The function of HaloCAM is to monitor the verticality, heading, and relative position of any subsea structure with a fiducial target; in our case, we chose the ‘April Tag’ family of targets that are adhered to the structure. The integration of a high-resolution machine vision camera with either a navigation-grade INS (delivers heading) or a MEMS IMU (just pitch and roll) forms a powerful contactless subsea imaging and positioning solution with real-time data transmission to the surface.

The information available through HaloCAM includes altitude/ stick-up height, roll, pitch, and the relative heading of the target in relation to the ROV. If the navigation grade IMU is selected, then no heading sensor is required on the ROV. If the MEMS IMU is selected, then the ROV’s heading sensor can be integrated. This ability to position a structure in real time with no sensors or contact with the structure can significantly enhance the efficiency of subsea monitoring, especially when assessing the verticality of subsea structures with tight tolerances.

HaloCAM Applications

HaloCAM is designed for efficient offshore energy installations and is a versatile solution suitable for various applications, including:

• Oil And Gas
  • Well Spudding
  • Conductor/Casing Installation
• Offshore Wind Farm Installations
  • Monopile monitoring
  • Subsea Template Installation

How HaloCAM Works

HaloCAM combines advanced computer vision and inertial navigation techniques. Here's how it works:

1. Mounting & Installation: HaloCAM is securely mounted at the front of the ROV with an unobstructed view of subsea assets. The fiducial target is installed on the structure.
2. Dimensional Control: While either onshore or offshore, dimensional control checks are performed between the target and the structure to ensure precise placement and alignment relative to the structure.
3. ROV Deployment & Positioning: The ROV is deployed and strategically positioned to optimize visibility for HaloCAM while maintaining a safe distance of at least 2 meters off the structure.
4. Data Acquisition:  HaloCAM recognizes the target, sending offset position, pitch, roll, and relative heading data to the surface. Using our specific targets, we also provide quality control metrics for each of these parameters.
5. Real-time Processing: The resulting data is transmitted to the surface user via a simple RS232 link with an update rate of 5 Hz.

HaloCAM Key Features

• Contactless Data Collection: Contactless data collection through HaloCAM significantly reduces the cost and HSE risk associated with placing expensive sensors onto piles, conductors, or structures offshore.
• Accuracy of +/- 0.2°: HaloCAM offers an accuracy of +/- 0.2° degrees in verticality - assuming clear visibility to the structure and the system is within a clear line of sight to the structure in question. The positioning accuracy and update rate of HaloCAM are not affected by shock or acoustic noise from hammering or jetting during installation.
• Simple Integration with the ROV: The mobilization is quick with a single connection to an ROV survey port.
• HaloCAM works with targets applied directly onto the rounded face of conductors/monopiles.
• Absolute Positioning: In cases where absolute positioning of the structure is required, HaloCAM can incorporate data from the ROV’s navigation solution, further enhancing its positioning utility.

Data Acquisition and Requirements

HaloCAM incorporates a non-ITAR controlled inertial measurement unit (IMU) and can be easily deployed on an ROV using a single connector (24Vdc, 75W), providing real-time data to the surface. With a Navigation grade IMU, HaloCAM can remain mounted on the ROV and function as a precise subsea INS when not actively used for structure positioning. If a project deliverable does not include a precise structure heading, HaloCAM can be made available with the MEMS IMU as a more affordable solution.

Contact Zupt today to learn more about HaloCAM and how it can enhance your subsea operations.