Revolutionizing, digitizing and maximizing inspection data · Revolutionizing, digitizing and...
Transcript of 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
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Revolutionizing, digitizing and maximizing inspection data
Tuesday 11th February 2020
Presented by Jonathan Morvan, Comex Innovation Business Developer
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
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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
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
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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
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
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« 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
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
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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
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
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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
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Certifications
CLASS CERTIFIED SUBSEA VISION MEASUREMENT BASED SYSTEM
CHAIN INSPECTION SPOOL METROLOGY
3D models of
Comex test
pool
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
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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
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
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-> 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
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
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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
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
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ORUS3D 300 System
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
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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
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
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-> 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
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
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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
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
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REAL TIME VISUAL ODOMETRY
RESULTS
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
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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
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
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Real time
RESULTS
StillsSparse
Point cloudNavigation
Aiding
Inspection video
Dense Point cloud
Texturizedmesh
Post-processed
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
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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
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
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2019 operation REX Operation
ORUS3D Operations
(Data collected in Partnership with FUGRO)
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
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ORUS3D Operations
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
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ORUS3D Operations
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
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2019 operation REX Operation
ORUS3D Operations
(Data collected in Partnership with FUGRO)
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
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2019 operation REX Operation
ORUS3D Operations
(Data collected in Partnership with BOSKALIS)
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
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ORUS3D Operations
(Data collected in Partnership with BOSKALIS)
Quay wall inspection
3D MODEL
PICTURE
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
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Results engineering measurement and dimensional Control Chart example
ORUS3D Operations
Ovality Check Measurements
Weld cap measurements / anode volume depletion
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
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Digital twin web platform• Free viewers :
-> point clouds : Cloud compare
-> mesh model : MeshLab
• Engineering / CAO Softwares :
-> AutoCAD, Cathia, SolidWorks, 3DReshaper…
Data Visualisation
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
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A unique tool for all assets integrity management
ORUS 3D SYSTEM
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
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One tool for all assets integrity management
ORUS 3D SYSTEM
A unique tool for various subsea operations
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
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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)
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
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ORUS 3D
Website : www.orus3D.comContact : Jonathan Morvan ([email protected]) / or Raymond Ruth ([email protected]) / [email protected] /
A proven technology based on over 40
years of experience in subsea
photogrammetry
Some of our clients and trusted partners :