USBL is a widely used tracking system for underwater. The system consists of a transceiver mounted on the vessel, and a transponder mounted on Boxfish ROV. Using the USBL, the position of the ROV is found relative to the vessel’s GPS coordinates. The USBL may also act as a wireless communications link for piloting the ROV back if the tether were ever to fail. We can add a Blueprint Subsea X150 USBL that can track the ROV up to 1,000m depth.
Boxfish ROV has the option of integrating the range of Blueprint Subsea Oculus dual-frequency sonars and displaying them on the console’s main screen. These sonars have 512 beams and operate at various frequencies between 750 KHz and 2.1 MHz with 60 degree to 130 degree fields of view. Imaging sonars are great for navigation while moving and for locating stationary or moving objects. Distances to 120m and resolution down to 2.5mm are possible depending on frequency used.
The altimeter option allows Boxfish ROV to maintain a consistent height over the bottom during operations. This can make piloting much easier over uneven bottoms and eliminates any vertical motion of the ROV caused by large surface swell.
Profiling sonars are for ultra-high resolution underwater 3D reconstruction and profiling for site surveying or rendering. They operate similar to a line scanner that requires slow and controllable movements to capture the data. The high manoeuvrability and the active stabilisation of the Boxfish ROV are necessary to get reliable and accurate 3D reconstructions with this technology. [Note these are bulky, heavy and expensive.]
We offer the option of adding a Teledyne Pathfinder 600 kHz Phased Array DVL to the ROV. DVL is an acoustic sensor that estimates velocity relative to the sea bottom. Because of the acoustic nature of this technology, it operates well in low visibility. The estimated velocities are converted into an XYZ coordinate system relative to the sea bottom.
Boxfish Research offers two options for the stereo vision. The first option is to add two single cameras in a stereo configuration (on the same baseline) to the Boxfish ROV. This option gives the capability of having 3D vision in any direction relative to the ROV. This option suits more sophisticated measurements, such as studying the sea floor at the bottom of the ROV or measuring fish.
The second option is to replace the main front camera with a stereo camera. This will add the capability of having the 3D vision at the front of the ROV, which is ideal for performing measurements and inspections of objects while moving Boxfish ROV around.
Photogrammetry is the process of making a 3D model of an environment using a single camera. During the process, the structure of the scene and the position of the ROV are found simultaneously. Boxfish ROV provides high quality and stabilised videos with homogeneous lighting that are very suitable to be used for photogrammetry purposes.
There are applications that require a view above the ROV or above the water. The Boxfish ROV offers a solution to mount a camera on the ROV to have views either from the top of the ROV or from out of the water for tank inspections for example.
It is often required to do simple length measurements underwater for understanding the scale of the object in view. Boxfish Research can add laser scalers to the ROV that facilitate simple length measurements. Photogrammetry is another application that can take advantage of laser scalers. The 3D model built by photogrammetry techniques does not have the correct scale. Having the known length of laser scalars helps to correctly scale 3D models reconstructed using photogrammetry. Boxfish offers options of two or four laser scalers as well as external modules that can be coupled with additional cameras.
The exceptional manoeuvrability of Boxfish ROV enables the pilot to carry out a wide range of operations with even the most basic grabber. More sophisticated grabbers add additional functionality for more complex tasks.