US 11,807,349 B1
Submersible remote operated vehicle vision assistance and control
Blake Schumann, Katy, TX (US); Mark Leonhardt, Sacramento, CA (US); and Alex Wendeborn, Spring, TX (US)
Assigned to FMC Technologies, Inc., Houston, TX (US)
Filed by FMC Technologies, Inc., Houston, TX (US)
Filed on Sep. 16, 2022, as Appl. No. 17/932,988.
Int. Cl. B63G 8/38 (2006.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); G05D 1/08 (2006.01); E21B 41/04 (2006.01); E21B 33/035 (2006.01); B63G 8/00 (2006.01)
CPC B63G 8/38 (2013.01) [B63G 8/001 (2013.01); E21B 33/035 (2013.01); E21B 41/04 (2013.01); G05D 1/0875 (2013.01); G06T 7/50 (2017.01); G06T 7/74 (2017.01); G06T 2207/30204 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A subsea equipment operating and management system for operating and managing an item of subsea equipment using a submersible ROV, comprising:
a fiducial marker;
a submersible ROV, the submersible ROV comprising a manipulator arm and a sensor, the submersible ROV configured to obtain fiducial data from the fiducial marker via the sensor; and
a processor and memory with instructions stored on the memory operable to cause the system to perform operations comprising:
monitor an orientation and position of the ROV;
calculate an orientation and position of the fiducial marker;
determine a first orientation and position of the item of subsea equipment based on the orientation and position of the fiducial marker and the orientation and position of the ROV;
determine if the orientation and position of the item of subsea equipment is within a specified orientation and position range;
send operations instructions to at least one of the ROV and a vessel to adjust the orientation and position of the item of subsea equipment.