New underwater contactless metrology and inspection approach using photogrammetric integrated system
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1 New underwater contactless metrology and inspection approach using photogrammetric integrated system The leading Edge of Value-Based Subsea Inspection, SUT, Aberdeen, 1 st November
2 ORUS 3D SYSTEM ORUS3D OVERVIEW Inspection tool providing high resolution 3D reconstruction of structures and seascapes. Auto calibrated optical sensors -> No markers required for accurate measurements Optical data acquisition system fixed on ROV. Embedded processing capabilities -> real time coverage evaluation and QC Free flying data acquisition non intrusive & contactless measurement tool -> Not dependent on navigation data 3D Point cloud production with photographic texture (standard format) 2
3 ORUS 3D SYSTEM ORUS3D SYSTEM integration Easy and quick integration : Connections : Power,Video,Data No level arm measurements needed Integrated beam of sensors (Cameras + Strobes) Embedded Acq & Process Unit Easily fits on Observation to Work class ROV 3
4 ORUS 3D SYSTEM VISIBILITY CONDITIONS DISTANCE TO OBJECT No reconstruction Close to the object large amount of data Best distance for high resolution reconstruction Large area site overview 0cm 40cm 100cm 200cm Visibility / Distance 4
5 ORUS 3D SYSTEM ORUS3D Steps of processing Real time Step1 Real Time Visual odometry Few hours Step2 On site Coverage control Step3 Offline Few hours to few days Final results and Report Coverage ROV navigation aiding Quality control First scaled 3D results Whole site reconstruction Quality Control Accuracy: cm Accuracy: mm 5
6 ORUS 3D SYSTEM Step 1 : Real Time processing Site view through ROV video channel (reduced FOV) Real-time Quality Control (Odometry -> overlap evaluation) 6
7 ORUS 3D SYSTEM Step 2 : On site processing first results Pre-processing before data recovery Processing using real time results with optimized algorithms Distance measurements available 7
8 ORUS 3D SYSTEM Step 3 : Offline processing Final results Whole site dense point cloud production Duration directly function of data volume Survey report Data acquisition : 30 min Data processing time : 12 hours 8
9 Applications ORUS3D APPLICATIONS IN OFFSHORE OIL & GAS Damage measurement Dimensional Control As-laid Survey Pipeline inspection Jumper / Spool metrologies Anchor line inspection 9
10 Survey on a damaged pipe Damage Measurements 2 minutes run 10
11 Results on damaged pipe Damage Measurements 2cm 11
12 Structure inspection & metrology Dimensional control 12
13 Dimensional control As built / As-laid survey structure inspection & metrology Workshop photogrammetry / Underwaterphotogrammetry ORUS 3D 13
14 As-laid Survey Metrology of WellHead (Trials with SAIPEM) 6 minutes run 14
15 As-laid Survey Metrology of WellHead (Trials with SAIPEM) 15
16 Spool metrology Trials in Marseille Spool Metrology 16
17 Spool metrology Trials in Marseille Spool Metrology Acquisition time: 3 x 7 min (3 sets of data) Processing time for one run: 5h Accuracy: 5 cm over 32m length 17
18 Spool Metrology Jumper metrology (27m) Trials with SAIPEM Acquisition time: 8 x 3 min (8 sets of data) 18
19 Spool Metrology Jumper metrology (27m) Trials with SAIPEM Processing time for one run: 5h Std Deviation on 8 measurements = 1,8 cm 19
20 Spool Metrology Spool metrology (64m) Trials with SAIPEM Acquisition time: 5 x 15 min (5 sets of data) 20
21 Spool Metrology Spool metrology (64m) Trials with SAIPEM Processing time for one run: 7h Std Deviation on 5 measurements = 2,4 cm 21
22 Anchor line Anchor line inspection Marseille < 2 min for each run Processing : 20 min Accuracy: millimeter 22
23 Anchor line inspection - Marseille Anchor line 23
24 Qualification System qualification process Marseille Constant trials with system and algorithm optimisation Improve the accuracy Validation of the repeatability Metrology validation infrastructure in Comex pool Ongoing qualification process with Bureau Veritas 24
25 A gamechanger in subseainspection - Visibility conditions (> 40cm) - Big file data management + No markers or scale rules + Measure everything you inspect + No INS, DVL, LBL navigation dependant + Quick integration, no level arms measurements + No complex calibration procedures + Easy free flying data acquisition + Cost effective / Cuts vessel time + Fits on observation class ROV + Valuable results / reference data set 25
26 Contact : Jonathan Morvan or Bertrand Chemisky j.morvan@comex.fr / b.chemisky@comex.fr orus3d@comex.fr / cxinnovation@comex.fr 26
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