Revolutionizing, digitizing and maximizing inspection data · Revolutionizing, digitizing and...

COMEX SA Innovation Department - 36 bd de l’océan CS80143 13275 MARSEILLE CEDEX 9 - France - PHONE : +33 (0)4.91.29.75.00 - FAX : +33 (0)4.91.29.75.07 email : [email protected] - web : www.comex.fr

1© COMEX 2020, all rights reserved 1

Revolutionizing, digitizing and maximizing inspection data

Tuesday 11th February 2020

Presented by Jonathan Morvan, Comex Innovation Business Developer

mailto:[email protected]

http://www.comex.fr/



COMEX

1992 HYDRA X -701 m, still unbeaten 2002 Submarine REMORA 2000 & ROV1980 AQUABULLE habitat1969 Hudson bay, diving to 180 m

Worldwide pioneer in the development of technologies to allow robotic and human operations in extreme environments

Founded by HG Delauze in 1962

Test center and maintenance of hypo/hyperbaric equipments

Robotic & underwater vision systemsfor submarine operations

Life support systems, habitats & astronauttraining programs in divingsuit

Research and test vessels with ROVs & sonar for operations until 2500 m depth

Design & manufacturing of HBOT &Special Machines




3© COMEX 2020, all rights reserved

Cx Innovation

14 Staff40 Years of projects and 62 yearsof combined knowledge in subseaphotogrammetry

Research & Development Systems development & Integration ORUS3D Operations

Various domain activities inSubsea Robotics and Visionprojects

• European and french funded researchprograms

• French Defense research programs• ORUS3D systems miniaturisation,

performance optimisation• Future technololy development

• Complex vision and robotics systemsapplied to defense

• Subsea lighting systems• ORUS3D new systems integration• New technologies integration

• Offshore operations• Data processing• Systems maintenance• Expert operators training





« ORUS3D » Comex innovation program to build a uniquephotogrammetric inspection system

=> Numerous projects

1979

2004

2006

2010

2014

« Sud Caveau wreck » Archaeological project incollaboration with DRASSM and CRNS

« Capri amphorae wreck » Archaeological project incollaboration with CNRS and Italian archaeology researchcenter« VENUS » european funded project to develop subseaphotogrammetry for archaeology

french research funding program to develop a subseaphotogrammetry system in collaboration with CNRS

2018

40 Years of knowledge in Subsea Photogrammetry

Photogrammetry

1998

First commercial subsea photogrammetry project, singlecamera operated by divers for ELF in Norway

1988 « cercomex » first diver subsea metrology chamber





What is Subsea Photogrammetry ? What is not ?

Definition

• Pictures acquisition on different angles related to the object

producing 3D points cloud with colour information

extracted from pictures.

• Texture model projection from aligned photos

• Critical processing stage in metrology applications : scaling

Photographsacquisition

Featuresextraction

Featuresmatching

Photogrammetricmodel computation

Image processing Photogrammetry

Scaling

On site survey

Densification Meshing Export

Modeling

- Orthophotography overlapping a point cloud produced with subsea Laser, Lidar, TimeOfLight, Acoustic Camera or MBES systems

- It’s not just a 3D representation

Photogrammetry => measurement





Certifications

CLASS CERTIFIED SUBSEA VISION MEASUREMENT BASED SYSTEM

CHAIN INSPECTION SPOOL METROLOGY

3D models of

Comex test

pool





The ORUS 3D is an underwater system specifically designed forphotogrammetric measurements, i.e. its mechanical design,hardware and calibration procedures are optimized to guaranteehigh absolute accuracy considering the refractive effects of water,thermal and pressure influences.

• Pre calibrated -> No markers or scale rules on site

• Not navigation dependant (USBL, INS, DVL, LBL..)

• Fully contactless, free flying and rapid inspection

• Real time processing and QC

• Specific and adapted Survey procedure & calibration based

on COMEX’s return of experience.

• Easy and quick integration on multiple platforms

ORUS3D System





-> 100 kg in Air

-> 10 kg in Water

LED STROBES LIGHTS (X4)

NEUTRAL BUOYANCY

TRIFOCAL SENSOR

3000 DEPTH RATED

BUILT IN TILT

Fully integrated subsea system in two units

ACQUISITION EMBEDDED PROCESSING

ORUS3D 3000 System

LAPTOP TOPSIDE INTERFACE

Simple system control from top side STROBE PW UNIT

OIL J BOX

OIL COMPENSATOR

SUBSEA POD




10© COMEX 2020, all rights reserved10

LED STROBES LIGHTS (X4)

NEUTRAL BUOYANCY

TRIFOCAL SENSOR

300 DEPTH RATED

BUILT IN TILT

Fully integrated subsea system in one unit

ACQUISITION & EMBEDDED PROCESSING

ORUS3D 300 System

LAPTOP TOPSIDE INTERFACE

Simple system control from top side

OBS CLASS ROV INTEGRATION OR DIVER HANDHELD

-> 25 kg in Air

-> 1 kg in Water

STROBE PW UNIT





ORUS3D 300 System





Easy and quick integration on Observation to Work Class ROVs

3 INTERFACE LINK (Power/Video/Data) NO LEVER ARMS MEASUREMENTS READY TO DIVE IN 3 HOURS

300m 1000m 3000m 6000m DEPTH RATED SYSTEMS

ORUS3D System





-> Cleaning

of structure

if required

-> ORUS3D

mounting on

ROV and

deployment

-> System

calibration

check at

working depth

(5 min)

Typical operation steps

-> 4 min of

still images

acquisition /

Real Time QC

+ Sparse P.C.

ORUS3D Operations

-> 4 min of

data transfer

to topside

processing

unit

-> 1 hour of

processing to

provide

accurate

measurements





SYSTEM LIVE FEED CAPABILITIES :

• Video return of all cameras at 10fps from high resolution stills

• Relative position to the object

• Real time coverage indication

• Real time QC on data with color coding indicating sufficient

overlap and quality in the images

3D REPRESENTATION (REAL TIME) :

• Compressed image data flow

• Sparse point cloud

• Real time localization and QC

• Low accuracy measurements

RESULTS





REAL TIME VISUAL ODOMETRY

RESULTS





3D RECONSTRUCTION (OFFLINE) :

• Pre-selected image data flow

• Accurate scaling process with drift constraint

• True scaled results with sub-millimetric accuracy

• Certified (BV) and qualified acquisition and processing pipeline

SYSTEM POST PROCESSING CAPABILITIES :

• High resolution video (zooming capabilities)

• High density point cloud and texturized meshes

• Data integration in georeferenced data base

associated with structure integrity management

software

• Dimensional control and 3D rendering of all

assets visually inspected

RESULTS





Real time

RESULTS

StillsSparse

Point cloudNavigation

Aiding

Inspection video

Dense Point cloud

Texturizedmesh

Post-processed





Operations in bad visibility (<1m) ?

ORUS3D Operations

(Data collected in Partnership with NSEA)

Increase data acquisition time and processing but provide

same accuracies

Best distance for high resolution reconstruction

40cm 0cm 80cm 200cm

No reconstruction

Close to the object – large amount of data

Large area – site overview

Estimation ? As long as we can see the object,

we can work

ORUS3D video return Standard ROV video return

1mm accuracy on 2m diam jacket leg





2019 operation REX Operation

ORUS3D Operations

(Data collected in Partnership with FUGRO)





ORUS3D Operations






ORUS3D Operations

(Data collected in Partnership with FUGRO)






ORUS3D Operations

(Data collected in Partnership with BOSKALIS)





ORUS3D Operations

(Data collected in Partnership with BOSKALIS)

Quay wall inspection

3D MODEL

PICTURE





Results engineering measurement and dimensional Control Chart example

ORUS3D Operations

Ovality Check Measurements

Weld cap measurements / anode volume depletion





Digital twin web platform• Free viewers :

-> point clouds : Cloud compare

-> mesh model : MeshLab

• Engineering / CAO Softwares :

-> AutoCAD, Cathia, SolidWorks, 3DReshaper…

Data Visualisation





A unique tool for all assets integrity management

ORUS 3D SYSTEM





One tool for all assets integrity management

ORUS 3D SYSTEM

A unique tool for various subsea operations





Operational time and cost efficiency

ORUS3D and AI

3D RECONSTRUCTION TO AI BENEFITS:

• Accurate and realistic datasets to feed machine learning algorithms• Helping critical decision making

AUTOMATIC RECOGNITION :

• Navigation an pilot aiding• Automatic artefact detection -> assets management database (nexus, coabis…)• Improving autonomous and remote operations

IMPROVING SUBSEA OPERATIONS :

• Real time environnement analysis to increase operationnal efficiency

3D RECONSTRUCTION TOAI BENEFITS:

• Accurate and realisticdatasets to feedmachine learningalgorithms

• Helping critical decisionmaking

AUTOMATIC RECOGNITION :

• Navigation an pilot aiding• Automatic artefact detection

-> assets managementdatabase

• Improving autonomous andremote operations

IMPROVING SUBSEA OPERATIONS :

• Real time environnement analysis to increase operationnal efficiency (AUV navigation strategy improvement)





ORUS 3D

Website : www.orus3D.comContact : Jonathan Morvan ([email protected]) / or Raymond Ruth ([email protected]) / [email protected] /

[email protected]

A proven technology based on over 40

years of experience in subsea

photogrammetry

Some of our clients and trusted partners :



http://www.orus3d.com/





Revolutionizing, digitizing and maximizing inspection data · Revolutionizing, digitizing and...

Documents

Transcript of Revolutionizing, digitizing and maximizing inspection data · Revolutionizing, digitizing and...