# US 10,871,567 B2 · Underwater optical positioning systems and methods

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- Number: US 10,871,567 B2
- Document ID: US10871567B2
- Status: Granted
- Kind: B2
- Application number: 16/031,812
- Filed: 2018-07-10
- Published: 2019-01-10
- Granted: 2020-12-22
- Earliest claimed: 2017-07-10
- Assignees: 3D at Depth, Inc.
- Applicants: 3D at Depth, Inc.
- Inventors: Carl W. Embry; Neil Manning; Derek D. Pierce; Mark Hardy
- Web page: https://patentgrep.com/patent/US10871567B2

## CPC

- G01C 21/1656: {with passive imaging devices, e.g. cameras}
- G01S 15/874: {Combination of several spaced transponders or reflectors of known location for determining the position of a receiver (G01S15/872 takes precedence)}
- B63G 8/001: {Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42)}
- B63G 8/38: Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar {(periscopes, optical aiming or sighting devices per se G02B23/00)}
- G01C 13/00: Surveying specially adapted to open water, e.g. sea, lake, river or canal (liquid level metering G01F)
- G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)}
- G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR}
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G01S 5/16: using electromagnetic waves other than radio waves
- G01S 5/18: using ultrasonic, sonic or infrasonic waves
- G01S 15/74: Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
- G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
- G01S 15/87: Combinations of sonar systems
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 17/88: Lidar systems specially adapted for specific applications
- G01S 17/89: for mapping or imaging
- G01S 17/93: for anti-collision purposes
- G03B 17/08: Waterproof bodies or housings
- G03B 42/06: using ultrasonic, sonic or infrasonic waves
- B63G 2008/005: {remotely controlled}
- G01S 17/74: Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H)
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)

## Abstract

Systems and methods for positioning objects in underwater environments are provided. The geolocation of a target for an object is determined, and a light source provided as part of a positioning system is operated to project a visible target at that location. The determination of the target location relative to the positioning system can include determining a location of the positioning system using information obtained from a laser system included in the positioning system. The light source used to project the visible target can be the same as a light source included in the laser system. A location of an object relative to the target location can be tracked by the laser system as the object is being moved towards the target location. The described methods and systems utilize one or more non-touch subsea optical systems, including but not limited to laser systems, for underwater infrastructure installation, measurements and monitoring.

## Claims

### Claim 1

A method for placing an object at a desired location in an underwater environment, comprising:
determining a target location for placement of the object, wherein the target location is in the underwater environment;
after determining the target location for placement of the object, operating a positioning system to project a visible target at the determined target location, wherein the positioning system is in the underwater environment, wherein the object is different than the positioning system, and wherein the visible target indicates the target location for placement of the object;
providing a video system, wherein the video system provides a view of the visible target to an operator of emplacement equipment, and wherein the emplacement equipment is used to place the object at a desired installation location; and
placing the object at the target location.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
geolocating the positioning system, wherein the target location for the object is geolocated relative to the positioning system.

### Claim 3 (depends on 2)

The method of claim 2, wherein geolocating the positioning system includes operating a laser system to geolocate the positioning system.

### Claim 4 (depends on 2)

The method of claim 2, wherein the positioning system is geolocated by detecting a location of a monument, structure, or feature relative to the positioning system.

### Claim 5 (depends on 2)

The method of claim 2, wherein the positioning system is geolocated using underwater acoustic beacons with or without an Inertial Navigation Unit in conjunction with the positioning system.

### Claim 6 (depends on 3)

The method of claim 3, wherein a light source of the laser system produces light at a visible wavelength, and wherein the visible target is produced using light from the light source of the laser system.

### Claim 7 (depends on 1)

The method of claim 1, further comprising:
operating the positioning system to determine a location of the object relative to the target location.

### Claim 8 (depends on 7)

The method of claim 7, wherein the video system includes a user output device that displays a virtual target and a virtual object.

### Claim 9 (depends on 8)

The method of claim 8, wherein the virtual target and the virtual object are contained in computer memory and are used by an autonomous system for accurate placement of the object.

### Claim 10 (depends on 7)

The method of claim 7, further comprising:
determining a position and orientation difference between the object and the target location; and
outputting the determined position and orientation difference to the operator of the emplacement equipment being used to move the object towards the target location.

### Claim 11 (depends on 1)

The method of claim 1, wherein the operator includes an automated system.

### Claim 12 (depends on 10)

The method of claim 10, further comprising outputting directional cues, approach velocities, proximity warnings, or collision alarms to the operator of the emplacement equipment being used to move and orient the object at the target location.

### Claim 13 (depends on 12)

The method of claim 12, wherein the operator of the emplacement equipment includes an automated system.

### Claim 14 (depends on 1)

The method of claim 1, wherein the target location for the object is received as an absolute geographic location.

### Claim 15 (depends on 1)

The method of claim 1, wherein the visible target is at least a partial outline of the target location.

### Claim 16 (depends on 7)

The method of claim 7, wherein, after the object is placed, the positioning system reports a final touchdown speed for the object, a final location for the object, and how much the final location for the object varies from the target location.

### Claim 17 (depends on 7)

The method of claim 7, wherein after the object is placed, the positioning system captures and produces a final point cloud of seabed around the object for “as deployed” conditions to compare with future scans for scour or dredging.

### Claim 18 (depends on 7)

The method of claim 7, wherein a plurality of positioning systems are used, wherein each positioning system has a known location, wherein each positioning system is operable to determine a location of an object relative to the positioning system, and wherein one or more of the positioning systems project a visible target at the target location.

### Claim 19 (depends on 18)

The method of claim 18, wherein each positioning system communicates location information to at least one other positioning system or the object.

### Claim 20 (depends on 18)

The method of claim 18, further comprising: a plurality of objects, wherein a location of each of the objects is determined by one or more of the positioning systems.

### Claim 21 (depends on 7)

The method of claim 7, wherein reference indicia are placed on the object to determine a position and orientation of the object with respect to the target location.

### Claim 22 (depends on 4)

The method of claim 4, wherein at least one instance of reference indicia is placed on the monument, structure, or feature.

### Claim 23

A system for facilitating the placement of objects in an underwater environment, comprising:
a light source;
an image projection device;
a video system;
memory, wherein the memory stores instructions for operating the system for facilitating the placement of objects in an underwater environmnet, including the light source, the image projection device, and the video system, and wherein the memory further stores data regarding a target location;
emplacement equipment; and
a processor, wherein the processor is operable to execute the instructions for operating the system for facilitating the placement of objects in an underwater environment, wherein the instructions cause the light source and the image projection device to project a visible target for placement of an object within or encompassing the target location, wherein the video system provides a view of the visible target projected by the image projection device to an operator of emplacement equipment, and wherein the object is placed at the target location by operation of the emplacement equipment.

### Claim 24 (depends on 23)

The system of claim 23, wherein the light source and the image projection device are operated to obtain point cloud data that includes three-dimensional locations of points within the target location and to geolocate the system, and wherein the light source and the image projection device are operated to project the visible target.

### Claim 25

A system for facilitating the tracking of an object in an underwater environment, comprising:
a light source;
a device for collecting point cloud data;
a video system;
memory, wherein the memory stores instructions for operating the system for facilitating the tracking of an object in an underwater environment, including the light source, the device for collecting point cloud data, and the video system, and wherein the memory further stores data regarding a target location;
emplacement equipment; and
a processor, wherein the processor is operable to execute the instructions for operating the system for facilitating the tracking of an object in an underwater environment, wherein the video system provides a view of a visible target projected at the target location to an operator, wherein the instructions calculate position and orientation information of an object to assist movement of the object to the target location, and wherein the object is placed at the target location by the emplacement equipment using the calculated position and orientation information.

### Claim 26 (depends on 25)

The system of claim 25, wherein the object is an underwater vehicle and the system assists the vehicle with movement to a target location, and at least one of automated docking, obstacle avoidance, operating a valve, or observing a valve.

### Claim 27 (depends on 26)

The system of claim 26, wherein the system provides positional updates to a vehicle navigation system without a need for mechanical docking.

### Claim 28 (depends on 1)

The method of claim 1, wherein the object is at least one of a wellhead, manifold, riser, anchor, pipeline end termination, blow out preventer, pump, suction pile, chain, slip joint, subsea processing system, interconnectivity jumper, touch down point, acoustic beacon, acoustic transponder, monument, mud mat, jumper, remotely operated vehicle, or autonomous underwater vehicle.

### Claim 29 (depends on 1)

The method of claim 1, wherein the emplacement equipment includes at least one of a crane or an underwater vehicle.

### Claim 30 (depends on 23)

The system of claim 23, wherein the object is at least one of a wellhead, manifold, riser, anchor, pipeline end termination, blow out preventer, pump, suction pile, chain, slip joint, subsea processing system, interconnectivity jumper, touch down point, acoustic beacon, acoustic transponder, monument, mud mat, jumper, remotely operated vehicle, or autonomous underwater vehicle.

### Claim 31 (depends on 23)

The system of claim 23, wherein the emplacement equipment includes at least one of a crane or an underwater vehicle.

### Claim 32 (depends on 25)

The system of claim 25, wherein the object is at least one of a wellhead, manifold, riser, anchor, pipeline end termination, blow out preventer, pump, suction pile, chain, slip joint, subsea processing system, interconnectivity jumper, touch down point, acoustic beacon, acoustic transponder, monument, mud mat, jumper, remotely operated vehicle, or autonomous underwater vehicle.

### Claim 33 (depends on 1)

The method of claim 1, wherein the operator of the emplacement equipment is a diver.