KR101702519B1 - Apparatus for measuring position and posture of mobile body - Google Patents

Abstract

An apparatus and method for measuring a position and an attitude of a moving object according to the present invention is a position and attitude measuring apparatus for measuring a position and an attitude of a moving object inside a block, A laser distance sensor for generating a laser beam to measure distance values to a plurality of wall surfaces of the block; A driving unit provided on the moving body and rotating the laser distance sensor along a plurality of wall surfaces; And a position estimator for estimating a position of the moving object in the block using distance values measured by the laser distance sensor.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus for measuring a position and an attitude 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 an attitude of a moving object, and more particularly to an apparatus for measuring a position and attitude of a moving object in a block using a laser beam.

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, the GPS module has a problem that the position of the mobile device can not be measured in the closed space, or the error is increased even though the position can be measured. The direction information of the mobile equipment can be utilized by using an inertial sensor such as an IMU sensor, but there is a disadvantage that the direction measurement method using the IMU sensor does not guarantee accuracy due to cumulative error.

An object of the present invention is to provide an apparatus for measuring the position and attitude of a moving object which can accurately measure the position and attitude of the moving object in a block using a laser beam.

Another object of the present invention is to provide a device for measuring the position and orientation of a moving object, which can measure a position and an attitude of the moving object in real time while the moving object is moving.

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 posture of a moving object, the apparatus comprising: a laser distance sensor provided in a moving object moving within a block, for measuring distance values to a plurality of wall surfaces of the block by generating a laser beam; A driving unit provided on the moving body, for rotating the laser distance sensor along the plurality of wall surfaces; And a position estimator for estimating a position of the moving object in the block using distance values measured by the laser distance sensor.

The position and orientation measuring apparatus further includes a direction sensor for measuring direction information of the moving object, and the position estimating unit recognizes a wall surface irradiated with the laser beam based on the measured direction information, Can be estimated.

The position estimating unit may include a crossing line generating unit for generating a plurality of intersecting lines by moving coordinates of the plurality of wall surfaces into the block by a distance value corresponding to each wall surface in a design model of the block; And a position determiner for calculating an intersection between the plurality of intersecting lines to determine a position of the moving object.

The apparatus for measuring the position and the attitude of the moving object estimates the direction information of the moving object based on a time point at which the distance from the laser distance sensor to the wall surface is measured and a rotation angle of the laser distance sensor at the time point at which the distance value is measured And a direction estimating unit.

The apparatus for measuring the position and the posture of a moving body includes: a moving distance measuring unit for measuring a moving distance of the moving body; And a direction sensor for measuring direction information of the moving object, wherein the position estimating unit moves the coordinates of the plurality of wall surfaces into the block by a distance value corresponding to each wall surface in a design model of the block, An intersection line generating unit for generating an intersection line; And a position determining unit for calculating points corresponding to the movement distance and the direction information on the plurality of intersection lines and determining positions before and after the movement of the moving object.

According to another aspect of the present invention, there is provided a method of measuring a distance, comprising: measuring distance values to a plurality of wall surfaces by a laser distance sensor provided in a moving object located in a block and generating a laser beam while rotating along a plurality of wall surfaces of the block; And estimating a position and an attitude of the moving object in the block using the distance values measured by the laser distance sensor.

According to an embodiment of the present invention, the position and attitude of a moving object in a block can be measured using a laser beam.

In addition, according to the embodiment of the present invention, the position and posture of the moving object can be measured in real time while the moving object is moving.

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.

FIG. 1 is a view showing a position and an attitude of a moving object within a block 10 measured by an apparatus 100 for measuring a position and an attitude of a moving object according to an embodiment of the present invention.
2 is a schematic perspective view of an apparatus 100 for measuring the position and orientation of a moving object according to an embodiment of the present invention.
3 is a block diagram of an apparatus 100 for measuring the position and orientation of a moving object according to an embodiment of the present invention.
FIG. 4 is a configuration diagram of a position estimating unit 150 constituting an apparatus for measuring a position and an attitude of a moving object according to an embodiment of the present invention.
5 and 6 are views for explaining a method of measuring a position and an attitude of a moving body according to an embodiment of the present invention.
7 is a view for explaining a method of measuring a position and a posture of a mobile body according to another embodiment of the present invention.
FIG. 8 is a view for explaining a process of measuring a scan position of the meter 120 according to an embodiment of the present invention.
9 is a view for explaining a process of measuring a scan position of the meter 120 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.

FIG. 1 is a view showing a position and an attitude of a moving object within a block 10 measured by an apparatus 100 for measuring a position and an attitude of a moving object according to an embodiment of the present invention. The position and orientation measuring apparatus 100 measures the position and posture of the moving body inside the block 10. The moving object may include, for example, a measuring device such as a three-dimensional laser scanner or an image capturing section for capturing an image for realizing an augmented reality, but the present invention is not limited thereto.

The block 10 may be, for example, a hull block for the drying of ships or offshore structures. 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. ) Of the various marine structures.

2 is a schematic perspective view of an apparatus 100 for measuring the position and orientation of a moving object according to an embodiment of the present invention. 3 is a block diagram of an apparatus 100 for measuring the position and orientation of a moving object according to an embodiment of the present invention. 1 to 3, an apparatus 100 for measuring the position and orientation of a moving object includes a user interface unit 110, a meter 120, a driving control unit 130, a laser distance sensor 140, a position estimating unit 150 An attitude estimation unit 160, a movement distance measurement unit 170, a matching unit 180, and a control unit 190. [

The user interface unit 110 is provided for an operator to input a measurement command of 3D shape information, a command to generate an augmented image, an instruction to measure the position and attitude of a moving object, and the like. The user interface unit 110 may be provided in various forms such as a button-type input unit, a touch panel, and the like. The user interface unit 110 may be provided to the portable terminal when the apparatus 100 for measuring the position and the attitude of the moving body operates in cooperation with the portable terminal carried by the operator via wireless communication.

The meter 120 measures the interior of the block 10. The meter 120 may be provided, for example, as a three-dimensional laser scanner that acquires point cloud data. The point cloud data includes three-dimensional coordinate information of points constituting a plurality of planes in the block 10. [ The meter 120 may acquire point cloud data at various points to obtain a 3D model for the entire shape inside the block 10. [

The driving control unit 130 generates a driving signal by moving a moving unit moving the measuring instrument 120 (for example, a driving motor that drives the driving wheel) to move the measuring instrument 120 inside the block 10.

The laser distance sensor 140 is provided in the moving object and generates laser beams to measure distance values to a plurality of wall surfaces of the block 10. [ The driving unit 142 is provided in the moving body, and rotates the laser distance sensor along a plurality of wall surfaces (sidewalls) constituting the block 10.

The position estimating unit 150 estimates the position of the moving object in the block 10 by using distance values to a plurality of wall surfaces measured by the laser distance sensor 140. The position estimating unit 150 can estimate the position of the moving object by recognizing the wall surface of the wall surface to which the laser beam is irradiated based on the direction information of the measuring instrument 120. [ At this time, the direction information of the meter 120 can be measured by a direction sensor (e.g., an IMU sensor).

The moving distance measuring unit 170 measures the moving distance of the moving object. The moving distance measuring unit 170 may be provided as an encoder for measuring the number of revolutions of the driving wheel, for example, provided on the side of the driving motor for moving the moving object. The matching unit 180 matches the plurality of point cloud data obtained at different scan positions and scan positions by the meter 120 so as to have one coordinate system.

The controller 190 controls the meter 120 in response to a command input through the user interface unit 110 and calculates a position and a posture of the moving object according to a program stored in the memory, (160) and controls the matching unit (180) to match the point cloud data obtained by the meter (120). The controller 150 may be provided as at least one processor.

FIG. 4 is a configuration diagram of a position estimating unit 150 constituting an apparatus for measuring a position and an attitude of a moving object according to an embodiment of the present invention. 5 and 6 are views for explaining a method of measuring a position and an attitude of a moving body according to an embodiment of the present invention.

4 to 6, the position estimating unit 150 includes a cross line generating unit 152 and a position determining unit 154. [ The intersection line generation unit 152 moves the coordinates of the plurality of wall surfaces into the blocks 10 and 20 by the distance values L1, L2 and L3 corresponding to the respective wall surfaces in the design model of the blocks 10 and 20 And generates a plurality of intersection lines (M1, M2, M3). The position determining unit 154 determines the position P of the moving object by calculating the intersection points between the plurality of intersecting lines M1, M2, and M3.

3, 5, and 6, the attitude estimating unit 160 calculates the attitude estimating unit 160 based on the time point at which the distance value from the laser distance sensor 140 to the wall surface is measured and the time at which the distance value is measured. The direction information of the moving object is estimated based on the rotation angle of the moving object. In one embodiment, the rotational angle of the laser distance sensor 140 can be measured by an encoder that measures the amount of rotation of the drive motor of the drive (reference numeral 142 in FIG. 2).

7 is a view for explaining a method of measuring a position and a posture of a mobile body according to another embodiment of the present invention. 4 and 7, the intersection line generation unit 152 moves the coordinates of the plurality of wall surfaces into the block by the distance values L1 and L2 corresponding to the respective wall surfaces in the design model of the block 30 Thereby generating a plurality of intersection lines M1 and M2.

The positioning unit 154 calculates the points P1 and P2 corresponding to the moving distance L and the direction information? Of the moving object from the plurality of intersecting lines M1 and M2, (P1, P2). The position and attitude information of the moving object can be applied to matching of point cloud data or tracking of augmented reality.

FIG. 8 is a view for explaining a process of measuring a scan position of the meter 120 according to an embodiment of the present invention. 8, the position estimating unit 150 estimates a position on the first intersection line M1 and a point on the second intersection line M2 in parallel with the moving direction of the meter 120 A line corresponding to the moving distance L of the measuring instrument 120 among the lines connecting the measuring points 120 and 120 can be calculated and the corresponding points can be calculated as the pre-movement position P1 and the post-movement position P2.

9 is a view for explaining a process of measuring a scan position of the meter 120 according to another embodiment of the present invention. Referring to FIG. 8, the position and orientation measuring unit 150 is positioned at a position on the first intersection line M1 and on the second intersection line M2, which coincides with the moving distance L of the measuring instrument 120, A line corresponding to the moving direction? Of the measuring instrument 120 among the lines connecting the points can be found and the points can be calculated as the pre-movement position P1 of the measuring instrument 120 and the post-movement position P2. Accordingly, the position and posture of the moving object can be estimated in real time.

According to an embodiment of the present invention, there is provided a method of estimating a position and a posture of a moving object, the method comprising the steps of: generating a laser beam by rotating a plurality of wall surfaces of a block, Measuring distance values to a predetermined distance; And estimating the position and posture of the moving object in the block using the distance values measured by the laser distance sensor.

The method according to an embodiment of the present invention can be realized in a general-purpose digital computer that can be created as a program that can be executed by a computer and operates the program using a computer-readable recording medium.

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, 20, 30: Block 100: Position and attitude measuring device of moving object
110: user interface unit 120:
130: drive control unit 140: laser distance sensor
142: driving unit 150:
160: attitude estimating unit 170: moving distance measuring unit
180: matching unit 190:

Claims (5)

A laser distance sensor provided in a moving body inside the block, for generating a laser beam to measure distance values to a plurality of wall surfaces of the block;
A driving unit provided on the moving body, for rotating the laser distance sensor along the plurality of wall surfaces; And
And a position estimator for estimating a position of the moving object in the block using a design model of the block and distance values measured by the laser distance sensor,
Wherein the position estimator comprises:
A plurality of intersection lines are generated by moving the coordinates of the plurality of wall surfaces into the block by a distance value corresponding to each wall surface in a design model of the block and calculating an intersection point between the plurality of intersection lines, Of the moving object. The method according to claim 1,
And a direction sensor for measuring direction information of the moving object,
Wherein the position estimating unit estimates the position of the moving object by recognizing the wall surface irradiated with the laser beam based on the measured direction information. The method according to claim 1,
The position estimating unit may calculate,
An intersection line generation unit for generating a plurality of intersection lines by moving coordinates of the plurality of wall surfaces into the block by a distance value corresponding to each wall surface in a design model of the block; And
And a position determiner for calculating an intersection between the plurality of intersecting lines to determine a position of the moving object. The method according to claim 1,
And a direction estimating unit for estimating direction information of the moving object based on a time point at which the distance value from the laser distance sensor to the wall surface is measured and a rotation angle of the laser distance sensor at the time point at which the distance value is measured Position and attitude measuring device. A laser distance sensor provided in a moving body inside the block, for generating a laser beam to measure distance values to a plurality of wall surfaces of the block;
A driving unit provided on the moving body, for rotating the laser distance sensor along the plurality of wall surfaces;
A position estimator for estimating a position of the moving object in the block using a design model of the block and distance values measured by the laser distance sensor;
A moving distance measuring unit for measuring a moving distance of the moving object; And
And a direction sensor for measuring direction information of the moving object,
The position estimating unit may calculate,
An intersection line generation unit for generating a plurality of intersection lines by moving coordinates of the plurality of wall surfaces into the block by a distance value corresponding to each wall surface in a design model of the block; And
And a position determiner for calculating two points corresponding to the movement distance and the direction information among the points on the plurality of intersection lines and determining the two points as positions before and after the movement of the mobile object, Position and attitude measuring device.

Images