KR20220105076A - Inpipe inpection appratus for mapping of location of buried pipeline and mapping method thereof - Google Patents

Abstract

According to an embodiment of the present invention, there is provided a pipe inspection system for performing location mapping of buried pipes using a moving body traveling inside the buried pipes. The system includes: an inertia measurement unit for measuring location data of the moving body; a 3D depth sensor provided on the front surface of the moving body; and a processor controlling the 3D depth sensor to extract depth data of the front inside the buried pipe, detecting coordinates of the center of the pipe in front, which is separated by a predetermined distance from the 3D depth sensor, from the extracted depth data, and correcting the location data of the buried pipe measured by the inertia measurement unit based on the detected pipe center coordinates. In addition to an inertial measurement device and an odometer, the depth data collected from the 3D depth sensor that can detect geometric properties of the pipe is processed into the coordinates of the front pipe in a global coordinate system, and then inputted as a measured value of to a navigation algorithm to improve the accuracy of location estimation of the buried pipe.

Description

Piping inspection system for location mapping of buried piping and its mapping method

The present invention relates to a pipe inspection system for mapping the location of a buried pipe and a mapping method therefor.

ILI (In-Line Inspection) technology for soundness management of buried pipes is for precise/long-distance detection and evaluation of damaged parts of pipes, mainly using a pipe inspection system called an intelligent pig.

Intelligent Pig is a device made to obtain information about the condition of a pipe by measuring the location and degree of a problem in the pipe. acquire and store

The current location-based digital mapping technology of buried piping can be estimated through a pure navigation algorithm using an intelligent pig's inertial navigation system (INS). Pure navigation calculates the position, speed, and attitude of the body through a Kalman filter, and provides correction values through an odometer (odometer) as the upper measurement value.

In addition, as the use of GPS is restricted in buried piping, the transit time of the intelligent pig is measured based on AGM (Above Ground Marker), which is a measurement point measured with high-precision GPS on the top of the buried piping at regular distances, and the navigation algorithm Mapping accuracy is improved by using the position as a correction value.

However, since the pure navigation algorithm based on the existing inertial navigation system and odometer estimates the speed and position of the intelligent pig through the integration of the accelerometer, the noise of the inertial navigation system and the noise with respect to the system integration time are caused by integration errors. Due to this, there is a disadvantage in that the position error between the AGM sections provided as the GPS measurement value becomes larger and larger.

In addition, if the gap between the AGMs is closely taken, the cost, time, and manpower increase exponentially, and when the pipe passes through a city center, sea, or river with a lot of vehicle traffic, it becomes difficult to measure whether it passes or not.

The present invention processes the depth data collected from a 3D depth sensor that can detect the geometrical properties of the pipe in addition to the inertial measuring device and the odometer into the coordinates in the earth coordinate system of the front pipe, and then inputs it as the measurement value of the navigation algorithm to the buried pipe. An object of the present invention is to provide a pipe inspection system and a mapping method for mapping the location of a buried pipe that can improve location estimation accuracy.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an embodiment of the present invention, there is provided a pipe inspection system for performing location mapping of a buried pipe using a moving body traveling inside the buried pipe. The system may include: an inertial measurement unit for measuring position data of the moving object; a 3D depth sensor provided on the front surface of the movable body; and controlling the 3D depth sensor to extract the depth data of the front in the buried pipe, and from the extracted depth data, detect the coordinates of the center of the pipe in the front separated by a preset distance from the 3D depth sensor, and the detected pipe center It may include a processor for correcting the position data of the buried pipe measured by the inertia measurement unit based on the coordinates.

In addition, the processor may convert the detected pipe center coordinates into navigation coordinates, and correct the location data of the buried pipe based on the converted navigation coordinates.

In addition, the processor collects a plurality of depth data by controlling the 3D depth sensor to sense the front region a plurality of times at a preset time interval, and extracts depth data of the overlapping region from the collected plurality of depth data, , from the extracted depth data, it is possible to detect the coordinates of the center of the front pipe separated by a preset distance from the 3D depth sensor.

In addition, the odometer for measuring the travel distance data of the moving object; and an electromagnetic wave generator for obtaining AGM position coordinates through an Above Ground Marker (AGM), wherein the processor further includes the odometer data measured by the odometer and the AGM position coordinates obtained through the electromagnetic wave generator. Based on it, it is possible to correct the position data of the buried pipe measured by the inertia measurement unit.

According to an embodiment of the present invention, there is provided a method for mapping the location of the buried pipe using a moving body traveling inside the buried pipe. The method includes the steps of controlling a 3D depth sensor provided in the movable body to extract depth data of the front in the buried pipe; detecting the coordinates of the center of the pipe in the front separated by a preset distance from the 3D depth sensor from the extracted depth data; and correcting the position data of the buried pipe measured by an inertia measuring unit provided in the movable body based on the detected pipe center coordinates.

In addition, the method may further include converting the detected pipe center coordinates into navigation coordinates.

In addition, the extracting may include: collecting a plurality of depth data by controlling the 3D depth sensor to sense the front area a plurality of times at a preset time interval; and extracting depth data of the overlapping region from the collected plurality of depth data.

In addition, the step of correcting is measured by the inertial measurement unit further based on the odometer data measured by the odometer provided in the moving object and the AGM position coordinates obtained from the AGM through the electromagnetic wave generator provided in the moving object. It is possible to correct the position data of the buried pipe.

According to the present invention, after performing ILI (In-Line Inspection), it is possible to increase the efficiency of pipe management by more accurately estimating the location of the defective pipe and providing it.

In addition, according to the present invention, it is possible to prevent a pipe accident due to excavation due to an error in location information during excavation work and to promote safety.

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a brief description of each drawing is provided.
1 is a block diagram schematically illustrating the configuration of a pipe inspection system according to an embodiment of the present invention.
Figure 2 is a view for explaining a method of detecting the pipe center coordinates of the front pipe inspection system according to an embodiment of the present invention.
3 is a diagram illustrating a structural diagram of a navigation algorithm according to an embodiment of the present invention.
4 is a flowchart for briefly explaining a location mapping method of a pipe inspection system according to an embodiment of the present invention.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents described in the accompanying drawings. The same reference numbers or reference numerals in each figure indicate parts or components that perform substantially the same functions. For convenience described below, the up, down, left and right directions are based on the drawings, and the scope of the present invention is not necessarily limited to that direction.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related items or any one of a plurality of related items.

The terms used herein are used to describe the embodiments, and are not intended to limit and/or limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, the terms include or have is intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features, number, or step , it should be understood that it does not preclude in advance the possibility of the existence or addition of an operation, component, part, or combination thereof.

Throughout the specification, when it is said that a part is connected to another part, it includes not only a case in which it is directly connected, but also a case in which it is indirectly connected with another element interposed therebetween. Also, when it is said that a part includes a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. .

1 is a block diagram schematically illustrating the configuration of a pipe inspection system according to an embodiment of the present invention.

The pipe inspection system 100 of the present invention includes a movable body 110 , an inertial measurement unit 120 , a 3D depth sensor 130 , an odometer 140 , an electromagnetic wave generator 150 , and a processor 160 .

In the pipe inspection system 100 , the movable body 110 , the inertial measurement unit 120 , the 3D depth sensor 130 , the odometer 140 , and the electromagnetic wave generator 150 may be referred to as a pipe inspection device, where the processor (160) may be built together in the pipe inspection device or physically separated from the pipe inspection device, spaced apart. In an embodiment, the pipe inspection device may be an intelligent pig or a pipe inspection robot.

The movable body 110 is a part forming the body of the pipe inspection device, and may have a size and shape that is movable by being inserted into the pipe.

In an embodiment, the movable body 110 may accommodate various components inside and outside (pipe inner wall cleaning device, magnetic leak detection device, measurement data collection/transmission device, pipe abnormality diagnosis device, battery pack, etc.). In addition, the movable body 110 may perform various functions such as inspecting the inside of the pipe while traveling inside the pipe according to the pressure difference of the fluid inside the pipe that occurs between the front end and the rear end of the moving body 110 .

In an embodiment, one or a plurality of movable bodies 110 may be configured. When configured in plurality, the movable body 110 may be connected to each other through a link member such as a universal joint. For example, the first moving body at the front end may be in charge of running in the pipe, and the second moving body at the rear end may be in charge of the pipe inspection. However, the present invention is not limited thereto.

The inertia measurement unit 120 is a device for determining the location of the buried pipe in which the moving body 110 traveled, and is an essential element for the maintenance of the pipe. The inertia measurement unit 120 includes an accelerometer and a pitch, roll, and yaw that detect movement in three axes, forward, backward, left and right, up and down in the pipe of the movable body 110 in the inertial space. Using the output of an inertial sensor such as a gyroscope that detects the three-axis rotational angular velocity of

However, when a navigation solution is obtained using only the inertial sensor, the navigation error increases and diverges with time. As a method for improving this disadvantage, an aided navagation method that can reduce a navigation error with the help of a non-inertial auxiliary sensor that provides position or speed information may be used.

The pipe inspection system 100 of the present invention is an example of a non-inertial auxiliary sensor, and an electromagnetic wave generator 150 for obtaining the AGM position coordinates through the odometer 140 and AGM (Above Ground Marker), which will be described in detail below. may include

The 3D depth sensor 130 is provided in the movable body 110 and is configured to generate a 3D image by calculating the depth of a pixel through a plurality of camera modules. The 3D depth sensor 130 may acquire not only RGB, saturation, and contrast of an existing pixel, but also depth data.

The 3D depth sensor 130 may operate in a Time-Of-Flight (ToF) method, a stereo-type method, a Structured Pattern method, or a hybrid method combining them. Hereinafter, as an embodiment for detailed description, it is assumed that the 3D depth sensor 130 is implemented as a ToF camera operating in the ToF method.

The odometer 140 is a device for measuring the travel distance of the moving object 110 , and is used to suppress the divergence of the navigation error due to the error of the inertial sensor. The odometer 140 is in close contact with the inner wall of the pipe, and may rotate along the inner wall when the movable body 110 moves. The odometer 140 has a basic structure that measures the amount of rotation of the wheel using a magnetic sensor such as a hall sensor, and divides this by a predetermined time to provide speed information.

The electromagnetic wave generator 150 generates an electromagnetic wave, and a TBMS (Time Based Marker System) installed in the AGM detects it and provides a time passed by the mobile body 110 and AGM position coordinates. The TBMS is installed on the ground surface directly above the pipe keeping time synchronized with the intelligent pig. Here, the AGM location coordinates may be obtained from the already known location coordinates of the AGM in which the TBMS is installed, or from the location coordinates of the AGM measured through GPS.

In this way, the odometer data measured by the odometer 140 and the AGM position data obtained through the AGM are fused together with the position data output from the inertial measurement unit 120 through an Extended Kalman Filter, Specifically, the position and posture of the moving object 110 are predicted using the acceleration and angular velocity measured by the inertia measurement unit 120, and correction can be performed with the odometer data and the AGM position data measured from the odometer 140. have.

The processor 160 is configured to control the overall operation of the pipe inspection system 100 .

Specifically, the processor 160 controls the ToF camera 130 to extract the depth data of the front in the buried pipe, and from the extracted depth data, the coordinates of the center of the pipe separated by a preset distance from the ToF camera 130 can be detected. have.

Thereafter, the processor 160 converts the detected pipe center coordinates into navigation coordinates, and inputs the converted navigation coordinates as a measurement value of a pure navigation algorithm, so that the inertia measurement unit 120, an odometer, and an electromagnetic wave generator measured by the buried pipe position data can be corrected.

Mapping data of the pipe may be generated through the corrected position data, and the mapping data may be processed by software having a separate algorithm in a host PC. The processed result can represent the movement path of 2D/3D such as CAD, and it can be applied to the existing pipe network map to update or create a new one.

The method of detecting the coordinates of the center of the pipe and correcting the position data of the buried pipe will be described in detail with reference to FIGS. 2 and 3 .

Figure 2 is a view for explaining a method of detecting the pipe center coordinates of the front pipe inspection system according to an embodiment of the present invention.

The processor 160 may control the ToF camera 130 provided in front of the moving object 110 to collect depth data in the front of the pipe 10 every preset time. In this case, the collected front depth data may be defined as depth data for a predetermined section area photographed by the ToF camera 130 .

Thereafter, the processor 160 may detect coordinates P _xC , P _{yC and P zC of} the front pipe center separated by a preset distance from the ToF camera 130 from the extracted depth data.

In the embodiment of the present invention, it is assumed that it is set to collect the pipe center coordinates P _xC , P _{yC and P zC for} the section area separated by 2.5 m from the ToF camera 130 , but the ToF camera 130 and the detected pipe center coordinates Of course, the distance between P _xC , P _{yC and P zC is} not limited thereto and may be set to various distances such as 1.5m or 2m.

At this time, the processor 160 collects a plurality of depth data by controlling the ToF camera 130 to photograph the front area a plurality of times at a preset time interval in order to reduce the error of the detected pipe center coordinates, and collects the collected plurality of depth data. The precision can be improved by extracting the depth data of the overlapping region from the depth data of .

In an embodiment, the processor 160 may control the ToF camera 130 to photograph the front area three times at t-2, t-1, and t seconds, respectively, with a time price of 1 second. However, the number of times of photographing of the ToF camera 130 for collecting depth data of the overlapping region 21 is not limited to three times, and may be variously changed, such as being set to two or more than four times.

The processor 160 may extract depth data corresponding to the overlapping region 21 from the three depth data captured and collected in this way.

On the other hand, the processor 160 converts the pipe center coordinates P _xC , P _{yC and P zC detected} from the depth data into navigation coordinates P _xG , P _yG and P _zG to convert the inertia measurement unit 120 to measure the buried pipe ( 10) position data can be corrected. A method of converting the pipe center coordinates into navigation coordinates will be described with reference to Equations 1 to 5.

Equation 1 below models the posture between the piping coordinate systems assuming that the piping is a cylinder and the separation deviation of the front center point.

,

및

는 ToF 카메라(130)에서 측정된 데이터로, Φ, θ및 Ψ는 배관좌표계(배관의 진행 방향 기준으로 배관 중심이 좌표계 기준이며, 진행방향은 x축)와 동체좌표계간의 각도를 의미하며, 각각 롤(roll), 피치(pitch) 및 요(yaw)를 나타낸다.

,

and

is the data measured by the ToF camera 130, Φ, θ and Ψ are the angles between the pipe coordinate system (the pipe center is the coordinate system based on the pipe moving direction, the moving direction is the x axis) and the body coordinate system, respectively, Represents roll, pitch and yaw.

,

및

는 배관좌표계로 변환된 3차원 거리값을 나타내며,

및

는 배관좌표계 중심에서 y축 및 z축의 이격거리를 나타내는 것으로, 배관좌표계 상의 센터 기준 중심점을 편차만큼 오프셋(offset)시켜 전방의 일정 거리의 배관 중심점을 구할 수 있다.ESP is an abbreviation for pipe center estimation.

,

and

represents the three-dimensional distance value converted to the piping coordinate system,

and

represents the separation distance of the y-axis and z-axis from the center of the piping coordinate system, and by offsetting the center reference center point on the piping coordinate system by the deviation, the piping center point at a predetermined distance in the front can be obtained.

That is, by transposing the data measured by the ToF camera 130 to an angle on the piping coordinate system, and adding the separation distance from the center, it means that it can be converted into 3D data based on the piping coordinate system.

Equation 2 below is an equation of an ellipse for determining the ovality of the pipe, and corresponds to a mathematical equation satisfying the elliptical cross section of the pipe.

As shown in Equation 3 below, the least-squares fitting error function is defined as an objective function of LMA (Levenberg-Marquardt Algorithm) satisfying Equations 1 and 2 above.

Equation 4 below shows equations for numerically deriving an optimal solution using LMA, which is widely used for curve fitting. That is, it is possible to find an optimal solution in which an error is minimized by applying an arbitrary angle, a separation interval, and the size of the long and short axes of the ellipse to the 3D depth data repeatedly collected so that β is minimized.

및

는 배관 중심과의 이격거리가 되며, 이격거리는 동체의 배관좌표계 상의 이격거리이므로 P_xC, P_yC 및 P_zC를 동체좌표계 기준의 전방 배관 중심 좌표라고 가정하면, 지구고정좌표계 상의 좌표 P_xG, P_yG 및 P_zG는 다음과 같이 구할 수 있다.When an optimal solution with minimal error is derived, then

and

is the separation distance from the pipe center, and since the separation distance is the separation distance on the pipe coordinate system of the body, assuming that P _xC , P _{yC and P zC are} the front pipe center coordinates based on the body coordinate system, the coordinates P _xG , P on the earth fixed coordinate system _yG and P _zG can be obtained as follows.

At this time, since the current position of the ToF camera 130 on the fixed earth coordinate system and the transformation angles Φ, θ and Ψ between the fixed earth coordinate system and the body coordinate system are known, the earth fixed coordinate system of the piping center point in front of the preset distance from the ToF camera 130 The coordinates P _xG , P _yG and P _zG of the image may be obtained.

3 is a diagram illustrating a structural diagram of a navigation algorithm according to an embodiment of the present invention.

The inertial measurement unit 120 performs three functions of sensing, calculating and outputting, and the accelerometer 121-1 and the gyroscope 121-2 constituting the inertial sensor 111 in the inertial measurement unit 120 are movable objects. The acceleration and angular velocity of 110 may be measured and input to the operation unit 122 .

The calculator 122 calculates the speed/position (①) and posture (②) necessary for navigation after going through processes such as coordinate transformation, integration, and filtering using this measured data according to the initial condition (③), and As a result of the same calculation, the finally derived position data is output.

In this way, the position data output from the operation unit 122 includes travel distance data (speed data) measured by the odometer 140, which is a non-inertial auxiliary sensor, AGM position data obtained through the electromagnetic wave generator 150, and the front pipe It may be sequentially input to the forward filter (④) and the backward filter (⑤) together with the center coordinate data.

, 상태변수

, 상태변수 오차

및 공분산 역행렬

이 사용될 수 있다.Thereafter, the precise position of the buried pipe is finally derived through a non-linear smoothing algorithm, and the covariance derived from the forward filter (④) and the backward filter (⑤) in this calculation process

, state variable

, state variable error

and inverse covariance matrix

this can be used

4 is a flowchart for briefly explaining a location mapping method of a pipe inspection system according to an embodiment of the present invention.

First, by controlling the 3D depth sensor provided in the moving object, the depth data of the front in the buried pipe is extracted (S410). In this case, a plurality of depth data may be collected by controlling the 3D depth sensor to sense the front region a plurality of times at a preset time interval, and depth data of the overlapping region may be extracted from the collected depth data.

Thereafter, from the extracted depth data, the coordinates of the center of the front pipe separated by a preset distance from the 3D depth sensor are detected (S420).

Thereafter, the detected pipe center coordinates are converted into navigation coordinates (S430).

Thereafter, based on the converted navigation coordinates, the position data of the buried pipe measured by the inertia measurement unit provided in the mobile body is corrected (S440). At this time, based on the odometer data measured by the odometer provided in the moving object and the GPS position coordinates obtained from the AGM through the electromagnetic wave generator provided in the moving object, the position data of the buried pipe measured by the inertial measurement unit is corrected. can do.

According to various embodiments of the present invention as described above, after performing In-Line Inspection (ILI), it is possible to more accurately estimate and provide the location of a defective pipe, thereby increasing the efficiency of pipe management. In addition, according to this, it is possible to prevent a piping accident due to excavation due to an error in location information during excavation work and to promote safety.

On the other hand, the method for mapping the location of the buried pipe according to the various embodiments described above may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present disclosure, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

In addition, the location mapping method of the buried pipe according to the disclosed embodiments may be provided included in a computer program product (computer program product). Computer program products may be traded between sellers and buyers as commodities.

The computer program product may include a S/W program and a computer-readable storage medium in which the S/W program is stored. For example, computer program products may include products (eg, downloadable apps) in the form of S/W programs distributed electronically through manufacturers of electronic devices or electronic markets (eg, Google Play Store, App Store). have. For electronic distribution, at least a portion of the S/W program may be stored in a storage medium or may be temporarily generated. In this case, the storage medium may be a server of a manufacturer, a server of an electronic market, or a storage medium of a relay server temporarily storing a SW program.

The computer program product, in a system consisting of a server and a client device, may include a storage medium of the server or a storage medium of the client device. Alternatively, if there is a third device (eg, a smart phone) that is communicatively connected to the server or the client device, the computer program product may include a storage medium of the third device. Alternatively, the computer program product may include the S/W program itself transmitted from the server to the client device or the third device, or transmitted from the third device to the client device.

In this case, one of the server, the client device and the third device may execute the computer program product to perform the method according to the disclosed embodiments. Alternatively, two or more of a server, a client device, and a third device may execute a computer program product to distribute the method according to the disclosed embodiments.

For example, a server (eg, a cloud server or an artificial intelligence server) may execute a computer program product stored in the server to control a client device communicatively connected with the server to perform the method according to the disclosed embodiments.

Although the embodiments have been described in detail above, the scope of the present disclosure is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present disclosure as defined in the following claims are also included in the scope of the present disclosure. belongs to

Claims (9)

In the pipe inspection system for performing location mapping of the buried pipe using a moving body running inside the buried pipe,
an inertia measurement unit for measuring position data of the moving object;
a 3D depth sensor provided on the front surface of the movable body; and
Controlling the 3D depth sensor to extract the depth data of the front in the buried pipe, and detect the center coordinates of the front pipe separated by a preset distance from the 3D depth sensor from the extracted depth data, and the detected pipe center coordinates Containing a processor for correcting the position data of the buried pipe measured by the inertia measurement unit based on, the pipe inspection system. The method of claim 1,
the processor
Converting the detected pipe center coordinates into navigation coordinates, and correcting the position data of the buried pipe based on the converted navigation coordinates, a piping inspection system. The method of claim 1,
The processor is
A plurality of depth data is collected by controlling the 3D depth sensor to sense a front region a plurality of times at a preset time interval, and depth data of an overlapping region is extracted from the collected plurality of depth data, and the extracted depth A pipe inspection system for detecting the coordinates of the center of the pipe in the front separated by a preset distance from the 3D depth sensor from the data. The method of claim 1,
an odometer for measuring travel distance data of the moving object; and
Further comprising an electromagnetic wave generator for acquiring AGM position coordinates through AGM (Above Ground Marker),
The processor is
Further based on the odometer data measured by the odometer and the AGM position coordinates obtained through the electromagnetic wave generator, correcting the position data of the buried pipe measured by the inertia measurement unit, a pipe inspection system. In the method of mapping the location of the buried pipe using a moving body traveling inside the buried pipe,
controlling a 3D depth sensor provided in the movable body to extract depth data of the front in the buried pipe;
detecting the coordinates of the center of the pipe in the front separated by a preset distance from the 3D depth sensor from the extracted depth data; and
Based on the detected pipe center coordinates, correcting the position data of the buried pipe measured by the inertia measurement unit provided in the moving body; including; location mapping method. 6. The method of claim 5,
Further comprising the step of converting the detected pipe center coordinates into navigation coordinates,
The correcting step is performed by correcting the location data of the buried pipe based on the converted navigational coordinates, a location mapping method. 6. The method of claim 5,
The extraction step is
collecting a plurality of depth data by controlling the 3D depth sensor to sense a front area a plurality of times at a preset time interval; and
and extracting depth data of an overlapping region from the collected plurality of depth data. 6. The method of claim 5,
The correcting step is
Position data of the buried pipe measured by the inertial measurement unit further based on the odometer data measured by the odometer provided in the moving body and the AGM position coordinates obtained from the AGM through the electromagnetic wave generator provided in the moving body A method of location mapping to correct . A computer program stored in a recording medium for executing the method of any one of claims 5 to 8.

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