KR20090054661A - Method for common coordinate creation using igps - Google Patents

Abstract

A method for generating a common coordinate using IGPS(Indoor GPS) is provided to improve reliability of a large structure by performing a welding process, a painting process, and an attaching process correctly. A measuring point group is set up in an edge between a reference surface and a conversion object side(S100). A local point group coordinate is generated by using the local coordinate system applied to a first wall for the first measuring point group(S200). The common point group coordinate and the local point group coordinate are compared(S300). Correction data is calculated in order to correct the difference of the common coordinate system and the local coordinate system for the first measuring point group(S400). The local coordinate system of the first wall is matched to the common coordinate system of the reference surface by using the correction data(S500). The coordinate of the set point on the first wall is transformed to the common coordinate system matched in the local coordinate system(S600).

Description

Common coordinate creation method using indoor location tracking system {Method for common coordinate creation using IGPS}

The present invention relates to a method of generating a common coordinate using an indoor location tracking system, and more particularly, the local coordinate system of any one of the inner surfaces forming a large structure is set as the common coordinate system, and the local of the other inner surfaces. After matching the coordinate system to the common coordinate system, by generating a coordinate value for the inner surface of the large structure by the common coordinate system, it is possible to easily grasp the internal shape and size of the large structure, and the flatness of each inner surface.

In addition, by using the same process as described above it is to be able to determine the internal shape and size of a more accurate large structure.

In the construction of large structures, in order to work on painting, welding, and installing other internal walls of the structure, it is necessary to first measure the shape and size of the interior, and recently, use IGPS (Indoor GPS). To measure the inside of large structures.

Here, IGPS refers to an indoor positioning tracking system that adopts the concept of GPS (Global Positioning System), and is used in the fields of aviation, automobile, heavy industry, robot, shipbuilding, etc. by enabling real-time data processing and simultaneous work. Can be obtained.

More specifically, IGPS installs a plurality of transmitters on one measurement target surface, and measures the size, shape, flatness, etc. of the measurement target surface by using a receiver for measuring a position by receiving a laser beam transmitted from the transmitter. can do.

On the other hand, when measuring the size, shape, flatness, etc. of each inner surface forming a large structure using IGPS, each surface is calculated by different local coordinate system, so that the overall internal shape and size of the large structure is grasped There was a difficulty.

Therefore, there is a need for a common coordinate system capable of integrating and recognizing each local coordinate system formed using IGPS and a method of generating data accordingly.

According to the present invention, the local coordinate system of any one of the inner surfaces forming a large structure is set to the common coordinate system, and the local coordinate systems of the other inner surfaces are matched to the common coordinate system. By generating coordinate values for the inner surfaces of the large structure by the common coordinate system, a common coordinate generation method using the indoor position tracking system to easily grasp the internal shape and size of the large structure, and the flatness of each inner surface The purpose is to provide.

On the other hand, in order to measure each plane using the vector bar of the IGPS, it is necessary to measure the points present at the edge of the plane, so a separate jig that can support the vector bar that can measure the edge is required, and vertices of large structures Silver has been welded, there is a problem that can not find the exact vertex directly.

Accordingly, the present invention calculates the coordinates of the points present in the common measuring point and the edge part by each of the different local coordinate systems existing in each inner surface, and converts them to the common coordinate system, thereby providing a more accurate structure of large structures. In addition to identifying the internal shape and size, a common coordinate generation method using an indoor location tracking system that can provide information to facilitate work in a space using an indoor location tracking system through a common coordinate system regardless of the user is provided. The purpose is to provide.

In order to achieve the above object, the common coordinate generation method using the indoor location tracking system according to the present invention, a) the reference plane and the conversion target so as to be adjacent to the corner where the conversion target surface and the reference plane is installed on one side of the reference plane; Setting a measuring point group on the surface; b) using a common coordinate system representing coordinates on the reference plane, generating common_point group coordinates that are coordinates for the measurement point group, and using the local coordinate system representing coordinates on the conversion target surface, the measurement point Generating local_point group coordinates that are coordinates for the group; c) comparing the common point group coordinates with the local point group coordinates to calculate correction data for correcting a difference between the common coordinate system and the local coordinate system for the measurement point group; d) matching the local coordinate system to a common coordinate system based on the correction data; And e) generating coordinates on the transformation target surface as common coordinates.

By means of the above solution, the present invention by calculating and generating a set point of the inner surface forming a large structure, such as a ship or aircraft by a common coordinate system, the internal shape and size of the large structure, The flatness of each inner surface can be easily identified.

In particular, the internal shape of a large structure is more accurate by calculating the coordinates of the common measuring point and the points present in the edge part by calculating each local coordinate system existing in each inner surface and converting the coordinates into a common coordinate system. In addition to being able to grasp and size, it is possible to provide information to facilitate work in the space using the indoor location tracking system through a common coordinate system regardless of the user.

Therefore, the welding of a large structure, as well as the operation of painting and installation of other attachments can be made accurately, there is an effect of improving the reliability of large structures such as ships and aircraft.

Examples of the common coordinate generation method using the indoor location tracking system according to the present invention can be variously applied. Hereinafter, the most preferred embodiment will be described with reference to the accompanying drawings.

1 is a flowchart illustrating an example of a method of generating common coordinates using an indoor location tracking system according to the present invention.

First, looking at the basic concept of the indoor location tracking system used in the present invention, as shown in Figure 2a, the laser is output (solid line) while rotating the laser from a plurality of transmitters 210 installed on the reference plane 100, the receiver ( 220 receives the laser output from the plurality of transmitters 210 to detect its position.

Therefore, after installing a plurality of transmitters 210 on the target surface to be measured, the receiver 220 is positioned at a position corresponding to the set point, and the coordinate value of the corresponding position is measured.

If the first wall surface 110 or the second wall surface 120 is to be measured as the target surface, a plurality of transmitters 210 are installed on the first wall surface 110 or the second wall surface 120 and a receiver is provided. 220 is measured at a set point on the first wall 110 or the second wall 120.

Therefore, each wall surface has a local coordinate system corresponding to the wall surface, and the information of the wall surface is measured by each local coordinate system.

On the other hand, up to now, the indoor location tracking system has been used to measure the size, shape and flatness with respect to one reference plane, as shown in Figure 2a, the laser output from the transmitter 210 is a certain range (height) Will have Therefore, even when the transmitter 210 is installed on the reference plane 100, it is possible to measure a certain portion of the first wall 110, the second wall 120, and the like.

In the present invention, by extending the function of the indoor location tracking system known to date, the measurement of the set point of the reference plane 100 in the state in which the transmitter 210 is installed on the reference plane 100, as well as adjacent to the reference plane 100. By measuring even a part of the surface and matching it, it is possible to represent a large structure in one coordinate system.

In more detail, as shown in FIG. 2B, a first measurement point group is set at a corner portion where the reference plane 100 and the first wall surface 110, which is the conversion target plane, meet, and the first measurement point group is the reference plane 100. The point P _b1 to P _b4 set at the point of view) and the point P ₁₁ to P ₁₄ set at the first wall surface 110, etc., are set (S100). In this case, the points P ₁₁ to P ₁₄ set on the first wall surface 110 are included in the reception height H, which is a laser output range of the transmitter 210 installed on the reference surface 100.

Also, for the second wall surface 120 which is another conversion target surface, a second measurement point group is set at the corner portion where the second wall surface 120 meets, and the second measurement point group is set on the reference plane 100. Points P _b5 to P _b8 and points P ₂₅ to P ₂₈ set on the second wall surface 120 are set.

Thereafter, the local coordinate system representing the coordinates on the reference plane 100 is set as the common coordinate system as a reference, and the coordinates for the first measurement point group are generated using the common coordinate system. Here, the coordinates expressed by the common coordinate system with respect to the first measurement point group are referred to as common_point group coordinates. In other words, the common point coordinates represent P _b1 to P _b4 and P ₁₁ to P ₁₄ in a common coordinate system.

In addition, local_point group coordinates are generated using the local coordinate system applied to the first wall surface 110 with respect to the first measurement point group (S200).

In other words, the transmitter 210 of the indoor location tracking system is installed on the first wall surface 110, the receiver 220 is positioned at a position corresponding to each point of the first measurement point group, and each point is measured and localized. Creates a coordinate value of the coordinate system. Here, the points P _b1 to P _b4 set on the reference plane 100 are included in the reception height, which is a laser output range of the transmitter 210 installed on the first wall 110.

As described above, the common_point group coordinates by the common coordinate system which is the coordinate of the reference plane 100 and the local_point group coordinates by the local coordinate system which are the coordinates of the first wall surface 110 are generated for the first measurement point group. When the common_point group coordinates are compared with the local_point group coordinates (S300), correction data for correcting the difference between the common coordinate system and the local coordinate system for the first measurement point group is calculated (S400).

Thereafter, the local coordinate system, which is the left boundary of the first wall surface 110, is matched to the common coordinate system that is the coordinate system of the reference plane 100 using the correction data (S500). Here, the method of matching different coordinate systems to one coordinate system can be matched by various persons skilled in the art, and thus is not limited thereto. In addition, although the coordinate system of the reference plane 100 is set as the common coordinate system in the present invention, it is natural that a coordinate system separate from the coordinate system of the reference plane 100 may be set as the common coordinate system.

Thereafter, the coordinates of the set point on the first wall surface 100 is generated by converting the coordinates from the local coordinate system to the matched common coordinate system (S600).

Therefore, it can be expressed in one local coordinate system for different wall surfaces.

In addition, the above-described method is performed on the second measurement point group set at the corners of the reference plane 100 and the second wall surface 120 to generate the set points on the second wall surface 120 as coordinates of the common coordinate system. .

By repeating the above process, by expressing all the walls of the large structure in one common coordinate system, it is possible to accurately measure the internal shape and size of the large structure and the flatness of each wall.

Meanwhile, in the indoor location tracking system, each coordinate is measured and then subjected to a calibration process such as bundling and rescaling, and the measured value is different depending on the measurer.

Thus, as shown in Figure 3a, by using a vector bar 300, the two receivers 320 are installed in the body 310 spaced apart by a set distance (L), at any point with respect to each wall surface of the interior space By measuring more than 3 points, accurate calibration can be performed.

In FIG. 3B, the calibration is performed by placing the vector bar 300 on the reference plane 100, but it is natural to perform the calibration on the first wall 110, the second wall 120, and the like.

On the other hand, since each surface of the large structure is connected by welding, as shown in Figure 4, the welding portion 150 is formed in the corner portion where the reference surface 100 and the first wall surface 110 is connected.

When the weld 150 is formed as described above, it is difficult to measure the coordinate value of the correct corner portion.

Therefore, as shown in Figure 4a, by using the hemispherical measuring jig 400 having the center point as the receiving point (RP), by measuring the coordinates of the measuring point, by correcting the set correction interval (D), the correct corner portion You can create a coordinate value of.

In other words, as shown in Figure 4b, in measuring the coordinates of the corner portion of the reference surface 100 and the first wall surface 110, the corner portion of the reference surface 100 and the third wall surface 130, While moving the measurement jig 400 along the corner portion is to measure two or more coordinate values on the same edge portion.

More preferably, as shown in FIG. 5A, two coordinates P ₁ and P ₂ on the reference plane 100 and two coordinates P ₃ and P on the first wall surface 110 among the coordinate values corrected by FIG. 1. ₄ ).

The two coordinates P ₁ and P ₂ on the reference plane 100 and the two coordinates P ₃ and P ₄ on the first wall plane 110 are two central coordinates P of the measurement jig 400 with respect to the reference plane 100. ₁ ', P ₂ ′) and the correction distance (D) in the two center coordinates (P ₃ ', P ₄ ') of the measuring jig 400 for the first wall surface 110.

As shown in FIG. 5B, a point where a straight line by two coordinates P ₁ and P ₂ on the reference plane 100 and a straight line by two coordinates P ₃ and P ₄ on the first wall surface 110 meet each other. By calculating the corner point LP, it is possible to generate a more accurate coordinate value of the corner portion. Here, two coordinates P ₁ and P ₂ on the reference plane 100 and two coordinates P ₃ and P ₄ on the first wall surface 110 are set to be located on the same line.

When the generation of the coordinates for the corner where the two different surfaces meet as described above is completed, as shown in Figure 5c, two coordinates (LP ₁ , LP ₂ ) on the corner where the reference plane 100 and the first wall surface 110 meets The point where the straight line by and the straight line by the two coordinates LP ₃ and LP ₄ on the corner where the reference plane 100 and the third wall surface 130 meet each other are calculated as the corner point EP.

By repeating the above process, the calculation and generation of the coordinates of the corners and corners for the large structure can be made more accurately.

The common coordinate generation method using the indoor location tracking system according to the present invention has been described above. Such a technical configuration of the present invention will be understood by those skilled in the art that the present invention can be implemented in other specific forms without changing the technical spirit or essential features of the present invention.

Therefore, the above-described embodiments are to be understood in all respects as illustrative and not restrictive, and the scope of the present invention is indicated by the appended claims rather than the foregoing description, and the meanings of the claims and All changes or modifications derived from the scope and the equivalent concept should be construed as being included in the scope of the present invention.

1 is a flowchart illustrating an example of a method of generating common coordinates using an indoor location tracking system according to the present invention.

2A and 2B are reference diagrams for describing FIG. 1.

3A and 3B are reference diagrams for explaining FIG. 1 using vector bars.

4A and 4B are usage state diagrams illustrating an example of a jig for measuring an edge portion.

5A to 5C are diagrams illustrating an example of a method of calculating an edge part using data converted by the present invention.

<Description of the symbols for the main parts of the drawings>

100: reference plane 110: first wall surface

120: second wall surface 130: third wall surface

210: transmitter 220: receiver

300: Vector Bar

Claims (3)

a) setting a measurement point group on the reference plane and the conversion target plane so as to be adjacent to an edge where the conversion target plane and the reference plane meet on one side of the reference plane; b) using a common coordinate system representing coordinates on the reference plane, generating common_point group coordinates that are coordinates for the measurement point group, and using the local coordinate system representing coordinates on the conversion target surface, the measurement point Generating local_point group coordinates that are coordinates for the group; c) comparing the common point group coordinates with the local point group coordinates to calculate correction data for correcting a difference between the common coordinate system and the local coordinate system for the measurement point group; d) matching the local coordinate system to a common coordinate system based on the correction data; And e) generating a coordinate on the conversion target surface as a common coordinate. The method of claim 1, Common point family coordinates and local point family coordinates are: Measuring by using an indoor position tracking system (IGPS) including at least one optical transmitter for outputting a position-sensitive optical signal, and an optical receiver for measuring the position by receiving the optical signal output from the optical transmitter, The common point coordinates are measured by installing the optical transmitter on a reference plane and installing the optical receiver to correspond to the points included in the measurement point group. The local_point group coordinates are measured by installing the optical transmitter on the conversion target surface and installing the optical receiver to correspond to the points included in the measurement point group. The method of claim 2, The common point group coordinates and local point group coordinates, The method of generating a common coordinate, characterized in that for measuring by using a vector bar installed to be spaced apart by a set distance to the optical receiver corresponding to the point included in the measuring point group.

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