8th European Workshop On Structural Health Monitoring (EWSHM 2016)
5-8 July 2016, Spain, Bilbao
Right Now in Bilbao 17:11 Sat 17
11:50 Tuesday 5. Jul - A3B
Noncontact 3D measurement system for furnace wall maintenance support
Abstract »There is a submerged combustion type waste fluid incinerator in the waste fluid processing equipment. This incinerator can process the waste fluid in harmless condition. This gushes the high temperature combustion gas generated by combustion in the liquid all at once, and is the liquid processing equipment of the combustion gas bubble to which the heat conduction and the absorption of the combustion gas element are effectively carried out by direct contact with gas and liquid. The high temperature combustion gas give damaged to furnace wall of this equipment. As this equipment is operating all day long, it is necessary to inspect it at regular intervals. In this research, the development of measurement device which automatically checks the furnace wall of this equipment by uninhabited is aimed. The Kinect sensor is marketed by Microsoft Co. LTD., which has the functions of RGB camera, IR camera, the Depth sensor and Multi-array microphone. The inspection system in the submerged combustion type waste fluid incinerator is developed by using this function. The system was constructed with Kinect sensor by using the model furnace for the inspection evaluation. The 3D data and CCD color image of the in-furnace were obtained by using this system. As processing software, PCL was used, which is a large-scale 3D point cloud operating open source program. This open source program has function of the model making, filtering, registration and the object detecting, the 3D point cloud model making. Here, the point cloud processing were carried out. In the construction of the whole 3D model of closed space, RTAB-Map (Real-Time Appearance-Based Mapping) was used, which is a RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. Moreover, the inside wall inspection of the incinerator request the development of the unit device which installs Kinect sensor and can drive. So the 3D model measurement system were designed, which can measure the furnace wall's state in the operating incinerator. In conclusion, the system unit was developed, which can inspect the state of each part in the incinerator by using Kinect sensor, RTAB-Map and PCL. The 3D model of the partial inspected incinerator is made by using PCL, and the whole 3D model is made by RTAB-Map.
AuthorsRyu, Munetaka*Ryu, Munetaka*
Student of graduate school of engineering and technology, mechanical engineering div.
Graduate School of Engineering and Technology
+81 96-342-3735Sakamoto, HidetoshiSakamoto, Hidetoshi
JapanOhbuchi, YoshifumiOhbuchi, Yoshifumi
JapanNakamachi, EijiNakamachi, Eiji
JapanNakamura, YasunoriNakamura, Yasunori
Osaka Sangyo University
JapanYoshida, TsuyoshiYoshida, Tsuyoshi
Yoshida Professional Engineer Office