for measuring the attitude of objects, such as piles or cables, from a floating platform or vessel are cumbersome and require manual intervention, leading to interruptions in operations and potential damage to equipment, especially in dynamic marine environments.
Innovation Solution
A system utilizing imaging devices and attitude sensing arrangements, including inertial measurement units, fiber optic gyroscopes, and 3-axis attitude sensors, to determine the attitude of objects in a fixed frame of reference from a moving frame, allowing for real-time measurements without direct proximity to the object, with high accuracy and versatility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual measurement using handheld inclinometer is used, then measurement can be performed directly in fixed frame of reference, but operations must be interrupted and human operator must be in direct vicinity of object
Solution Approach 1:
The patent introduces imaging devices and attitude sensing arrangements as intermediaries to transfer measurement capability from the fixed frame to the moving frame. The imaging device captures visual data of the object while the attitude sensor measures the orientation of the moving platform, allowing remote attitude measurement without interrupting operations or requiring human presence near the object.
Solution Approach 2:
The patent replaces the mechanical handheld inclinometer with an automated system comprising imaging devices and attitude sensing arrangements. This substitution eliminates the need for manual measurement operations while maintaining measurement capability in the fixed frame of reference through computational processing of image data and attitude data.
2Measurement precision
If angle sensor is positioned against cable at departure location, then cable deployment angle can be monitored, but sensor positioning is difficult and frequent attention is required
Solution Approach 1:
The patent uses imaging devices as intermediaries to observe the cable from a distance without requiring direct contact or positioning against the cable. The attitude sensing arrangement measures the orientation of the imaging device on the moving platform, enabling remote cable angle monitoring without the operational difficulties of direct sensor placement.
Solution Approach 2:
The patent creates a virtual measurement system by capturing images of the cable and computing attitude information from the image data combined with attitude sensor measurements. This copying approach allows angle monitoring without physical sensor attachment to the cable, eliminating positioning difficulties and maintenance requirements.
3Measurement precision
If angle sensor is used for cable monitoring, then real-time measurement is possible, but sensor may be easily damaged especially when laying multiple cables
Solution Approach 1:
The patent introduces imaging devices and attitude sensing arrangements as protective intermediaries that enable real-time angle measurement without exposing sensors to the harsh cable laying environment. The imaging device captures cable position while the attitude sensor measures platform orientation, computing cable angle remotely to avoid sensor damage from cable contact and environmental factors.
Solution Approach 2:
The patent replaces direct mechanical angle sensors with an optical and electronic measurement system. The imaging device and attitude sensing arrangement work together to compute cable deployment angle through computational methods, eliminating the need for physical angle sensors that are vulnerable to damage during cable laying operations.
4Measurement precision
If multiple imaging devices are used to capture object from different directions, then comprehensive attitude determination is achieved, but system complexity increases
Solution Approach 1:
The patent divides the measurement system into independent functional modules: imaging devices for capturing visual data, attitude sensing arrangements for measuring platform orientation, and a processing system for integrating the data. This segmentation allows each component to perform its specific function with optimized simplicity while the modular architecture manages overall system complexity.
Solution Approach 2:
The patent designs the imaging devices and attitude sensing arrangements to serve multiple functions: capturing object position, determining object attitude, and providing data for real-time monitoring and control. This multi-functionality reduces the need for separate specialized sensors, thereby managing system complexity while maintaining comprehensive measurement capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables continuous, accurate, and real-time monitoring of object attitudes, such as verticality or cable angles, reducing operational interruptions and equipment damage, and allowing for precise corrective actions during offshore installations and laying operations.
Implementation Method 1
a first imaging device for producing image data for the object from a first direction; a second imaging device for producing image data for the object from a second direction
Implementation Method 2
an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference
Data Source
AI summary
A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.