KR101714707B1 - Apparatus for measuring position and orientation of mobile body - Google Patents

Apparatus for measuring position and orientation of mobile body Download PDF

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Publication number
KR101714707B1
KR101714707B1 KR1020150102297A KR20150102297A KR101714707B1 KR 101714707 B1 KR101714707 B1 KR 101714707B1 KR 1020150102297 A KR1020150102297 A KR 1020150102297A KR 20150102297 A KR20150102297 A KR 20150102297A KR 101714707 B1 KR101714707 B1 KR 101714707B1
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South Korea
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unit
irradiation points
calculating
laser
image
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KR1020150102297A
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Korean (ko)
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KR20170010541A (en
Inventor
강태선
김성한
박정서
이정태
표진휘
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삼성중공업(주)
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention provides a laser processing apparatus comprising: a laser generation unit installed in a moving body movable in a block and emitting laser beams in different directions; An image capturing unit for capturing an image including a plurality of irradiation points formed by irradiating a laser beam on a wall surface of a block; And a position measurement unit for extracting a plurality of irradiation points from the image and measuring the position and direction of the moving object using the extracted plurality of irradiation points.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus for measuring a position and a direction of a moving object,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a position and a direction of a moving object, and more particularly to an apparatus for measuring a position and a direction of a moving object moving in the block.

It is necessary to measure the 3D shape of a structure in order to measure structures in various industrial fields including shipbuilding marine industry. When measuring the 3D shape of a large structure using a laser scanner, it is necessary to match the acquired point cloud data to a portion of a large structure at various points. In this case, accurate measurement of the scanning position and the scanning posture of the laser scanner can improve the matching accuracy of the point cloud data.

Also, in order to accurately implement the augmented reality, it is necessary to provide accurate information on the exact position of the mobile equipment generating the augmented reality image, You need to know your posture information.

The GPS (Global Positioning System) module is known as a technology for measuring the position information of mobile devices. However, the GPS module has a measurement error of several meters or more, so its use is restricted when precise position measurement is required. In addition, in the case of the GPS module, even if the position of the mobile equipment can not be measured in the closed space or the position can be measured, the GPS module has an error of several to several tens of meters. The direction information of the mobile equipment can be utilized by an IMU (Inertial Measuring Unit) sensor, but the direction measurement method using the IMU sensor has a disadvantage in that accuracy is degraded due to accumulated error due to use time.

An object of the present invention is to provide an apparatus capable of accurately measuring the position and direction of a moving object moving in a block at low cost.

The problems to be solved by the present invention are not limited to the above-mentioned problems. Other technical subjects not mentioned will be apparent to those skilled in the art from the description below.

According to an aspect of the present invention, there is provided an apparatus for measuring a position and a direction of a moving object, the apparatus comprising: a laser generation unit installed in a moving object movable in a block and emitting laser beams in different directions; An image capturing unit for capturing an image including a plurality of irradiation points formed by irradiating the wall surface of the block with the laser beam; And a position measurement unit that extracts the plurality of irradiation points from the image and measures the position and direction of the moving object using the extracted plurality of irradiation points.

The laser generating unit may emit the laser beam in four orthogonal directions.

The position direction measuring unit may extract four irradiation points from the image and measure the position and the direction of the moving object by using the extracted four irradiation points.

In an exemplary embodiment, the position measurement unit may include: a connection line generation unit that connects two irradiation points in a diagonal direction among the four irradiation points extracted from the image to generate two connection lines; A position calculation unit for calculating an intersection point between the two connection lines and calculating a position of the mobile unit; And a direction calculating unit for calculating a direction of the moving object by using a slope of at least one of the two connecting lines.

The laser generating unit emits a laser beam having a different beam size or beam shape, and the direction calculating unit can calculate the direction of the moving object by identifying four laser beams using the size or shape of the irradiation point.

In another embodiment, the position-direction measuring unit may generate a first connecting line by connecting two irradiation points in a diagonal direction among three irradiation points extracted from the image, and generate a first connecting line by orthogonally crossing the first connecting line, A connection line generation unit for generating a second connection line connecting one of the irradiation points except for the point; A position calculating unit for calculating an intersection point between the first connection line and the second connection line and calculating a position of the mobile unit; And a direction calculating unit for calculating a direction of the moving body by using a slope of at least one of the first connecting line and the second connecting line.

According to the embodiment of the present invention, it is possible to accurately measure the position and direction of a moving body moving in a block at low cost.

The effects of the present invention are not limited to the effects described above. Unless stated, the effects will be apparent to those skilled in the art from the description and the accompanying drawings.

1 is a schematic view of an apparatus 100 for measuring a position and a direction of a moving object according to an embodiment of the present invention.
2 is a view showing a laser generating unit 120 constituting an apparatus for measuring the position and direction of a moving object according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an image of an inside of a block of a photographing unit constituting an apparatus for measuring a position and a direction of a moving object according to an embodiment of the present invention.
FIG. 4 is a configuration diagram of a position measurement unit 160 that configures an apparatus for measuring a position and a direction of a moving object according to an embodiment of the present invention.
5 is a view for explaining a method of measuring a position and a direction of a moving object according to an embodiment of the present invention.
6 is a view for explaining a method of measuring the position and direction of a moving object according to another embodiment of the present invention.

Other advantages and features of the present invention and methods for accomplishing the same will be apparent from the following detailed description of embodiments thereof taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and the present invention is only defined by the scope of the claims. Although not defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by the generic art in the prior art to which this invention belongs. A general description of known configurations may be omitted so as not to obscure the gist of the present invention. In the drawings of the present invention, the same reference numerals are used as many as possible for the same or corresponding configurations. To facilitate understanding of the present invention, some configurations in the figures may be shown somewhat exaggerated or reduced.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises", "having", or "having" are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, parts, or combinations thereof, whether or not explicitly described or implied by the accompanying claims.

Used throughout this specification may refer to a hardware component such as, for example, software, FPGA or ASIC, as a unit for processing at least one function or operation. However, "to" is not meant to be limited to software or hardware. &Quot; to " may be configured to reside on an addressable storage medium and may be configured to play one or more processors.

As an example, the term '~' includes components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Routines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided by the components and components may be performed separately by a plurality of components and components, or may be integrated with other additional components.

The apparatus for measuring the position and the direction of a moving object according to the embodiment of the present invention is provided with a laser generating unit for emitting a laser beam in different directions (for example, four orthogonal directions) to a moving body to form irradiation points inside the block , A plurality of irradiation points are extracted from the image of the inside of the block, and the position and direction of the moving object are measured using a plurality of irradiation points extracted from the image.

1 is a schematic view of an apparatus 100 for measuring a position and a direction of a moving object according to an embodiment of the present invention. The apparatus 100 for measuring the position and the direction of the moving object can measure the position and the direction of the moving object 20 moving within the block 10. The block 10 may be a hull block, such as a ship or an offshore structure. The hull blocks are used for the construction of floating production storage and offloading plant (FPSO), floating liquid natural gas plant (FPSO), as well as ship hulls such as passenger ships, fishing vessels, tankers, barges and cargo ships. , But it is not limited thereto.

Referring to FIG. 1, an apparatus 100 for measuring a position and a direction of a moving object according to an embodiment of the present invention includes a laser generation unit 120, an image capturing unit 140, and a position measurement unit. The laser generating unit 120 is installed in the movable body 20 movable within the block 10. [ In order to measure the position and the direction of the moving body 20, the laser generating unit 120 emits laser beams in different directions. In one embodiment, the laser generation unit 120 may emit a plurality of laser beams having a predetermined angular difference (e.g., 90 degrees).

In one embodiment, the moving body 20 is provided with a traveling device such as a traveling wheel, a motor for driving the traveling wheel, and can move inside the block 10. Various driving systems can be used as the traveling device for moving the moving body 20, and are not limited to those mentioned above.

2 is a view showing a laser generating unit 120 constituting an apparatus for measuring the position and direction of a moving object according to an embodiment of the present invention. Referring to FIGS. 1 and 2, the laser generating unit 120 may include laser emitting units 122 and 124 that emit laser beams in four orthogonal directions.

The laser beams emitted from the four laser emitting units 122 and 144 may have different beam sizes or may have different beam shapes so that the laser emitting units 122 and 124 can be distinguished. For example, it is possible to change the shape of the laser beam in such a manner that the size of the laser beam is changed by using a laser output part having a different beam diameter, or a filter member having a slot part for changing the beam shape is attached to the laser output part . The laser beam emitted from the laser generator 120 is irradiated to the wall surface of the block 10 to form an irradiation beam.

FIG. 3 is a diagram illustrating an image of an inside of a block of a photographing unit constituting an apparatus for measuring a position and a direction of a moving object according to an embodiment of the present invention. 1 to 3, the image capturing unit 140 captures an image including a plurality of irradiation points 31, 32, 33, and 34 formed by irradiating a wall surface of the block 10 with a laser beam. When all the side surfaces of the block 10 are closed, four laser beams orthogonal to the laser generating part 120 are emitted, and four irradiation points 31, 32, 33, 34 are formed.

The image capturing unit 140 may be installed on the ceiling of the block 10 so that an image including all four irradiation points 31, 32, 33, and 34 irradiated to the wall surface of the block 10 is captured, The installation position of the image capturing unit 140 is not limited thereto. For the measurement of the position and the direction of the moving object 20, the image obtained by the image capturing unit 140 is provided to the position and orientation measuring unit 160 via wire / wireless communication.

FIG. 4 is a configuration diagram of a position measurement unit 160 that configures an apparatus for measuring a position and a direction of a moving object according to an embodiment of the present invention. The position measurement unit 160 may be provided in the mobile unit 20 or may be provided in a terminal provided outside the mobile unit 20. Referring to FIGS. 3 and 4, the position measurement unit 160 may measure a plurality of irradiation points (for example, four points) formed on the wall by irradiating a block with a laser beam on an image captured by the image capturing unit 140. [ 32, 33, 34), and measures the position and direction of the moving body 20 by using a plurality of irradiation points extracted from the image.

The position measurement unit 160 may include a connection line generation unit 162, a position calculation unit 164, and a direction calculation unit 166. 5 is a view for explaining a method of measuring a position and a direction of a moving object according to an embodiment of the present invention. 3 to 5, the connection line generation unit 162 generates two connection points 31, 32 (in the diagonal direction) among the four irradiation points 31, 32, 33, 34 irradiated on the block 10 33 and 34 are connected to generate two connection lines CL1 and CL2.

The position calculating unit 164 calculates an intersection CP between the two connecting lines CL1 and CL2 and calculates the intersection CP as the position of the mobile 20. [ The direction calculating unit 166 calculates the direction of the mobile unit 20 using the inclination [theta] of at least one of the two connecting lines CL1 and CL2. The direction calculating unit 166 can calculate the direction of the moving object 20 by identifying four laser beams using the size or shape of the irradiation point of the laser beam.

6 is a view for explaining a method of measuring the position and direction of a moving object according to another embodiment of the present invention. In the embodiment of Figure 6, the block 10 is not made up of four sides, it is made up of three sides and one side is open. In this case, since the irradiation point is not formed in the open portion of the block 10, three irradiation points 41, 42, and 43 are formed on the side surfaces of the remaining three blocks 10. The embodiment of FIG. 6 shows a method of measuring the position and direction of a moving object by using coordinate information of three irradiation points (41, 42, 43) extracted from the image.

4 and 6, the connecting line generating unit 162 connects the two irradiation points 41 and 42 in the diagonal direction among the three irradiation points 41, 42 and 43 irradiated to the wall surface of the block, 1 connection line CL1 and generates a second connection line CL2 that is orthogonal to the first connection line CL1 and connects the other irradiation points 43 excluding the two irradiation points 41 and 43 .

The position calculation unit 164 calculates the intersection CP between the first connection line CL1 and the second connection line CL2 to calculate the position of the mobile unit. The direction calculating unit 166 calculates the direction of the moving object using the inclination [theta] of at least one of the first connecting line CL1 and the second connecting line CL2. When the four laser beams are identified by using the size or shape of the irradiation point of the laser beam, the direction of the moving body 20 can be determined.

In one embodiment, the moving body 20 is provided with a measuring section (not shown) provided thereon for measuring the block 10 and a plurality of measuring sections (not shown) obtained at different measuring points by the measuring section And a matching unit (not shown) for matching the measurement data. According to the present embodiment, the position and direction of the mobile unit 20 can be accurately measured at a low cost by a relatively simple structure, and block measurement data can be obtained with high accuracy.

In another embodiment, the moving body 20 is provided with an image acquiring unit (not shown) installed therein to acquire an internal image of the block 10, and an image acquiring unit And an enhancing unit (not shown) for enhancing the block information in the image. According to the present embodiment, it is possible to accurately measure the position and direction of the mobile unit 20 at a low cost by a relatively simple structure, and to produce a high-quality enhanced image.

According to an embodiment of the present invention, there is provided a method of measuring a position and a direction of a moving object, the method comprising: extracting an irradiation point of a laser beam irradiated on a wall surface of a block from a moving object, And measuring a position and a direction of the moving object.

In one embodiment, the process of measuring the position and direction of a moving object using a plurality of survey points includes the steps of connecting two survey points in the diagonal direction among four survey points to generate two connection lines, Calculating a position of the moving object, and calculating a direction of the moving object using at least one slope of the two connecting lines.

In another embodiment, a process of measuring the position and direction of a moving object using a plurality of irradiation points includes the steps of generating a first connection line by connecting two irradiation points in a diagonal direction among three irradiation points, Generating a second connection line connecting one of the irradiation points except for the two irradiation points, calculating a position of the moving object by calculating an intersection between the first connection line and the second connection line, And calculating a direction of the moving object using at least one slope of the two connecting lines.

At least a part of the processes for measuring the position and the direction of the moving object may be a program that can be executed by a computer and is executed by a general-purpose digital computer that operates the program using a computer-readable recording medium Can be implemented. The program recorded on the recording medium can be executed in the computer by at least one processor.

The computer readable recording medium may be a volatile memory such as SRAM (Static RAM), DRAM (Dynamic RAM), SDRAM (Synchronous DRAM), ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Electrically Programmable ROM) Non-volatile memory such as EEPROM (Electrically Erasable and Programmable ROM), flash memory device, Phase-change RAM (PRAM), Magnetic RAM (MRAM), Resistive RAM (RRAM), Ferroelectric RAM But are not limited to, optical storage media such as CD ROMs, DVDs, and the like.

It is to be understood that the above-described embodiments are provided to facilitate understanding of the present invention, and do not limit the scope of the present invention, and it is to be understood that various modifications are possible within the scope of the present invention. It is to be understood that the technical scope of the present invention should be determined by the technical idea of the claims and the technical scope of protection of the present invention is not limited to the literary description of the claims, To the invention of the invention.

10: Block 20: Moving object
31, 32, 33, 34: Survey points 41, 42, 43: Survey points
100: Position and direction measuring device of moving object 120:
122, 124: laser output unit 140:
60: Position direction measuring unit 162:
164: Position calculation section 166: Direction calculation section

Claims (6)

A laser generator installed in a moving body movable within the block and emitting laser beams in different directions;
An image capturing unit for capturing an image including a plurality of irradiation points formed by irradiating the wall surface of the block with the laser beam; And
And a position measurement unit for extracting the plurality of irradiation points from the image and measuring the position and direction of the moving object using the extracted plurality of irradiation points,
Wherein the position direction measuring unit comprises:
A connection line generator for connecting two irradiation points in a diagonal direction among the four irradiation points extracted from the image to generate two connection lines;
A position calculation unit for calculating an intersection point between the two connection lines and calculating a position of the mobile unit; And
And a direction calculating section for calculating a direction of the moving body by using a slope of at least one of the two connecting lines. The method according to claim 1,
Wherein the laser generating unit emits the laser beam in four orthogonal directions. delete delete The method according to claim 1,
Wherein the laser generator emits a laser beam having a different beam size or beam shape,
Wherein the direction calculating unit calculates the direction of the moving object by identifying four laser beams using the size or shape of the irradiation point. A laser generator installed in a moving body movable within the block and emitting laser beams in different directions;
An image capturing unit for capturing an image including a plurality of irradiation points formed by irradiating the wall surface of the block with the laser beam; And
And a position measurement unit for extracting the plurality of irradiation points from the image and measuring the position and direction of the moving object using the extracted plurality of irradiation points,
The laser generating unit emits the laser beam in four orthogonal directions,
The position-
A first connecting line connecting the two irradiation points in the diagonal direction among the three irradiation points extracted from the image to generate a first connection line and a second connection line orthogonal to the first connection line and connecting the other irradiation points except for the two irradiation points A connection line generation unit for generating two connection lines;
A position calculating unit for calculating an intersection point between the first connection line and the second connection line and calculating a position of the mobile unit; And
And a direction calculating section for calculating a direction of the moving body by using a slope of at least one of the first connecting line and the second connecting line.
KR1020150102297A 2015-07-20 2015-07-20 Apparatus for measuring position and orientation of mobile body KR101714707B1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007187581A (en) * 2006-01-13 2007-07-26 Casio Comput Co Ltd Range finder and ranging method
KR101106691B1 (en) * 2010-12-03 2012-01-18 제이씨스퀘어주식회사 System for confirming location of vehicle

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3221247B2 (en) * 1994-09-13 2001-10-22 神鋼電機株式会社 Automatic guided vehicle
KR102142162B1 (en) * 2012-08-27 2020-09-14 에이비 엘렉트로룩스 Robot positioning system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007187581A (en) * 2006-01-13 2007-07-26 Casio Comput Co Ltd Range finder and ranging method
KR101106691B1 (en) * 2010-12-03 2012-01-18 제이씨스퀘어주식회사 System for confirming location of vehicle

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