FR3090903A1 - METHOD AND DEVICE FOR DETECTING AT LEAST ONE DUCT AT LEAST ONE UNDERGROUND NETWORK - Google Patents

Abstract

METHOD AND DEVICE FOR DETECTING AT LEAST ONE DUCT FROM AT LEAST ONE UNDERGROUND NETWORK A method (10) for detecting at least one pipe from at least one underground network, which comprises the following steps: - geolocation (11) at least two measurement points, - measurement (12) of a depth of at least one pipe of at least one underground network at each measurement point, - modeling (16) of a route between two points of adjacent measurement of at least one pipe as a function of each depth measured, - display (19), in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled line of the real pipe and the depth of the actual pipe. In embodiments the step of measuring (12) a depth of at least one pipe comprises a step of detecting (13) a diameter of said pipe and during the display step (19) , the virtual pipe presents the detected diameter. Figure for the abstract: Figure 1

Description

Description

Title of the invention: METHOD AND DEVICE FOR DETECTING AT LEAST ONE PIPELINE AT LEAST ONE UNDERGROUND NETWORK

Technical area

The present invention relates to a method and a device for detecting at least one pipe from at least one underground network. It applies, in particular, to the field of mapping buried networks and more particularly of existing networks as well as to securing interventions on buried networks.

Prior art

There are today different types of buried network detection technologies. Each technology renders the detection measurements in different forms on screens:

- A ground penetration radar or "georadar" renders images, or radargrams.

[0004] an electromagnetic detector provides an amplitude and an operator seeks to position the detector in order to determine the depth of the pipe,

An acoustic pipe detector also provides an amplitude which makes it possible to determine the depth,

[0006] - a radio identification marker detector (from the acronym REID for "Radio

Erequency identification "allows you to read the content of information recorded on a REID chip placed on a pipe and to determine its position.

Each detection point determined by the operator can be modeled by a cross or a line of paint on the ground.

Some detection technologies restore results that are difficult to understand and interpret, such as ground penetration radar, for example. The operator must identify a line from the different lines of contrast in the image.

[0009] During a multi-network detection campaign, it can also be complicated to understand the architecture of the basement because of the number of different networks and their overlapping.

Currently, it is impossible to view the position of buried networks easily. The identification and positioning of the networks is essential before carrying out any work. Several technologies exist to probe the basement and identify the position of buried networks. Some of them are used thanks to methodologies that lack ergonomics or restore results that are difficult to interpret.

Statement of the invention

The present invention aims to remedy all or part of these drawbacks.

To this end, according to a first aspect, the present invention relates to a method for detecting at least one pipe from at least one underground network, which comprises the following steps:

- geolocation of at least two measurement points,

- measurement of a depth of at least one pipe from at least one underground network at each measurement point,

- modeling of a path between two adjacent measurement points of at least one pipe as a function of each depth measured,

- Display, in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled course of the real pipe and at the depth of the real pipe.

Thanks to these provisions, operators can view the underground networks before carrying out work. Operators can therefore plan interventions for more efficiency and safety. In particular, the risk of accidents is reduced. Rather than a display on a two-dimensional paper map or on a screen in top view, augmented reality allows a three-dimensional view and facilitates the operator's interpretation of the networks and the risks involved. He sees through transparency where the networks are located.

In embodiments, the method which is the subject of the present invention comprises a step of defining a diameter of at least one pipe, said pipe being represented with said diameter during the display step.

These embodiments make it possible to more faithfully represent the reality of pipes in the basement.

In embodiments, the method which is the subject of the present invention comprises a step of annotating a virtual pipe to indicate information relating to the real pipe.

Thanks to these provisions, operators carrying out work on a network can transmit information to other operators for subsequent interventions.

In embodiments:

- the step of measuring a depth includes a step of producing a radargram from a ground penetration radar and

- the display step includes a step of viewing said radargram.

The advantage of these embodiments is to allow an operator to view each measurement performed to interpret it in case of doubt, for example.

In embodiments, the method which is the subject of the present invention comprises a step of modifying a characteristic of a virtual pipe.

These embodiments make it possible to modify a virtual pipe as a function of observations made from the real pipe, for example a slope of a virtual pipe or a layout of a virtual pipe.

In embodiments, the geolocation step is performed by real time kinematics (from RTK acronym for "Real Time Kinematic" in English).

Thanks to these provisions, the geolocation is carried out with a precision of the order of a centimeter.

In embodiments, the method which is the subject of the present invention comprises:

- a step of detecting the orientation and the position of a portable communicating terminal,

- a step of capturing a video stream representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation,

- in which during the display step, each virtual pipe whose position corresponds to the position and the orientation of the captured stream is displayed on top of the video stream.

These embodiments allow an operator to view virtual lines in augmented reality on an intelliphone (“Smartphone” in English), a digital tablet, a pair of augmented reality glasses or an augmented reality headset, for example .

According to a second aspect, the present invention relates to a device for detecting at least one pipe from at least one underground network, which comprises:

- a means of geolocation of at least two measurement points,

A means for measuring a depth of at least one pipe from at least one underground network at each measuring point,

A means of modeling a path between two adjacent measurement points of at least one pipe as a function of each depth measured,

- A means of displaying, in augmented reality, a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled course of the real pipe and at the depth of the real pipe.

In embodiments, a communicating portable terminal includes the display means and:

- a means of detecting the orientation and the position of the communicating portable terminal,

- A means of capturing a video stream representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation, in which the display means, displays each virtual pipe whose position corresponds to the position and the orientation of the capture means superimposed on the video stream.

The aims, advantages and particular characteristics of the device object of the present invention being similar to those of the method object of the present invention, they are not repeated here.

Brief description of the drawings

Other advantages, aims and particular features of the invention will emerge from the following non-limiting description of at least one particular embodiment of the method and of the device which are the subject of the present invention, with reference to the accompanying drawings, wherein :

[Fig.l] shows, schematically and in the form of a flowchart, a succession of particular steps of the process which is the subject of the present invention,

[Fig.2] schematically shows a first particular embodiment of a device object of the present invention and

[Fig.3] shows, schematically, an augmented reality image viewed with a device object of the present invention.

Description of the embodiments

This description is given without limitation, each characteristic of an embodiment can be combined with any other characteristic of any other embodiment advantageously.

We can already note that the figures are not to scale.

It is recalled here that a pipe is a module of an underground network for transporting the element carried by the network. A pipe can transport, for example, gas, water, electricity, a telephone or internet network, or any other element known to those skilled in the art of underground networks. A pipe can be called alternatively, cable or pipe, for example.

We observe, in Figure 1, in the form of a flowchart, a series of steps of an embodiment of the method 10 object of the present invention.

The method 10 for detecting at least one pipe from at least one underground network comprises a geolocation step 11 of at least two measurement points. The geolocation step 11 is carried out by differential geolocation (acronym DGPS for “Differential Global Positioning System”, registered trademark, in English) or by real-time kinematics (acronym RTK for “Real Time Kinematic” in English) .

In embodiments, the geolocation step 11 is carried out by triangulation using topographic nails whose position is georeferenced.

Preferably, the measurement points correspond to the supposed locations of a pipe and / or in the perimeter on which an intervention is planned.

The method 10 then comprises a step 21 for measuring a depth of a pipe at each measurement point. The measurement of the depth 21 can be carried out by any method known to a person skilled in the art. For example, the measurement of the pipe depth is carried out by analysis of a radargram from a ground penetration radar. In these embodiments, the step of measuring the depth 21 presents a step 14 of the radargram derived from ground penetration radar known to those skilled in the art.

Preferably, the step 12 for measuring a depth includes a step 13 for defining a diameter of said pipe. The definition 13 of the diameter is a datum entered by an operator, for example.

In embodiments, the method 10 includes a step 15 for storing the measured depth, the radargram and / or the diameter of the pipe on a remote server, for example but preferably on the portable terminal communicating 25. Each stored element is indexed according to the geolocation of the measurement point and / or a unique identifier. A photograph of the measurement point and / or a representation of said measurement can also be stored during storage step 15.

Method 10 comprises a step 16 of modeling a path between two adjacent measurement points of at least one pipe as a function of each depth measured. "Adjacent measurement points" are points in the immediate vicinity of one another, that is to say that on a line between two measurement points, no other measurement point is located between said two points of measurement.

In modeling step 16, the pipes detected at two adjacent measurement points are compared with regard to the depth and the diameter. If the values match, the route of a pipe is extrapolated between the measurement points.

With regard to the depth, as a function of the diameter of the pipe, the distance is calculated between the measurement points, then the slope of the pipe to be modeled is calculated. The calculated slope is compared to regulatory slopes. If the calculated slope is substantially equal to a regulatory slope, the route of the pipe is modeled. Otherwise, an operator receives a notification indicating that a new measurement 12 is necessary.

In embodiments, the measurement 12 is carried out continuously. In these embodiments, the trace is modeled 16 according to the measurement taking trajectory and according to each pipe detected during the measurement taking.

Preferably, the modeling step 16 is carried out by means of a portable terminal communicating 25 and the modeled path is memorized.

The method 10 also includes a step 17 for detecting the orientation and the position of a communicating portable terminal 25. This step is carried out by implementing a means of geolocation of the communicating portable terminal, such a GPS (registered trademark, acronym for "Global Positioning System" in English) and an accelerometer or gyroscope for the communicating portable terminal.

A step 18 of capturing a video stream representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation is implemented by means of a camera of the portable terminal communicating 25, for example .

The method includes a display step 19, in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled layout of the real pipe and at the depth of the real pipe. .

We recall here that augmented reality is the superposition of reality and elements (sounds, two or three-dimensional images, videos) calculated by a computer system in real time. It often refers to the different methods which allow virtual objects to be realistically embedded in a sequence of images.

When the display 19 is carried out on a communicating portable terminal comprising a screen displaying a video stream, the display is made by superimposing the video stream for each virtual pipe whose position corresponds to the position and orientation of captured stream is displayed.

In embodiments, the display 19 is performed on a device comprising a translucent screen, such as augmented reality glasses, on which each virtual channel is displayed superimposed on the environment of the user seen through of the translucent screen.

Preferably, the display step 19 includes a step of viewing a radargram, when the detection step 13 is carried out by means of a ground penetration radar. The visualization step can be carried out following a selection of an icon on the displayed image, for example.

In embodiments, the method 10 includes a step 20 of annotating a virtual pipe to indicate information relating to the real pipe. For example, the operator can access a positioning menu from an annotation to a location on a virtual pipe, the location can be geo-positioned. The annotation is, for example:

- a comment relating to the state of said actual conduct,

An intervention date on the actual pipe or in the environment of said actual pipe,

- a comment relating to an intervention on said real pipe or in the environment of the real pipe,

- the content transported by said actual pipe or

- detection of an anomaly on said actual pipe.

In embodiments, the annotation can be displayed permanently if it relates to information relating to the safety of operators.

In embodiments, the method 10 includes a step 21 for modifying a characteristic of a virtual pipe. The characteristics of a virtual pipe are, for example, the material, the depth, the diameter or the layout. The modification step 21 allows an operator to modify at least one virtual characteristic to best match it with reality.

In embodiments, the modification step 21 includes a step of optical recognition 22 of at least one characteristic element on at least one image of the actual pipe. For example, the optical recognition 21 detects characteristic points of the pipe to simulate the real pipe in three dimensions. The characteristic points are, for example, a junction between two pieces of pipe, or a target positioned on the pipe. In other words, a characteristic point is a point which presents a marked difference between two pixels of an image, such as a change in color or contrast, for example.

The modification step 21 comprises, for example, a step of comparison between the simulated virtual pipe from optical recognition and the virtual pipe modeled from the measurement points. The virtual driving is modified to correspond to the simulated driving. In other embodiments, virtual driving is an average virtual driving between simulated virtual driving and modeled virtual driving.

In embodiments, the layout of the pipe is automatically positioned on a two-dimensional plane representative of the environment of the pipe. For example, the route is automatically referenced on a cadastral map.

By implementing method 10, an operator who detects a pipe for intervention can reference said pipe, in a database, and associated with a depth and, in embodiments, with a diameter. A route is automatically performed, then displayed in augmented reality on the portable terminal communicating to a user who can see the conduct and all related elements such as comments and annotations. In addition, if a trench is planned, the operator can modify the displayed route to make it conform to actual driving.

In FIG. 2, which is not to scale, there is a representation of an embodiment of the device 23 which is the subject of the present invention.

FIG. 2 represents a device for measuring pipe depth measurement 26, a remote server 24 and a portable terminal communicating 25.

The device 26 for driving depth measurement is, for example a ground penetration radar. The ground penetration radar 26 comprises a geolocation means for each measurement point 262. For example, the geolocation means 262 is a differential geolocation means (acronym DGPS for "Differential Global Positioning System", registered trademark, in English) or by real-time kinematics (from RTK acronym for “Real Time Kinematic” in English).

The ground penetration radar (also called "georadar" or even "geological radar") comprises a means 261 of measuring a depth of at least one pipe of at least one underground network at each measurement point . The measurement means is, for example, an emitter of electromagnetic waves preferentially in the microwave and very high frequency and ultra high frequency radio wave bands and a receiver of said waves. Said means generate a radargram making it possible to deduce the depth of pipes by means of the reflection of the waves on said pipes. In preferred embodiments, the measurement is carried out continuously.

The ground penetration radar 26 also includes a means of communication 263 with a portable communicating terminal 25 configured to transmit each radargram, each measured depth. The means of communication 263 is any means of communication, preferably wireless, known to those skilled in the art.

The communicating portable terminal 25 preferably comprises an indexing means and a storage means 255 of each measured depth, of each radargram and / or of a diameter of said pipe as a function of the geolocation of the measurement point. and / or a unique identifier.

The communicating portable terminal 25 also includes a means 256 for modeling a path between two adjacent measurement points of at least one pipe as a function of each depth measured. The modeling means 256 can be an electronic circuit configured to execute a computer modeling program. The modeling means 256 is configured to execute the modeling step 16 of the method 10.

In alternative embodiments, the remote server 24 includes the modeling means, the indexing means and the storage means.

In embodiments, communicating portable terminal 25 includes a means for defining a diameter of said pipe. Preferably, the means of definition is a man / machine interface, such as a keyboard and a pointer, also called a mouse, or a digital touch screen, for example.

In embodiments, the communicating portable terminal 25 comprises at least one of the following means:

A means of calculating the distance between two measurement points,

- a means of calculating the slope of a pipe between two measurement points,

A means of comparing the slope calculated between two measurement points with at least one regulatory slope stored on a storage means of the remote server 24,

- a means of extrapolating the route of a pipe and / or

- a means of sending a notification to a portable terminal communicating 25 and / or to a device for measuring the depth of a pipe 26 indicating that a new measurement is necessary.

The means of the above list are preferably an electronic circuit configured to execute a computer program corresponding to the similar step of method 10.

In alternative embodiments, a remote server 24 includes at least one of the means from the list above.

The communicating portable terminal 25 preferably comprises at least one means 257 for modifying a characteristic of a virtual pipe. The modification means 257 is preferably an electronic circuit configured to execute a computer modification program. The modification means 257 can include:

[0100] - a means of optical recognition of at least one characteristic element on at least one image of an actual pipe captured by the portable terminal communicating 25 and / or

- a means of comparison between the virtual driving simulated from optical recognition and the virtual driving modeled from the measurement points.

In embodiments, the communicating portable terminal 24 includes a means for automatically positioning the layout of at least one pipe modeled, and possibly modified, on a two-dimensional plane representative of the environment of the pipe. The automatic positioning means is preferably an electronic circuit configured to execute an automatic positioning computer program corresponding to the positioning step of method 10.

The communicating portable terminal 25 comprises a communication means 251, known to those skilled in the art and whose communication protocol corresponds to the communication protocol of at least one communication means 241 of the remote server 24. The portable terminal communicating 25 can therefore send a modeling of a pipe or any information related to a pipe defined above to the remote server 24.

The remote server 24 includes at least one communication means 241 for receiving and transmitting stored data to the communicating portable terminal 25. In embodiments, the server 24 is a local server. The communication means 241 corresponds to the communication means 251 of the communicating portable terminal 25.

The communicating portable terminal 25 includes a display means 252, in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled line of the real pipe and at the depth of actual driving. The display means 252 can be a screen, touch or not. In embodiments, the display means 252 is a translucent window, for example positioned at at least one eye of the operator, the portable terminal communicating 25 taking the form of glasses. In embodiments, the communicating portable terminal 25 is a virtual reality headset.

Preferably, the communicating portable terminal 25 comprises:

A detection means 253 for the orientation and the position of the communicating portable terminal,

A means of capturing a video stream 254 representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation, [0109] and, the display means 252, displays each virtual pipe the position of which corresponds to the position and the orientation of the capture means superimposed on the video stream.

[0110] Preferably, the display means displays any information displayed during the display step of method 10.

The detection means 253 can be a gyroscope or an accelerometer, for example. The means for capturing a video stream 254 can be a camera.

In embodiments, the communicating portable terminal 25 includes means for annotating a route of a displayed pipe and / or means for modifying the route of at least one pipe. The annotation means and / or the course modification means is / are, for example, a touch screen on which an operator can manipulate and / or edit the elements representative of a virtual pipe as a function of the real pipe seen. Preferably, each annotation and each modification is transmitted to the remote server 24 by the communication means 251 of the communicating portable terminal 25. The remote server stores each modification and / or annotation.

The operator can therefore have access to modeling on a portable terminal communicating 25, view an actual pipe in augmented reality and possibly make modifications or comments to said pipe if a trench makes it visible. The modifications and / or the annotation are then recorded on the remote server 24 accompanied by metadata such as an identification of the operator, a time stamp, a level of importance linked to security risks, a geolocation, for example.

The device 23 includes the means corresponding to the steps of the method 10 and is configured to implement the method 10.

We observe, in Figure 3, schematically, an augmented reality image viewed on a device object of the present invention.

Image 30 shows a street 31, with buildings and sidewalks on each side. The dotted box 32 as well as the dotted pipe 35 correspond to the virtual elements placed over the image of the street 31. The dotted box delimits a space between two measurement points 33 and 34. The layout has been carried out in a straight line according to the characteristics of the pipe captured at measurement points 33 and 34. A radargram 36 is displayed at the location of measurement point 33. And an annotation 37 is geolocated on the course of the pipe between the points of measures 33 and 34.

To summarize, the present invention makes it possible to compile depth measurements and the geolocation of the measurements carried out to extrapolate a plot of a buried network and indicate any important data noted. Then, the operator can view the said route to plan an intervention in complete safety. The route can be modified if the real network is visible to the operator to make virtual driving correspond to reality.

Claims (1)

Claims [Claim 1] Method (10) for detecting at least one pipe from at least one underground network, characterized in that it comprises the following steps: geolocation (11) of at least two measurement points, - measurement (12) of a depth of at least one pipe of at least one underground network at each measurement point, - modeling (16) of a layout between two adjacent measurement points of at least one pipe as a function of each depth measured, - display (19), in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled course of the real pipe and at the depth of the real pipe. [Claim 2] The method (10) according to claim 1, which further comprises a step of defining a diameter of at least one pipe, said pipe being represented with said diameter during the display step. [Claim 3] Method (10) according to one of claims 1 or 2, which comprises a step of annotating (20) a virtual pipe to indicate information concerning the real pipe. [Claim 4] Method (10) according to one of claims 1 to 3, in which: the step for measuring a depth comprises a step for producing a radargram derived from a ground penetration radar and - the display step (19) includes a step of viewing said radargram. [Claim 5] Method (10) according to one of claims 1 to 4, which comprises a step of modifying (22) a characteristic of a virtual pipe. [Claim 6] Method (10) according to one of claims 1 to 5, in which the geolocation step (11) is carried out by real-time kinematics (from acronym RTK for "Real Time Kinematic" in English). [Claim 7] Method (10) according to one of claims 1 to 6, which comprises: a detection step (17) of the orientation and the position of a portable communicating terminal, a step of capturing (18) a video stream representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation, - in which during the display step (19), each virtual pipe whose position corresponds to the position and the orientation of the flow captured is displayed over the video stream. [Claim 8] Device (23) for detecting at least one pipe from at least one underground network, characterized in that it comprises: - a geolocation means (262) of at least two measurement points, - a measurement means (261) of a depth of at least one pipe of at least one underground network at each measurement point, a means of modeling (256) of a path between two adjacent measurement points of at least one pipe as a function of each depth measured, a means of display (252), in augmented reality, of a virtual pipe representative of a real pipe, the virtual pipe being represented according to the modeled course of the real pipe and at the depth of the real pipe. [Claim 9] Device (23) according to claim 8, in which a portable communicating terminal (25) comprises the display means (252) and: a means of detecting (253) the orientation and the position of the communicating portable terminal, a means for capturing (254) a video stream representative of an environment of the portable terminal communicating at the detected position and according to the detected orientation, in which the display means displays each virtual pipe whose position corresponds to the position and the orientation of the capture means superimposed on the video stream. 1/2