Blueview BV5000 Specifications
Contents
1. BlueView Technologies Corp 16 BlueView BV5000 User Handbook Connect to the BV5000 After ProScan is installed and the PC configured it s time to connect to the system Open the ProScan Software and click on the connect button as shown below Note that if the sonar has just received power it will take 30 sec to boot and be ready for a connection ProScan File Help 4 oo L Connect ang Stark Stop F 15 When the connect button is pressed ProScan should connect automatically to the sonar and the pan amp tilt If ProScan does not find the sonar or pan amp tilt look at the troubleshooting section of this manual Pos2_legsXT_Odeg son File Help Pan Tilt Controls Range Revie Start Stop LD 200 A A Tilt 45 Pan 23 Communications Status Ping Rate 5 5 sec Sound Speed 1500 m sec Start Scan 2009 01 21 19 27 04 092 Pan 69 0 UTC Tilt 0 0 16 903 m 54 BlueView Technologies Corp 17 BlueView BV5000 User Handbook Installation of the Pan amp Tilt Unit When mounting the Pan amp Tilt Unit to either a tripod ROV or other structure the orientation of the base plate must be noted The base plate contains a 4 bolt hole pattern of 3 5 diameter which accepts 4 20 sized screws The unit also has an external mechanical stop which must be installed after the unit is mounted The use of this mechanical stop requires two different types of screws when mounting the2. 3D Point Cloud Files xyz amp off As descried above SON files are automatically created during scans 3D Point Cloud files are also created automatically with the same names as the SON file Two kinds of 3D Point Cloud files are created XYZ files with the extension xyz and OFF files with the extension off Both kinds of 3D Point Cloud files are in ASCII format and represent 3D points using X Y and Z coordinates The X and Y values are in meters from the sonar and are laid out on a Cartesian grid with the sonar at the origin X 0 Y OQ The Z values that are higher shallower than the sonar have positive values and Z values lower deeper than the sonar have negative values If a depth value is provided as described in the Geo referencing section below then Z values deeper than the water surface have negative values effectively moving the origin to the Surface BlueView Technologies Corp 34 BlueView BV5000 User Handbook XYZ files contain only three values separated by spaces OFF files have a two line header followed by a line for each 3D point Each of these lines has the X Y and Z values followed by the color assigned to that point expressed as RGBA Each of the X Y Z and RGBA values are separated by spaces The color map used assigns blue to the deepest points and red to the shallowest points Meshlab and other 3D viewers use this color map to display the points Sonar Settings File txt
3. Your mechanical scanning system includes a disk containing BlueView s ProScan sonar software as well as Meshlab a point cloud viewing program For proper system testing and operation ProScan and Meshlab should both be installed on your collection PC Cyclone by Leica Geosystems is sold separately ProScan Installation To install ProScan insert the ProScan CD into your computer s CD ROM drive and follow the instructions to complete the installation You may also launch the installation by double clicking on setup exe in the CD s root directory When ProScan starts if a personal firewall is enabled a warning message may pop up saying that ProScan is attempting to connect to the network BlueView recommends selecting the option that will always allow ProScan to access the network which it needs to do to communicate with sonar ProScan Software System Requirements ProScan requires a system that meets or exceeds the following requirements for optimum performance e Windows 2000 XP or Vista operating system e Dual Core 1 8 GHz or faster processor e 1GB or more of RAM e 2GB or more of free disk space e CD ROM drive for installation e 1 Ethernet Port and 1 USB Port Meshlab Installation The installer for Meshlab a 3D point cloud viewer and measurement package is included on the ProScan CD To install Meshlab just double click the Meshlab_v121 exe file Follow the instructions and accept the default options to comp
4. Cable e Change USB Ports e Verify USB Com Port e Reinstall P amp T Drivers e Verify Auto Pan Tilt e Check Connectors e Check Power Connect with Test Cable If you are having trouble running the pan amp tilt through a longer field cable or an ROV system hook the supplied test cable up between the pan amp tilt and the PC If you are able to connect with the test cable then the PC is configured properly and the pan amp tilt is probably working fine If you were not able to connect to the pan and tilt go on to the next section Change USB ports BlueView Technologies Corp 37 BlueView BV5000 User Handbook Change USB ports Change the USB port used for this connection on the PC If you were not able to connect to the pan and tilt go on to the next section Verify USB Com Port Check Auto Pan Tilt Verify that the ProScan File Settings Pan Tilt Auto Connect to Pan Tilt option is selected Once selected try to reconnect to the pan and tilt using the File Connect to Pan Tilt menu item If you were not able to connect to the pan and tilt go on to the next section Verify USB Com Port Verify USB Com Port The pan and tilt connects to the PC through a USB to RS485 converter located in the SPT box When the USB connection is made and all the drivers are installed properly this connection will show up tn the Device Manager Ports Com and LPT as a USB Com Port If you do not see the USB Com po
5. Connectors It is not uncommon for topside connectors to get pulled out of their ports or Subsea connectors to get corroded Power down the sonar and check the condition and proper seating of all connectors in the system Once you have verified condition and proper seating of all connectors re power the Sonar wait 35 seconds then try to reconnect to the sonar from ProScan software If you were not able to connect to the sonar go on to the next section Check Power Check Power If the sonar does not receive the correct DC voltage on the correct pins it can not operate properly Faulty power supplies tripped breakers and damaged cables can all be the source of this problem The best way to verify proper voltage is by measuring the voltage at the sonar connector using a multimeter Refer to the hardware manual for your specific sonar for detailed connector pin information If you were not able to connect to the sonar go on to the next section Check Sonar BlueView Technologies Corp 41 BlueView BV5000 User Handbook Bench Check Sonar In most cases the cause of the problem is not a faulty sonar but before you Start tearing apart your system integration looking for a problem it is worth taking a quick second to verify that the sonar is working properly This is accomplished by setting up a bench top test using the test cables and AC power supply that came with the sonar This test will quickly tell us whether the problem i
6. O Install the software automatically Recommended Click Next to continue 4 Select Search for the best driver in these locations and check the box of Search removable media floppy CD ROM Then click on the Next button Found New Hardware Wizard Please choose your search and installation options Pua a SG Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed Search removable media floppy CD ROM Include this location in the search E Drivers Windows 2000 Server 2003_ P_VISTA Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware 5 When the driver is successfully installed the following window will pop up Click Finish to complete the installation of the first driver Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for USB Serial Converter Click Finish to close the wizard Back Finish BlueView Technologies Corp 14 BlueView BV5000 User Handbook 6 The 2 Found New Hardware window will pop up prompting the driver installation for USB Serial Port DO NOT CLOSE THIS WINDOW When prompted to use Windows Update to search for th
7. Setup window This window allows adjusting the position and orientation inputs used during reprocessing Once you have made any desired changes to this section press the Start Playback button to start the reprocessing procedure Once complete ProScan creates new versions of the xyz and msh files The raw son file is left untouched If MeshLab is installed the new point cloud will be displayed as well BlueView Technologies Corp 36 BlueView BV5000 User Handbook Chapter6 System Troubleshooting This section is designed to help you quickly identify and solve issues dealing with the inability to connect the BlueView 3D scanning system from a PC While the basic connections between the system and computer are straight forward things can get very confusing once integrated into a delivery system The following approach attempts to test different potential causes in a way that optimizes the debugging process Sonar Pan amp Tilt Connection Issues The Sonar Head and Mechanical Pan amp Tilt components run on nearly independent but parallel networks Each component has its own connector and conductor sets for communications all the way back to the computer This can help isolated problems quickly since the only items shared are the DC power Supply DC power lines and SPT Cable Try running through the individual troubleshooting components described further in this chapter Pan amp Tilt Connection Issues e Connect with Test
8. a 15 degree overlap between the scans while selecting 5 scans provides 22 5 degrees overlap between scans The final scan at 45 degrees is optional Click the Include final 45 degree scan box to include it When performing a scan from a tripod this final 45 degree scan is pointed sharply at the seafloor and may not be of interest Eliminating this final scan decreases the time necessary to perform a spherical scan Total Pan Angle Both single and spherical scans can both be set to a specific sector size There are many situations when scans less than 360 degrees are adequate speeding up the scan process significantly These controls allow you to set the total pan angle for the upcoming scan Scan Speed Adjusting the scan speed allows the user to sacrifice point cloud density for faster scan rates This setting is adjustable between 1 and 10 degrees per second with 1 deg sec providing the highest density point clouds Center Scan Angle By default the scan is centered about the Home position If you want the scan centered at the current pan position check the Center Scan s at current pan angle checkbox Note that if the selected Total Pan Angle will hit a pan angle limit less than 180 greater than 180 then the start and stop angles will be adjusted so that the total scan angle is still obtained That is if this option is checked when the current BlueView Technologies Corp 31 BlueView BV5000 User Handbook pan angle i
9. number for non MB sonar will be zero or one Settings Sonar Controls Scan Settings Network GPS Recording Sonar Connection Pan Tilt Network Address 192 166 1 45 Head Number 0 Reboot PC and Sonar Power down both the sonar and computer wait 10 seconds then power everything up This can solve network configuration problems that may have come about The sonar takes 35 seconds to boot up so do not be surprised at Sporadic network connectivity during this boot up process Once everything is back up and running open the ProScan software and try to connect to the sonar If you were not able to connect to the sonar go on to the next section Check Network Settings BlueView Technologies Corp 40 BlueView BV5000 User Handbook Check Network Settings While changes to the network settings can be done without restarting the PC a quick power down can solve many network problems that can arise during network setup With that in mind power down both the sonar and computer wait 10 seconds then power everything up This can solve network configuration problems that may have come about Once everything is back up and running open the ProScan software and try to connect to the sonar NOTE The sonar takes up to 35 seconds to boot up so do not be surprised at sporadic network connectivity during this boot up process If you were not able to connect to the sonar go on to the next section Check Connectors Check
10. stop range both are measured in meters The stop range selects how far out the sonar is looking whereas the start range selects where the sonar starts acquiring data By using both controls you can zoom in on a target The range settings also control the data window that line data is derived from allowing a user to choose a specific zone to extract line data from Range and Bearing The current range meters and bearing degrees of the cursor is displayed in the lower right corner of the ProScan window BlueView Technologies Corp 24 BlueView BV5000 User Handbook Playback Controls When a file is loaded the playback controls appear at the bottom of the window The table below describes the different controls available Also available between the previous ping and next ping buttons is the time slider It shows the current location inside the file You may click on it to jump to a new location or Simply drag the marker back and forth to quickly scan through a file an LD J 8 599 m 15 ka Description Pause CS I Pause playback at the current ping Play LEA Resume playback Previous Ping Go to the previous ping Next Ping Go to the next ping BlueView Technologies Corp 25 BlueView BV5000 User Handbook Settings Sonar Control The only tabs of the Settings window you need to adjust when using the BV5000 are the Sonar Controls tab and the Scan Settings tab The Settings window is accessible by clicking
11. BlueView TECHNOLOGIES BV5000 User Handbook D a lt Part Number 202882 01 Revision A Updated April 2010 BlueView Technologies Inc All rights reserved All product names are trademarks of their respective companies www blueview com BlueView Technologies has made every effort to ensure the accuracy and completeness of this document however because ongoing development efforts are made to continually improve the capabilities of our products we cannot guarantee the accuracy of the contents of this document We disclaim liability for errors omissions or future changes herein The accompanying Software and Documentation are proprietary products owned by BlueView Technologies Inc and protected under U S and international copyright law Except as authorized under this License Agreement the Software may be used only on computers owned leased or otherwise controlled by you You may not reverse assemble reverse compile or otherwise translate ProScan Copyright 2003 2010 BlueView Technologies Corp All rights reserved No part of this publication may be copied reproduced or translated without the prior written consent of BlueView Technologies No part of this publication may be stored or transmitted in any electronic form without the prior consent of BlueView Technologies Any unauthorized use is a violation of copyright laws ProScan is a registered trademark of BlueView Technologies Corp Bl
12. File gt Settings The Scan Settings tab is discussed later in this manual Settings _ EEE Sonar Controls Sean Settings Network GPS Recording Sonar Connection Panik RangeThreshold 250 Sound velocity 1500 msec E Override recorded Sound velocity Range Threshold Level controls The Range Threshold controls the value at which a target will be recognized The allowed values range from 100 to 20 000 The default value is 250 and values typically range from 100 to 500 Sound Velocity This is the sound velocity in meters per second used to compute target range Override recorded Sound Velocity To replace the recorded Sound Velocity with the displayed value when playing back a SON file click this box BlueView Technologies Corp 26 BlueView BV5000 User Handbook Manual Image Calibration Select the File I mage Calibration menu item to bring up the Image Calibration dialog box An automated calibration can be performed using the Auto Calibration icon on the desktop discussed earlier in this chapter Image Calibration a The sonar contains two arrays that must be calibrated to synchronize the imagery between them To calibrate the image first make sure that the sonar is thermally stabilized to the ambient water temperature then use the
13. Image For the best results please make sure that the sonar s beam is Calibration To calibrate the Image grazing a relatively flat surface such as a piling or the seafloor and displaying a diagonal line across the image display first make sure that the sonar is thermally stabilized to the ambient water temperature then click the icon A dialog box will be displayed to provide an example of the recommended configuration Ensure the sonar Is pointed at an appropriate target If an appropriate target is not available Manual Calibration is available and discussed later in this manual Automatic Image Calibration will occur after clicking OK The display should look like the image below BlueView Technologies Corp 23 BlueView BV5000 User Handbook Length Measurement b After clicking the length measurement icon in the toolbar click the location where you want to start the measurement ProScan then draws a dotted line between that point and the mouse cursor Click a second time to freeze the current measurement A third click sets the starting point for a new measurement The length of the dotted line is displayed just to the left of the cursor location in the lower right of the ProScan window To clear the measurement line press the Measurement button a second time or right click the mouse Range Controls The sonar range sliders along the left side of the ProScan window allow you to change both the start and
14. The txt file which is created contains information pertaining to the sonar and scan settings for that scan The following information is logged Date and time sound speed calibration setting TVG gain sonar type threshold setting physical offsets and the comments field Reviewing Data When Meshlab ts installed and the Run Meshlab after each scan box is checked File gt Settings gt Recording tab the OFF file is opened and the 3D point cloud file can be reviewed Reprocessing Saved Data As previously noted one of the unique aspects of the BV5000 system is the ability to store raw scan data and reprocess this data at a later time Some of the reasons to reprocess raw data are to 1 process with corrected sound speed 2 process with different threshold settings 3 4 5 range gate the data process with proper calibration process with accurate position and orientation data Even with the most careful procedures mistakes can be made in the field With the ability to fix these problems at a later stage of a project a significant amount of time and money can be saved BlueView Technologies Corp 35 BlueView BV5000 User Handbook Data Reprocessing Procedure Once you have opened a previously saved son file and made the desired settings adjustments press the Scan button in the lower right hand section of the playback control bar Pan 10 7 8 Tilt 15 0 DIE This will bring up a Playback Scan
15. ations ssssss2 2 2 2 46 Appendix A Typical Installation Configurations 47 Typical Tripod and Fixed Configurations 47 TYDICAL BANG ON GULE SU O kaanane a reed elvarsdwh Ninon 16 Appendix B System and Cable DiaGQraMs cccsssseesnnnesseeeeeeeees 49 SONA Polis TIM CaO Cixi a ka aaa Ng A Pa ag a eat et ra cree re 49 Parana Tit Outline DraWiInds na aa nent Nasri niques 50 MB2250 45 Outline Drawing sisi aaa 51 MBL350 45 O DEMI ER a ca einen de ai un 52 BlueView Technologies Corp 4 BlueView BV5000 User Handbook Chapter 1 Introduction The BV5000 is a 3D mechanical scanning system that combines the data quality of BlueView s high frequency microbathymetry sonar with the ease of use of traditional 2D scanning sonar This manual covers setup installation operation and technical specifications of BlueView s 3D mechanical scanning sonar system When ordered the BV5000 ships with either a 1 35 or 2 25 MHz sonar head which are both covered in this manual For specific details on individual sonar head specifications see the specifications tables listed in the specification section of this manual System Contents Verify that your delivered system includes the following components e Sonar Head e Pan amp Tilt Unit e Sonar Pan amp Tilt Junction Box e Shipping Case BV 5000 e Hex Driver e Cable Cat5 Ethernet e Cable USB e Cable Power e Proscan CD w Meshlab e USB D
16. base plate to the structure 3 x 20 Button Head Cap Screws and 1 x 4 20 Socket Head Cap Screw Pan Tilt Controls 1 Connect to the Pan amp Tilt via ProScan and send the unit to TO Pan 0 the Home Position The Home position is at the center of Communications Status I rotation of the Pan axis Scans will be centered about this position If mounting onto an ROV the Pan and Tilt should be mounted with the Home position pointed directly away from the ROV EE 2 Mount the base plate with the Socket Head Cap Screw on the OPPOSITE side of the connector when the Pan and Tilt is in the Home position Use the Button Head Cap Screws at the other three locations Socket Head Cap Screw Connector BlueView Technologies Corp 18 BlueView BV5000 User Handbook 3 With the unit still in the Home position loosely attach the stop collar Align the sliding nut and bolt such that it is centered in the slot Next align that bolt with the Button Head Cap Screw which ts directly under the connector Adjust the height of the stop collar so the head of the sliding bolt is just above the Button Head Cap Screw Tighten the stop collar onto the Pan amp Tilt unit CENTERED IN SLOT WITH NUT ON TOP HEADS ALIGNED 4 Using the controls in ProScan verify the Pan and Tilt can rotate from 180 degrees to 180 degrees in the Pan axis The head of the sliding bolt should come in contact with t
17. connectors to get corroded Power down the system and check the condition and proper seating of all connectors in the system If you were not able to connect to the sonar go on to the next section Check Power Check Power If the sonar does not receive the correct DC voltage on the correct pins it can not operate properly Faulty power supplies tripped breakers and damaged cables can all be the source of this problem The best way to verify proper voltage is by measuring the voltage at the sonar connector using a multimeter Refer to the hardware manual using the detailed connector pin information in Appendix A of the is manual BlueView Technologies Corp 39 BlueView BV5000 User Handbook Sonar Head Connection Issues e Rerun ProScan Software e Check ProScan Setup e Reboot PC and Sonar e Check Network Settings e Check Connectors e Check Power e Test Sonar e Common Communication Link Issues Rerun ProScan Software If a sonar did not complete its boot process before ProScan was opened it may have missed that sonar Rerunning the software can fix this If you were not able to connect to the sonar go on to the next section Reboot PC and Sonar Check ProScan Setup If it doesn t click File gt Settings gt Sonar Connection to display the Sonar Connection Options The sonar s default network address is shown below The Head Number for BlueView s MicroBathymetry MB series sonar will be zero The head
18. e gt Settings gt Scan Settings Merged File Name OO Running Single Scans Heading 0 0 deg The term single scan refers to a scan g _0 0 deg 6 collected at a single tilt angle To run a single E Depth 0 0m ig scan first move the sonar to the desired tilt O Pitch 0 0 deg angle then check the Single Scan box set the g Roll 0 0 deg desired Scan Speed and Total Pan Angle and Fatt click Start Scan A progress window will i venice BRS appear while the scan Is running a 0 000 min Legis Comments Running Spherical Scans Spherical scans allow a greater volume to be scanned in a single operation Spherical scans are created by taking several overlapping scans at different tilt angles The Total Pan Angle and Center Scan option are applicable to spherical scans as well BlueView Technologies Corp 30 BlueView BV5000 User Handbook 15 Overlap 4 Scans 22 5 Overlap 5 Scans surface surface N 45 Scan 5 T N 45 Scan 4 T 7 22 5 overlap 4 A dii 22 5 Scan 4 1 4 ai gt 15 Scan 3 o 22 5 overlap i sa kaw 0 Sean 3 15 overlap Ji L 22 5 overlap 15 Scan 2 22 5 Scan 2 1 T 22 5 overlap 15 overlap 45 Scan 1 45 Scan 1 i Spherical scan settings are located in the File Settings File Scan Settings window Spherical Scan can be setup for either 4 or 5 overlapping scans Selecting 4 scans provides
19. e driver select No not this time and click Next Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with pour permission Read our privacy policy Can Windows connect to Windows Update to search for software O Yes this time only Yes now and every time connect a device Click Next to continue 7 Repeat steps 3 5 from above 8 To confirm the drivers are installed successfully check the Windows Device Manager in Windows XP go to the Control Panel gt Performance and Maintenance gt System click the Hardware tab then the Device Manager button Take note of the COM port number assigned to the USB COM port To access the Windows Device Manager click Start then RIGHT CLICK on my computer in the start menu and select Manage Click on Device Manager in the left panel Expand Ports COM and LPT and Universal serial bus controllers A new USB Serial Port should appear in the Ports section and a USB Serial Converter should appear in the Universal serial bus controllers section BlueView Technologies Corp 15 BlueView BV5000 User Handbook Setup PC IP Address The IP address on the interface PC will need to be set to a static IP 192 168 1 3 Windows XP To access a PC s IP addre
20. en Information Several Text Boxes are located around the sonar image to provide additional information both in live operation and file playback modes Ping Rate While the screen update rate is only on the order of 2 images a second many more imagers are being process in the background to create high resolution 3D point clouds The ping rate display represents the rate that ProScan is collecting data in the background 2009 12 18 17 08 20 155 Time Stamp This is the time stamp for the current ping image Sonar Type This message lets you know if you are looking at live or saved data It also gives you information regarding which sonar created the current sonar data Sound Speed Sound Speed 1324 m sec This message displays the sound speed currently being used for image processing This value is adjustable in the File Settings Sonar Controls window BlueView Technologies Corp 29 BlueView BV5000 User Handbook Scan Setup Rotational scans are performed by clicking Z Scan Setup File gt Start Scan or the Start Scan button on Scan Type Total Pan Angle the Pan Tilt control panel Both Single Scans Single Scan D 45 degrees and Spherical Scans can be performed All Spherical Scan 90 degrees settings for a single scan can be set in the Q 180 degrees Scan Setup window Additional settings for ENR 360 degrees Spherical Scans are located in the Settings V Center Scans at current pan angle window Fil
21. g a SE KA GE KE Kg D A Ga pe A a anga a Kaga ag 25 S ttings Sonar CONTO saa ahaaa tie a Gn aa a nn nine aan 26 Manual Image Calibration sesa dire eaaa eaaa anaa roiehatasemnere te atsostts 27 Pan and ME CONOIS kaag Ra A a KE AN A ri dada 26 S Ce PAI OMI AU LO NG aa ag aana ea D in NG AN E ear KS Ka a ea 29 S Ca AS CDR a a a a ag a a a ag a eee Da EE de D E deu a a le 30 Chapter 5 Recording and Reprocessing Data 33 CONIQUES BG DENG aa ia bae a Aa KN EN atm eta chien endothelin cena 33 SCan TALENSIUY FICS ASOR irns aaa AN ag aaa BE Gad a KA GA dt ag Lng gag EN a a an E 34 3D Point Coud FINES G XYZ SOT raaa aaa a ae a Ra NG TAG E ANA Ba nina nan 34 Sonar vetns FIE AKE Jaa a a GB AA AN AN NG A en A AA D KAB a A AG KB A A ANA Ba aa 35 BlueView Technologies Corp 3 BlueView BV5000 User Handbook REVIEWING DAES seb narbonne lente tee bee Ba Ba ensue Ba aba aaa Ba a laha 35 Reprocessing Saved Data sisi nt ane suites 35 Chapter 6 System Troubleshooting ssssmnnnnnnnnnnns 37 Sonar Pan amp Tilt Connection ISSUES Voi ece cased er ea anaa ana anaa aa a aaa eaaa anana 37 Pan e TIR ONNeETIONMESSURS aaa nina era nan a BN yuh ee mien sedate ns 37 Sonar Head Connection Issues saeka cece cece eeeeeeeneeeeeeeeeeeeneeneeeeeeenegas 40 Image and S Can PFODIEMS cerra nag a BA aa NN a ne aa BA 43 BlueView Customer Support cece cece eee e ee eeeeeeeeeeeeeaeeeeteeaeeeeesegees 45 Chapter 7 System Specific
22. he head of the Socket Head Cap Screw and slide in the slot BlueView Technologies Corp 19 BlueView BV5000 User Handbook Chapter 4 ProScan Software Basics BlueView s ProScan software Is the main user interface for setting up and running a 3D scan operation While ProScan can output 3D point cloud files in several formats it does not work directly with 3D data sets For viewing and manipulation of 3D data see the following chapters regarding working with point clouds Typical ProScan Screenshot Pos _legsXT_Odeg son File Help i ap Range Start Stop 10 20 0 Ping Rate 5 5 sec Range Controls 2009 01 21 19 27 04 092 UTC BlueView Technologies Corp Image Display 20 MIE Pan Tilt Controls Review Tilt 45 Pan 23 M 13 50 45 Head 1 Communications Status C3 Sound Speed 1500 msec Stark Scan Pan and Tilt Bearing Tilt 0 0 16 903 ma 54 BlueView BV5000 User Handbook Image Display The imagery shown in the sonar window has reflects two types of data First the full intensity map for each ping is displayed in a copper color map Overlaid on top of the intensity map is the range value chosen for each angle for use in the creation of 3D point clouds This range data shows up in blue The range data is chosen using a threshold routine and the threshold value set in the File Settings Sonar Controls window If no data in a given angle bin meets the threshold requ
23. irement no blue is shown and no point is assigned in the point cloud for that angle i Copper Intensity Map Blue Range Data BlueView Technologies Corp 21 BlueView BV5000 User Handbook The sonar collects line data in a vertical orientation and that line data is displayed in ProScan The following diagrams illustrate how to interpret the image display as well as how the line data translates to the point cloud Clockwise from upper left Illustration of the multibeam collection display of the line data in the copper color map display of the blue threshold data points display of the point cloud MB1350 44 Head ing Rate Sicar 009 01 21 Pan 69 1 Tilt 0 0 BlueView Technologies Corp 22 BlueView BV5000 User Handbook Toolbar The toolbar provides quick access to several commonly used sonar functions Connecting to a Sonar To connect to a sonar simply click the connect icon on the toolbar This will connect to the sonar at the network address specified in the Sonar Connection dialog Se Opening a Lari File This allows the user to select a sonar file son to open Both playback and network output begin automatically Network Transmit N This function is not used with the BV5000 setup New File This function is not used with the BV5000 setup Me Automatic Image Calibration Automatic Image Calibration You are about to perform an automatic image calibration This will perform an automatic
24. lete the installation Refer to Help menu in Meshlab for operational information BlueView Technologies Corp 8 BlueView BV5000 User Handbook Leica Cyclone Note The Cyclone software package is sold separately from the base BV5000 packa age Contact i eView sales for more ne tion on obtaining trial and permanent lic s for the Cyclone software package Cyclone by Leica Geosystems is a point cloud manipulation software package that provides advanced operations such as cleaning r ia iste AG scans from several locations and modeling engineering objects for ani ut to standard cad products BlueView sells the Cyclone package as optional software accessory for those requiring this type of package Software en SUN rigin ka A nstalled with only its Viewer functionality e ears purchasing a uae tional lic SO of the more advanced features can be anes for use he ta one a low o nine ome of the different featu associated with the different lic a ailable SE porearea re a CO CAD Export BlueView Technologies Corp 9 BlueView BV5000 User Handbook Cyclone Installation Instructions 1 As The Cyclone software installation files can either be downloaded directly from the Lieca Geosystems website or found on CDs that come you re your purchased Cyclone software suite Install Cyclone and take note of the installation directory If you either requested a trial license or purchased a permanent license a license file should ha
25. oScan s settings BlueView Technologies Corp 11 BlueView BV5000 User Handbook Connect Components The BV5000 Package comes complete with everything needed to bench test and tank test your system 1 Connect the sonar and Pan amp Tilt unit to the control box using the SPT Sonar Pan amp Tilt test cable Connect the Ethernet cable to the control box then to an available network connection port on the PC Verify that all connections in the diagram below have been made User Computer SPT Junction Box USB Cable Ethernet Cable Pan amp Tilt Connector Test Cable Sonar Connector BV5000 Head 110 240 AC Power 2 Once all the connections are made connect the SPT Junction Box to an AC Power supply BlueView Technologies Corp 12 BlueView BV5000 User Handbook Installing the Pan and Tilt Drivers The SPT junction box contains a USB to RS 485 converter The converter will add a COM port to the PC for communicating with the pan and tilt The drivers for the converter need to be installed onto the PC These drivers are located on the COMMFRONT USB Serial Adapter CD included with the mechanical scanning system There are two drivers to install one is for a USB Serial Converter and the other is for a USB Serial Port NOTE Two separate Found New Hardware Wizard windows will pop up Do not close the second install wizard while installing the first NOTE For Windows Vista disconnect yo
26. on Pin Function Ethernet RX to sonar Ethernet RX to sonar Ethernet TX to sonar a 24V DC 24V DC Ethernet TX to sonar Le o fem o fe 4 Pin Connector to Pan amp Tilt Unit Impulse LPMI L 4 FS 8 Pin Connector to Sonar and Pan amp Tilt Unit Souriau UTG612 8PN Ethernet RX to sonar C Ethernet RX to sonar Ethernet TX to sonar Se ee amp T 5 w BV5000 User HaNdDOOK BlueView Technologies Corp 49 Pan and Tilt Outline Drawing LAH 4 000 Units Inches ox N MOUNTING HOLES AX D 266 X 3 500 DIAMETER B C BlueView Technologies Corp 50 TABLE 1 PIN OUT PAN amp TILT PiN DESCRIPTION P DCCOMMON 23 24 VDC OoOo RS4ES A m 3 al BlueView BV5000 User Handbook MB2250 45 Outline Drawing Units Inches ZINC PAM 200805 03 BAT FA 5 79 CONNECTOR IMPULSE MKS 310 FCR D ACOUSTIC CENTER VACUUM TEST PORT ACOUSTIC CENTER BlueView Technologies Corp 51 BlueView BV5000 User Handbook MB1350 45 Outline Drawing CONNECTOR pi IMPULSE MKS 310 FCR 1 29 ACOUSTIC a CENTER INC BVT P N 200805 03 Units Inches BlueView Technologies Corp 52 BlueView BV5000 User Handbook
27. pan and tilt controls to point the sonar so that its beam is grazing a relatively flat surface such as a piling or the seafloor and displaying a diagonal line across the image display If the diagonal line has a break tn it as shown in the left hand figure below bring up the Image Calibration dialog box and move the slider until a single unbroken line is displayed Click OK to save the calibration value Pan 1 2 RIDE 8 139 m 177 BlueView Technologies Corp 27 BlueView BV5000 User Handbook Pan and Tilt Controls If the Pan Tilt is connected and properly configured the Pan Tilt controls appear on the right side of the screen Pan Tilt Controls Tilt Pan 22 Start Scan Use the directional buttons to move the pan and tilt Home Position Home The Pan Tilt Home position is defined as the center rotation angle for each axis To move to the Home position click the corresponding button Start Scan Start Scan Rotational scans are performed by clicking the Start Scan button on the Pan Tilt control panel or by clicking File gt Start Scan Both Single Scans and Spherical Scans can be performed from the Scan Setup window Scan Setup Scan Type Total Pan Angle Single Scan O 45 degrees Spherical Scan 90 degrees OO 180 degrees Scan Speed 360 degrees Center Scans at current pan angle BlueView Technologies Corp 28 BlueView BV5000 User Handbook Scre
28. river CD e Test Cable 15 ft e BV5000 User s Handbook BlueView Technologies Corp 5 BlueView BV5000 User Handbook System Overview Through mechanical rotation of the sonar head the BV5000 is capable of producing 3D point clouds from a stationary location Some of the more common delivery methods tripods and ROVs are shown in the figures below Notice the volumetric scan zones around the sonar With each scan a large amount of high resolution 3D data is collected The system works by mechanically scanning a thin vertical sonar slice around the selected area as shown in the figure below At each direction a profile of the surface is taken and added to the other direction profiles to create a final 3D point cloud similar to the one shown below BlueView Technologies Corp 6 BlueView BV5000 User Handbook Typical 3D Point Cloud Collection Overview This section provides a quick overview of a typical collection process Deploy the System Position the BV5000 into the desired scan location For tripod type systems verify that sonar is upright by viewing proper movement of the bottom imagery as the sonar is tilted up and down using the pan and tilt controls Set Sound Speed Open the File Settings Sonar Controls menu and enter the measured or estimated sound speed of water for the scan location Image Calibration To calibrate the image first make sure that the sonar is thermally stabilized to the ambient water tempera
29. rt listed in this list then either the device drivers are not installed properly or the USB to RS485 converter is not functioning properly z Disk drives z Display adapters 3 DVD CD ROM drives ial Human Interface Devices f IDE ATA ATAPI controllers ye Keyboards Fe 77 Mice and other pointing devices Hi Monitors Ea Network adapters HW Ports COM amp LPT Communications Port COM ag Printer Port LPT1 oY USE Serial Port COM lt lt S Processors D Sound video and game controllers Hs Storage volumes M System devices 2 Universal Serial Bus controllers AS FTDI FTSUZEX Device Standard Enhanced PCI to USB Host Controller If you were not able to connect to the pan and tilt go on to the next section Reinstall Drivers BlueView Technologies Corp 38 BlueView BV5000 User Handbook Reinstall Drivers Try reinstalling the drivers Refer to the Installing the Pan and Tilt Drivers section in this manual If you were not able to connect to the pan and tilt go on to the next section Reinstall Drivers Verify Com Port Settings Verify the Com Port Settings They should be set as follows 9600 baud 8 data bit parity none 1 stop bit no flow control If you were not able to connect to the pan and tilt go on to the next section Check Connectors Check Connectors It is not uncommon for topside connectors to get pulled out of their ports or Subsea
30. s 180 and a 360 degree total scan angle is also selected the scan will not be centered at 180 but will scan 360 degrees from 180 to 180 degrees File Controls When conducting Spherical Scans the combined Merged File Name can be assigned in the Scan Setup dialog box This file name overrides the default name Position and Orientation Input If the orientation and position of the BV5000 unit are known that data can be entered in the Scan Setup dialog box The exported point could files are adjusted such that the Z axis normal to the earth s surface and the X axis is oriented north BlueView Technologies Corp 32 BlueView BV5000 User Handbook Chapter 5 Recording and Reprocessing Data By default ProScan produces four types of files for each scan a son intensity file xyz and off point cloud files as well as a txt file The intensity files allow you to reprocess the raw data at a later time while the point cloud files allow viewing the scan results in standard point cloud viewers The txt file contains information pertaining to the sonar settings for that scan The following section describes these items in detail Configure Recording Click File gt Settings gt Recording tab to bring up the File Recording Setup dialog To enable data logging check File Recording Enabled and press OK To change where files are saved type in a new location or click Browse to select one NOTE Data files are automaticall
31. s son off and xyz files son off and xyz files Data Output Units BlueView Technologies Corp 46 BlueView BV5000 User Handbook Appendix A Typical Installation Configurations Typical Tripod and Fixed Configurations lt 200ft Tether BV5000 Head User Computer SPT Junction Box gt USB Cable SPT Cable lt 200ft Ethernet Cable gt 200ft Tether SPT Junction Box Subsea Housing BV5000 Head 50 Mbs Ethernet Extender gt Tether USB Cable gt gt 200ft en Ethernet Cable User Computer 24 Volt Power Supply 50 Mbs Ethernet Extender BlueView Technologies Corp 4 7 BlueView BV5000 User Handbook Typical ROV Configuration Fiber to ROV Console Ethernet COCE Converter RS485 USB User Computer Converter Customer Potted ZT Customer Supplied BlueView Supplied Whip Sonar to Customer Whip Cable BV5000 Head 12 48 VDC Es and to Fiber ae T Ethernet Fiber Converter Ground Brown and Function RJ45 Brown White Pins 0 1 Orange White i ON i Ethernet Rx 4 anak Green white i Ethernet Tx Note Try a straight Ethernet connection first Then try a crossed connection Swap 1 amp 3 2 amp 6 Pan amp Tilt BlueView Technologies Corp fas 8 BlueView BV5000 User Handbook Appendix B System and Cable Diagrams 10 Pin Connector to Sonar Impulse MKS Sonar Pan and Tilt Cable
32. s with the sonar PC or with the rest of the system Use the following instructions to setup and test your sonar Refer to section Connect Components in this manual for setup instructions BlueView Technologies Corp 42 BlueView BV5000 User Handbook Image and Scan Problems If the image looks distorted or incorrect it could be one of a few issues The tripod is tipped over Make sure the tripod is in place and hasn t fallen over Uncalibrated Sonar Repeat the calibration procedure outlined in the Calibration section of this manual File Help Range Ping 1100 Review Start Stop MIB1350 1 10 Head 1 A a ae E ars j 9 00 m 900 m Gain 5 dB TYG 0 dB m Sound Speed 3 00 m E 3 00 m 2009 05 13 19 57 10 687 UTC 6 644 m 33 Spherical Scan process stopped before final point cloud creation During a spherical scan process the data for each horizontal sweep is stored in a separate temporary file When all horizontal scans are completed the individual scans are combined into a single file If the system shuts down or aborts before the software reaches the merge portion of the process the operator can manually merge the xyz files by copying all the data into a single xyz file using a text editor such as Notepad BlueView Technologies Corp 43 BlueView BV5000 User Handbook Sonar mounted upside down Figure 1 shows a normal scan and Figure 2 shows the same scan with the sonar upside do
33. speed set too high If increasing the scan overlap doesn t improve image quality it may be that the scan speed is too high This can be changed in the Scan Setup window See the ProScan manual for more information BlueView Customer Support At this point if you were able to connect to your BV 500 you can assume the system is working properly and that the PC is set up correctly The only thing left is the communications link specific to your particular implementation application It is advised that you get your system integrator involved at this point BlueView Technologies Customer Support www blueview com 206 545 7260 8am to 5pm PST Mon through Fri BlueView Technologies Corp 45 BlueView BV5000 User Handbook Chapter 7 System Specifications BV5000 1350 BV5000 2250 Sonar Head Field of View 1 x45 Pan Scan Angle Coverage 45 360 45 360 Tilt Scan Angle Coverage 65 65 Update Rate Up to 40 Hz Frequency 2 25 MHz Maximum Range 9m 30 ft NO O1 oO Number of Beams 56 0 Beam Width pat Beam Spacing 0 16 Time Resolution 0 74 in 10 5 L x 9 2 W x 15 4 H Power Consumption SPT Junction Box 120 240 VDC 120 240 VDC Voltage Directly to Head if SPT 12 48 VDC 12 48 VDC box not used Communications 9600 baud 8 data bits Parity 9600 baud 8 data bits Parity RS485 Settings None 1 Stop Bit No Flow None 1 Stop Bit No Flow Control Control File Output Types Data Output Format
34. ss in Windows click Start gt Control Panel gt Network Connections and double click on the computer s Ethernet port usually Local Area Connection 1 Right click and select Properties then double click on Internet Protocol TCP IP in the list of components Make sure the IP address Is set as shown below General Authentication Advanced Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 1 3 Subnet mask 255 255 255 0 Default gateway i Use the following DNS server addresses Preferred DNS server Alternate DNS server A 4 Windows Vista To access a PC s IP address in Windows Vista click Start gt Control Panel gt Network and Internet gt Network and Sharing Center gt Manage network connections Right click the connection that should be changed and click Properties You may be asked for an administrator password Click the Networking tab Under This connection uses the following items click Internet Protocol Version 4 TCP I Pv4 then click Properties As described in the previous section set the IP address to 192 168 1 3 and the subnet mask to 255 255 255 0
35. ture then use the pan and tilt controls to point the sonar so that its beam is grazing a relatively flat surface as described later in this manual Press the auto calibration icon then visually assess the calibration Enter Scan Parameters and Start Scan Select the Scan button located under the pan and tilt controls to bring up the Scan Controls window Setup the desired scan process and enter any position and orientation data available not required Press Start Scan to begin the scan process Depending on how the scan is configured scans can take between 1 18 minutes to complete Monitor Scan Process ProScan visually shows the intensity map copper and the selected point cloud surfaces blue the current ping position ProScan also brings up a status window for the current scan No 3D imagery Is available until the scan is complete Point Cloud Viewing and Measurements Use a point cloud viewer to spin the 3D point cloud around and view from different angles Take point to point measurements to make accurate distance and size measurements Once such viewer MeshLab is supplied with your BV5000 system All measurements are in meters Advanced Data using Cyclone If required use a third party software such as Cyclone by Lieca Geosystems to perform advanced cleaning registration and modeling functions on the data BlueView Technologies Corp 7 BlueView BV5000 User Handbook Chapter 2 Software Installation
36. ueView Technologies Corp 2 BlueView BV5000 User Handbook Table of Content Chapter L INtTFOQUCETION aaa aaa aa aa dt A 5 Sy SUCH COM SNES SES ann nan de rar D ee nn or ice 5 SY SEC OVEIVICW nie na ei nt A nan 6 Typical 3D Point Cloud Collection Overview 7 Chapter 2 Software Installation sssnsnnnenenennnnnnnnns 8 POS can INSEAlAION Eat ile tn mean 8 Mesnlap AS EG la lIONE a Aga a D Lk a a a AGA a a a NG ka Ba A ag a aa a A a a Ka kana a Ka nga aji an 8 Lela GYCIONE RS nb eue BA a A DA A Ga aa mind nna cure ide tt eee tete entr let 9 Chapter 3 System Assembly and Testing msn 11 Assembling the Hardware sssrssoronnanssserssunes asus troit ee bp ta tentes touts 11 CONNECE COMPONENUS SH sasa aia M art en I Re M der 12 Installing the Pan and Tilt Drivers sasaka cece cece cece ee eeeeeeeeeeeeeteeeeeennnernees 13 Serup PC IP AGGIeSS 55 aal pai ae a na a es es nn te a aime Tae 16 COnnecE EC The BY 000 nie ea A de nan 17 Installation of the Pan amp Tilt Unit ccc cece eee e eee eaaa aana aaa aana eaaa aaa aane 18 Chapter 4 ProScan Software BaSICS cccssssscceennseeccennneeseesnnnensees 20 Typical PrOS Gan SCreenSMOts ini ina 20 Mage DIS DIO NE nr Hindi daim der 21 TOOD Reena crt I Re Mb aera rnin ean ree Pree ee TANG nee 22 TO OID ON fig cri RE E tun a ed te ana a gih 23 RANGE CONTO ur outers mia noie ati initie 24 Range NG Bearn urepe enin aera cdo na a ga a A a e BAG Ga a aaa a tie 24 Playpack CONTOS ES baka Ta
37. ur PC from the internet before installing drivers otherwise Windows Vista will search for and install the drivers automatically from Windows Updates and cause errors The Instructions below are for Windows XP Installation for Windows Vista may vary from the instructions below 1 Connect the USB port on the control box to an available USB port on the PC The Found New Hardware Wizard will guide you through the installation process 2 First the USB Serial Converter driver will install When prompted to use Windows Update to search for the driver select No not this time and click Next Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software O Yes this time only O Yes now and every time connect a device Click Next to continue BlueView Technologies Corp 13 BlueView BV5000 User Handbook 3 Select Install from a list or specific location to install the driver from CD and click Next Found New Hardware Wizard This wizard helps you install software for USB HS SERIAL CONVERTER If your hardware came with an installation CD A lt 6 or floppy disk insert it now What do you want the wizard to do
38. ve been provided to you as a file named license dat Copy this file into the installation directory Launch Cyclone A dialog should appear outlining the available licenses and expiration dates If the available licenses do not appear in the dialog the individual licenses may need to be activated in the License Manager from the Help dropdown in the Navigator window 2 Cyclone License Manager License Use Available C clone MODEL A Yes Cyclone SURVEY A Yes Cyclone SCAN A Yes Cyclong REGISTER A Yes Cyclone PLBLISHER A Yes Cyclong SERYER LI Mo 4 Cyclone VIEWER Don t ask me again Check Usage Cancel BlueView Technologies Corp 10 BlueView BV5000 User Handbook Chapter 3 System Assembly and Testing Assembling the Hardware 1 Attach the sonar into the sonar clamp by loosening the four cap screws Sliding in the sonar and retightening the four cap screws NOTE The sonar is inserted into the clamp such that its connector is on the same side as the Pan amp Tilt connector 1 4X CAP SCREWS FOR CLAMP 2 SONAR CONNECTOR NOTE ORIENTATION OF SONAR 3 PAN amp eu REFER TO THE CONNECTOR PAN amp TILT INSTALLATION SECTION FOR MOUNTING INSTRUCTIONS NOTE Use the stickers side indicators and connector placement on the rear end cap of the sonar to determine the up down orientation of the sonar If the sonar is inverted be sure to select the inverted option in Pr
39. wn When mounted upside down the overlapping scans do not overlay properly and a spherical smearing affect appears Figure 1 Normal Scan Figure 2 Inverted To adjust the settings on a deployed system or re process a rotational scan acquired with the sonar in an upside down configuration 1 Open the File gt Settings gt Pan Tilt gt Orientation dialog 2 Check the Invert Beam Angles checkbox and click the Save button For post processing 3 Open the rotational scan file and perform a playback scan see the ProScan manual for more details 4 When playback is complete new and corrected XYZ and OFF files will be created in the directory of the SON file Sonar is not mounted vertical in Pan Tilt mount As the system scans a scene the software assumes the sonar is mounted in the vertical orientation If the head is actually twisted in the mount the 3D data collected for each horizontal scan will not align properly A jagged step along vertical structures on overlapping scans would be visible in this case To resolve the problem readjust the sonar tn its mount BlueView Technologies Corp 44 BlueView BV5000 User Handbook Not enough scan overlap If a spherical scan isn t dense enough ProScan can be set to perform more scans with more overlapping area for better viewing These can be found in ProScan s settings in the Scan Settings tab See the ProScan manual for more information Rotational
40. y stored in C Documents and Settings Username Temp This can be changed in the Recording Setup dialog Settings Sonar Contrals Scan Settings Network PS Recording Sonar Connection Pan Tilt File Recording Enabled Recorded files saved ka C Documents and Settings User Temp Checking the Save Individual Scan Files box in the Scan Settings tab will preserve the files generated for each of the individual scans of a Spherical Scan after they are merged as described later If not checked the individual files will be deleted after merging is complete BlueView Technologies Corp 33 BlueView BV5000 User Handbook Settings Sonar Contrals Scan Settings Network GPS Recording Sonar Connection Pan Tilk Run Meshlab after each scan Spherical Scan Settings 15 deg Overlap 4 scans 22 5 deg Overlap 5 scans Save Individual Scan Files Include Final 45 degree scan Scan Intensity Files son A SON file is output for each of the individual scans in a Spherical Scan When the Spherical Scan is completed the individual files will be combined into a single SON file The combined file will have the name entered in the Merge File Name field with a suffix of _ complete automatically appended If no filename was entered in the field then the name of the first scan will be used The individual SON files and 3D Point Cloud files will also be renamed with that name but with their tilt angle appended
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