Underwater platform with LIDAR and related methods

Patent metadata

Field	Value
Publication number	US-9229108-B2
Application number	US-201414245522-A
Country	US
Kind code	B2
Filing date	Apr 4, 2014
Priority date	Apr 5, 2013
Publication date	Jan 5, 2016
Grant date	Jan 5, 2016

Abstract

Systems and methods for conducting autonomous underwater inspections of subsea and other underwater structures using a 3D laser mounted on an underwater platform such as AUV, an ROV or a tripod. The systems and methods described herein can be used for scanning underwater structures to gain a better understanding of the underwater structures, such as for example, for the purpose of generating a 3D virtual model of the underwater structure. The 3D virtual model can be used for many purposes including, but not limited to, directing inspection, repair, and manipulation of the underwater structure, navigating around the underwater structure, and other purposes.

First claim

The invention claimed is:

1. A method comprising:
directing at least one laser beam pulse from a laser that is mounted on a moving underwater vehicle toward an underwater structure while the vehicle is at a first location relative to the underwater structure;
detecting light that is reflected from the underwater structure using a light detector mounted on the underwater vehicle;
generating a first data point cloud from the detected light autonomously in real time, the first data point cloud being suitable for generating a three-dimensional model of the underwater structure;
generating a virtual alignment model autonomously in real time of the underwater structure from the first data point cloud;
while generating the virtual alignment model autonomously in real time of the underwater structure from the first point cloud data, moving the underwater vehicle from the first location to a second location relative to the underwater structure;
directing one or more additional laser beam pulses from the laser that is mounted on the moving underwater vehicle toward the underwater structure while the vehicle is at the second location relative to the underwater structure;
detecting light that is reflected from the underwater structure from the one or more additional laser beam pulses using the light detector and generating a second data point cloud autonomously in real time;
aligning a sample of the second data point cloud obtained to the virtual alignment model autonomously in real time; and
building a three dimensional virtual model autonomously in real time of the underwater structure with the virtual alignment model and the sample of the second data point cloud.

2. The method of claim 1 , wherein the moving underwater vehicle is one of an autonomous underwater vehicle, or a remotely operated vehicle.

3. The method of claim 1 , further comprising filtering the first data point cloud and the second data point cloud autonomously in real time.

4. The method of claim 1 , wherein aligning a sample comprises repeatedly performing autonomously in real time an iterative fit process, the iterative fit process comprises adjusting data point clouds sampled to match with the alignment model generated.

5. The method of claim 1 , wherein generating an alignment model further comprises loop closure processing autonomously in real time of at least a first pass of the underwater structure, the loop closure configured to set an initial reference that minimizes error propagation.

6. The method of claim 1 , wherein building the three dimensional model comprises aligning autonomously in real time multiple samples of additional data point clouds with the alignment model.

7. The method of claim 6 , wherein each of the additional data point clouds represents data collected from a different viewpoint of an area of the underwater structure.

8. The method of claim 7 , wherein at least some of the different viewpoints at least partially overlap with each other such that at least some of the data from the additional data point clouds overlap.

9. A system, comprising:
a moving underwater vehicle and a three-dimensional laser system mounted on the moving underwater vehicle, the laser system including a steerable laser for projecting a plurality of laser beam pulses toward an underwater structure and a light detector that detects light that is reflected from the underwater structure;
a point cloud data storage that is in communication with the laser system for storing point cloud data that is autonomously generated in real time by the laser system; and
a data processor in communication with the point cloud data storage that processes first point cloud data autonomously in real time from the data storage, the data processor is configured to generate a three dimensional virtual model from the first point cloud data autonomously in real time, and to align second point cloud data obtained while the first point cloud data is being processed by the data processor with the three dimensional virtual model.

10. The system of claim 9 , wherein the data processor is configured to autonomously in real time generate a virtual alignment model, align a sample of a data point cloud obtained to the virtual alignment model autonomously in real time, and generate the three dimensional virtual model of the underwater structure autonomously in real time from the virtual alignment model and the sample of the data point cloud.

11. The system of claim 9 , where the moving underwater vehicle is one of an autonomous underwater vehicle, or a remotely operated underwater vehicle.

12. The system of claim 9 , wherein the underwater vehicle comprises an autonomous underwater vehicle or a remotely operated underwater vehicle, the point cloud data storage and the data processor are on the underwater vehicle, and the underwater vehicle further includes a vehicle navigation system in communication with the data processor.

13. The system of claim 9 , wherein the data processor and/or the point cloud data storage are at one or more locations separate from the underwater vehicle.

Assignees

• Lockheed Corp

Inventors

• Debrunner Christian H
• Fettinger Alan K
• Bouxsein Philip A

Classifications

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01C13/008

  measuring depth of open water · CPC title

• G06T2207/30108

  Industrial image inspection · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title