Use of sensors

The system uses the existing sensor data from the ROV and vessel to calculate the ROV's position and attitude data. Most offshore contruction and survey vessels will already have the required sensors and systems installed, making the implementation of a C-ray system a quick and low cost upgrade. Required data from the ROV and vessel is:

• Heading from onboard  Gyro/compass
• Pitch & roll from onboard gyro or accelerometer
• Latitude and longitude positional data (Vessels GPS data coupled with ROV's relative position from accustic positioning system, HIPAP / LBL etc.)
• Height above seabed from altimeter or digiquartz sensor
• Camera orientation from Pan & Tilt unit -if equiped.
• zoom feedback from camera -if equiped.

System schematic.

Integration

Camera signal is fed from ROV into the computer where the signal is merged with the 3D map and sent to the ROV operators screen.

User interface and features

The C-ray is controlled by the operator via a intuitive user interface which enables the user to import 2D and 3D maps created in AutoCad. These maps can obviously be created onshore well in advance of operations, or modified/created onboard during operations. Software key features:

• Import & display AutoCad drawings (.dxf)
• Import & display  other POI (point of interest) from Excel spreadsheet
• Import & display live position of other moving items (ROV's, vessel, crane hook, crane load, etc.)
• Moving items can be given individual 3D drawings
• Possibility to turn map layers selectively on and off
• Enable display of various information on-screen if required, e.g. depth, lat/long, heading, distance to other items, etc.
• Target tracking -distance and bearing to POI displayed on screen
• Proximity alarm to POI or moving items.
• On/Off function to turn off model when not required
•  Adjustable "fog"  to make far away items disapare gradually to avoid cluttering up the screen (adjustable Near and Far limits).