KR101742487B1 - Position recognizing device and method in pipeline - Google Patents

Position recognizing device and method in pipeline Download PDF

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Publication number
KR101742487B1
KR101742487B1 KR1020150134255A KR20150134255A KR101742487B1 KR 101742487 B1 KR101742487 B1 KR 101742487B1 KR 1020150134255 A KR1020150134255 A KR 1020150134255A KR 20150134255 A KR20150134255 A KR 20150134255A KR 101742487 B1 KR101742487 B1 KR 101742487B1
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KR
South Korea
Prior art keywords
artificial
marker
camera
landmark
estimating
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KR1020150134255A
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Korean (ko)
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KR20170036145A (en
Inventor
김동엽
전세웅
김인수
김주완
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전자부품연구원
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Priority to KR1020150134255A priority Critical patent/KR101742487B1/en
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Publication of KR101742487B1 publication Critical patent/KR101742487B1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/362—Laser etching
    • B23K26/364—Laser etching for making a groove or trench, e.g. for scribing a break initiation groove
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Plasma & Fusion (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to an apparatus and method for recognizing a position in a pipeline, in which a position recognition apparatus moves along the inside of a pipeline, forms an artificial marker on the inner surface of the pipeline, photographs an inner surface of the pipeline, It is possible to estimate the position by extracting the minutiae and estimating the position of the minutiae, thereby actively forming the markers even in an environment in which no markers for the position estimation exist.

Description

Technical Field [0001] The present invention relates to a position recognizing device and method in a pipeline,

The present invention relates to a position recognition technique, and more particularly, to an apparatus and method for recognizing an intra-tube position by forming an artificial marker in a tube and estimating a current position using the artificial marker.

As a method for determining the position of a moving object, there are a triangulation method in which a direction is measured from two fixed points having a known distance and a distance is measured at another point, a position measurement method using a GPS (Global Positioning System) And a method of locating an approximate position using the wireless communication device. However, such a conventional position determining method has a low accuracy, and it is difficult to grasp the position in an environment where the propagation environment is not good.

Simultaneous Localization and Mapping (SLAM) technology has been developed as one of the results of this research. With SLAM technology, it is possible to grasp the current position while moving in arbitrary space.

In order to estimate the position using the SLAM technique, a landmark is required, which is divided into a naturally formed natural landmark and an artificially formed artificial landmark.

However, the natural markings inside the pipeline may be present in various forms depending on the internal conditions, such as damaged portions, rusted portions, stalactite and barnacle portions, and thus are not suitable for position recognition technology.

On the other hand, in order to form an artificial marker inside the duct, the user must directly enter the duct, and it is very difficult for a person to enter the duct to move and there is a safety risk.

Japanese Laid-Open Patent Application No. 2015-025753 (published on Feb. 05, 2015)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide a method and apparatus for recognizing a position in a pipeline in which a mobile body moving inside a pipeline can form an artificial marker inside the pipeline and recognize the position using the artificial marker. .

According to an aspect of the present invention, there is provided an apparatus for recognizing a position in a duct, comprising: a moving module for moving the duct along an interior of the duct; an artificial marker forming unit for forming an artificial marker on an inner surface of the duct in accordance with movement; A camera for photographing an inner surface of the channel, and a position estimating unit for extracting feature points of the artificial landmarks from the photographed image of the camera and estimating the position.

In the pipeline position recognition apparatus of the present invention, the artificial marker forming unit may include a paintball gun for emitting the paintball to the inner surface of the duct to form the artificial marker made of the paint mark .

In the in-tube position recognition apparatus of the present invention, the artificial marker forming unit may include a laser marker for emitting the laser to the inner surface of the channel to form the artificial marker by carving.

In the in-tube position recognition apparatus of the present invention, the artificial landmark forming unit forms the artificial landmark in front of the moving direction so as to deviate from the observation field of view of the camera.

The position estimating unit may extract the three-dimensional information of the minutiae through the continuous image summation, register the minutiae points from which the three-dimensional information is extracted as the markers of the map, And estimates the position based on the position information.

According to another aspect of the present invention, there is provided a method for recognizing a position in a pipeline, the method comprising the steps of: locating the position recognition device along an inner surface of the pipeline and forming an artificial marker on the inner surface of the pipeline; Photographing an inner surface of the channel in which the artificial landmark is formed; and extracting feature points of the artificial landmark from the photographed image of the camera and estimating the position of the channel.

In the method for recognizing a position in a pipeline according to the present invention, the step of forming the artificial landmark may include forming the artificial landmark in front of the moving direction so that the position recognizing device deviates from an observation field of view of the camera.

In the method for recognizing a position in a duct according to the present invention, the step of estimating the position includes the steps of: extracting three-dimensional information of the minutiae through the continuous image summation by the position recognizing device; A step of registering the minutiae points with the mark of the map, and the position recognizing device estimating the position based on the mark of the map.

According to the apparatus and method for recognizing the position of a duct in the present invention, a mobile body moving in the duct itself can form an artificial marker on the inner surface of a duct, extract feature points from the artificial marker, It is possible to actively form a landmark and estimate the position even in an environment where there is no landmark for estimation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view illustrating an in-pipe position recognition apparatus according to an embodiment of the present invention; FIG.
FIG. 2 is a view showing an in-pipe positional recognition apparatus according to another embodiment of the present invention.
FIG. 3 is a diagram illustrating a configuration of an in-pipe position recognition apparatus according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating extraction of three-dimensional information of feature points according to an embodiment of the present invention.
5 is a flowchart illustrating a method of recognizing a position in a pipe according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

The present invention relates to a technique for a mobile body moving inside a pipeline to recognize its position. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a view showing a position recognition apparatus 100 in a pipeline 1 according to an embodiment of the present invention. FIG. 2 is a view illustrating a position recognition apparatus 100 in a pipeline 1 according to one embodiment of the present invention, 3 is a view showing a configuration of a position recognition apparatus 100 in a pipeline 1 according to an embodiment of the present invention. Fig.

Referring to FIGS. 1 to 4, the position recognition apparatus 100 recognizes its own position by moving along the hollow in the duct 1 with the assistance of the movement module 10. The position recognition apparatus 100 is used to determine whether a leak or breakage has occurred in a pipe network at a certain point in the pipeline 1 and selectively detects only a portion corresponding to a position detected by the position recognition apparatus 100 And to support maintenance. At this time, the conduit 1 may be a tubular structure such as a water supply pipe or a wastewater pipe having a space in which the position recognizing apparatus 100 can be moved.

The position recognizing apparatus 100 includes a moving module 10, an artificial landmark forming unit 20, a camera 30, and a position estimating unit 40.

The moving module 10 is a structure used by the position recognizing apparatus 100 to move inside the pipeline 1. The moving module 10 may include a motor and gears for transmitting the driving force and may include one or more wheels or crawlers that rotate against the inner bottom surface of the channel 1 to rotate.

The artificial landmark forming unit 20 serves to form the artificial landmark 2 on the inner surface of the duct 1 as the position recognizing apparatus 100 moves inside the duct 1. [

The artificial marker forming portion 20 may include a paintball gun which forms an artificial marker 2 using, for example, a paint mark. At this time, the paintball gun of the artificial marker forming unit 20 emits paintball to the inner surface of the channel 1, and the outer shell ruptures as the paintball collides with the inner surface of the channel 1, So that the paint is applied to the inner surface of the channel 1. In this case, the paint applied to the inner surface of the channel 1 has an irregular shape, and the artificial landmarks 2 having different positions are formed according to the movement of the position recognizing apparatus 100. On the other hand, the paint forming the artificial marker 2 can be made of a harmless component to the human body, and in particular, it can be easily washed away by water and can be easily removed before use of the channel 1.

The artificial marker forming unit 20 may include a laser marker for forming an artificial marker 2 using, for example, a laser carving mark. At this time, the laser marker of the artificial marker forming unit 20 can emit a laser beam to the inner surface of the channel 1 to imprint the artificial marker 2. In this case, the laser carving mark formed on the inner surface of the channel 1 may have a certain shape or a different shape, but the positions thereof are different from each other as the position recognizing apparatus 100 moves.

The camera 30 photographs the inner surface of the channel 1 on which the artificial markers 2 are formed.

At this time, the camera 30 continuously photographs the inner surface of the channel 1 as the position recognizing apparatus 100 moves inside the channel 1, and the artificial marker forming unit 20 detects the length of the inside of the channel 1 Artificial markers 2 are formed at positions out of the field of view (FoV) of the camera 30 by forming the artificial landmarks 2 in front of the moving direction of the position recognizing apparatus 100 moving along the direction . As a result, the camera 30 can photograph the inner surface of the duct 1 in a state where the artificial landmarks 2 have already been formed in accordance with the movement of the position recognition apparatus 100.

The position estimating unit 40 extracts the characteristic points of the artificial landmark 2 from the photographed image of the camera 30 and estimates the position. At this time, the position estimating unit 40 can extract a plurality of feature points from a single artificial landmark 2, and can extract a plurality of feature points by grasping each individual artificial landmark 2 as a single feature point.

The position estimating unit 40 may estimate the current position using a simultaneous localization and mapping (SLAM) technique. The SLAM technology can estimate the current position by matching the surrounding environment with the map of the surrounding environment while moving the inside of the pipeline 1 using the SLAM technology. It is possible to grasp the current position by matching the position of the user to the map while generating and storing the map.

In FIG. 4, the position estimating unit 40 sums the images taken by the camera 30 into consecutive images, and extracts three-dimensional information of the feature points corresponding to the artificial landmarks 2 as shown in FIG. The location estimating unit 40 registers the extracted minutiae with the three-dimensional information as markers stored in the map, and estimates the location of the location recognizing apparatus 100 based on the markings of the map. At this time, the position estimating unit 40 can estimate the position of the position recognizing apparatus 100 made up of the three-dimensional coordinates (x, y, z), and can estimate the position of the position recognizing apparatus 100 made up of roll, pitch, The posture of the position recognition apparatus 100 may be estimated.

A method by which the position recognition apparatus 100 recognizes its own position according to the present invention will be described in detail with reference to FIG.

5 is a flowchart illustrating a method of recognizing a position in a pipe according to an embodiment of the present invention.

Referring to FIG. 5, the position recognizing device in the duct moves along the hollow formed in the duct (S1), and forms an artificial marker at each position that changes according to the movement (S2).

In step S2, for example, the position recognizing device forms an artificial marker made of a paint mark by firing the paint ball to the inner surface of the duct using a paintball gun, or fires a laser on the inner surface of the duct using a laser marker, Whereby an artificial marker can be formed.

In step S2, the position recognizing device forms an artificial marker in front of the moving direction so as to deviate from the observation field of view of the camera.

Then, the position recognizing device captures the inner surface of the channel formed with the artificial mark using the camera (S3).

The camera in step S3 enters the observation field of view in accordance with the movement of the position recognition device, in step S2, an artificial landmark formed to deviate from the observation field of view.

Subsequently, the position recognition apparatus extracts feature points corresponding to the artificial landmarks from the image photographed in step S3 (S4), and extracts three-dimensional information of the feature points (S5).

In step S5, the position recognition apparatus can extract three-dimensional information of the minutiae by continuously summing images photographed using a camera.

In step S6, the position recognition apparatus registers a feature point extracted from the three-dimensional information as a marker of a map generated and stored in real time by the user himself / herself.

Then, the position recognition apparatus estimates the current position based on the registered marker (S7).

A method for recognizing a position in a duct according to an embodiment of the present invention may be implemented in a form of a program readable by various computer means and recorded in a computer-readable recording medium.

It should be noted that the embodiments disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein. Furthermore, although specific terms are used in this specification and the drawings, they are used in a generic sense only to facilitate the description of the invention and to facilitate understanding of the invention, and are not intended to limit the scope of the invention.

1: Pipeline 2: Artificial marker
10: Moving module 20: Artificial marker forming part
30: camera 40: position estimating unit
100: Position recognition device

Claims (8)

A movement module for moving along the inside of the duct;
An artificial marker forming unit for forming an artificial marker on the inner surface of the channel in accordance with the movement;
A camera for photographing an inner surface of the duct where the artificial landmarks are formed; And
A position estimating unit for extracting feature points of the artificial landmarks from the photographed image of the camera and estimating a position of the artificial landmarks;
Lt; / RTI >
Wherein the artificial landmark forming unit forms the artificial landmark in front of the moving direction so as to deviate from an observation field of view of the camera. The method according to claim 1,
Wherein the artificial marker forming unit includes a paintball gun for emitting a paintball to an inner surface of the duct to form the artificial marker made of a paint mark. The method according to claim 1,
Wherein the artificial marker forming unit includes a laser marker for emitting the laser beam to the inner surface of the channel to form the artificial marker by carving the laser marker. delete The method according to claim 1,
Wherein the position estimating unit extracts three-dimensional information of the minutiae through continuous image summation, registers minutiae points extracted from the three-dimensional information as markers of the map, and estimates the position based on the markers of the map Position recognition device in a pipeline. Wherein the position recognition device moves along the interior of the conduit and forms an artificial marker on the internal surface of the conduit;
Capturing an inner surface of the pipeline in which the artificial landmark is formed by using the camera; And
Extracting a feature point of the artificial landmark from the photographed image of the camera and estimating a position of the artificial landmark;
Lt; / RTI >
Wherein the step of forming the artificial landmark forms the artificial landmark in front of the moving direction so that the position recognizing device is out of an observation field of view of the camera. delete The method according to claim 6,
The step of estimating the position comprises:
Extracting three-dimensional information of the minutiae through the continuous image summation;
Registering the feature points extracted from the three-dimensional information as markers of the map;
Estimating a position of the map based on the mark of the map;
And determining the position of the pipe.
KR1020150134255A 2015-09-23 2015-09-23 Position recognizing device and method in pipeline KR101742487B1 (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101291149B1 (en) * 2011-08-19 2013-07-31 전자부품연구원 Apparatus and method for estimating ceiling height of mobile robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6202559B2 (en) 2013-07-26 2017-09-27 積水化学工業株式会社 Buried pipe measuring device and buried pipe measuring method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101291149B1 (en) * 2011-08-19 2013-07-31 전자부품연구원 Apparatus and method for estimating ceiling height of mobile robot

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