WO2017129172A1

WO2017129172A1 - Method and device for metrologically detecting a line system

Info

Publication number: WO2017129172A1
Application number: PCT/DE2017/100036
Authority: WO
Inventors: Christian Noll; Herbert Wind
Original assignee: Pipetronics Gmbh & Co. Kg
Priority date: 2016-01-29
Filing date: 2017-01-23
Publication date: 2017-08-03
Also published as: DE102016101681A1

Abstract

The invention relates to a measuring device for metrologically detecting a line system, comprising a camera system with at least one image capturing element which has a surface that is sensitive to an electromagnetic radiation and with a microlens assembly that is arranged in the beam path of the electromagnetic radiation such that the camera system forms a light field camera. The measuring device further comprises a data processing device which generates at least two partial images from an image of a monitored scene detected by means of the camera system, and object distances can be determined using the partial images. The data processing device is designed to generate a three-dimensional virtual representation of at least one section of at least one line of the line system from the scenes detected by means of the camera system.

Description

Method and device for metrological detection of a

line system

The present invention relates to a method and a device for metrological detection of a conduit system and in particular the exposure of a branch in a line in which a lining tube has been recovered for rehabilitation.

For inspection, maintenance and rehabilitation of pipes, duct systems, and the like devices are often introduced into the lines to the required measuring operations and / or mechanical

To carry out renovation work. To measure the actual situation of a line, the devices usually have camera systems in order to visualize the state of the line.

If a defect or damage detected, the corresponding portion of the piping system can be replaced by new sections. However, this is usually very expensive.

Alternatively, methods are known in the art, in which for the renovation of piping systems, e.g. of channels and similar

Pipe systems, a flexible, impregnated with a hardenable resin hardenable layer, which serves as a lining tube, also as a liner

denotes, serves, is introduced into the line system. After this

Insertion, the liner tube is widened so that it snugly fits against the inner wall of the conduit system. Subsequently, the resin is cured.

The preparation of such a lining tube is

for example described in WO 95/04646. Such a

Lining hose usually has an opaque outer protective film, an inner film permeable to at least certain wavelength ranges of electromagnetic radiation, and a hardenable layer impregnated with a resin, which is arranged between the inner film and the outer film. The outer film tube is intended to prevent the resin used for impregnation from leaking out of the hardenable layer and into the environment. This requires a good tightness and connection of the outer film tube to the resin-impregnated curable layer.

The lining hoses are before curing in the

sanitation piping system introduced by means of a fluid, i.d.R. Compressed air, inflated. For inflation of the lining tube, an opening end of the lining tube according to the prior art is supplied with compressed air and the opposite

Opening end of the lining tube with one

Closure device, a so-called packer, closed. This closure device comprises a hollow cylinder and a

Cover, with which the hollow cylinder can be closed.

In the lining tube for curing the same one

Curing device introduced, which has a radiation source, and which is passed through the lining tube to the with the

Radiation energy the curing of the hardenable layers of the

To activate or make lining bag. In this case, a complete curing of the lining hoses of great

Meaning, i. a certain amount of radiant energy must be introduced to each point of the lining tube in it. The amount of radiant energy depends on the power output of the radiation sources and the speed with which they are performed through the lining tube.

Be such lining hoses in the line to be rehabilitated

retracted, it is necessary to the branches closed by the lining tube after curing of the

Reveal lining tube again. For this, the position of the branches must be known exactly. In addition, it is helpful to measure the line to be rehabilitated as accurately as possible in terms of measurement in order to obtain information about its properties for the following

To obtain remedial measures. For metrological detection of lines and in particular for determining the position of branches usually measuring devices according to the prior art are introduced before pulling the lining tube in the line, wherein the

Measuring device either independently or by means of a cable, in particular a cable comprising Kevlar fibers and / or at least one pull rope, and / or a pull rope is moved through a line to be rehabilitated.

[001 1] The measuring device according to the prior art detects, mostly via optical sensors, in particular camera shots, the position of the branches before pulling the lining tube. In the following, the term branching should be understood broadly and side inlets, also as pipe inlets or pipe branches

designated include. When a branch is detected, to determine the position of the branch in the line, either a speed sensor counting the number of revolutions of the wheels of the measuring device, measuring the length of travel of the cable, or one of the curing device used tape measure recourse.

However, the position of the branch must not only be based on their distance to one or both opening end of the line, but also be detected in their angular position. For example, rotational angle sensors or gravitational sensors are used for this purpose.

The problem with this is that the position of the branch must be reproducible determinable. After retracting the lining tube and curing it, an exposing device is inserted into the conduit. This exposure device is now moved to the detected position of the recess. Both during the first passage of the line through the measuring device and when passing through the renovated line with the free-laying device, errors in the position determination of the respective devices may occur:

Spinning wheels preventing movement of the device although the speed sensors detect propulsion, skewed cables, relative to self-twisted devices, non-identical positioning with respect to the center of the lines, etc.

However, it is crucial that the positions of the branches can be done with the highest precision. Even minimal deviations can lead to damage of the branching line and / or endanger the tightness of the line system. Due to the large number of possible sources of error in the detection of the position of a recess and its renewed start after pulling a lining tube, therefore, generating recesses to expose the branches manually. For this purpose, a first recess is first generated at a safety distance from the walls of the branch and then manually extended this first recess until reaching the wall of the branch. Then the branch is exposed further.

A disadvantage of the known methods and devices is that it is not possible to detect a line metrologically with the highest precision and in particular to determine the position of a branch in a refurbished with a lining hose line to expose the branch then automated , so that

Damage to the branching lines can be prevented and time and cost savings can be realized.

Therefore, the object of the present invention is to overcome the disadvantages of the prior art and in particular to enable a precise detection of branches in lines rehabilitated with lining hoses and their automated exposure.

This object is achieved by a measuring device for

metrological detection of a conduit system, comprising a camera system having at least one image pickup element having a surface sensitive to electromagnetic radiation, and having a microlens array in the beam path of the electromagnetic Radiation is arranged so that the camera system forms a light field camera, and further comprising a

Data processing device that generates at least two partial images from an image of an observed scene captured by the camera system and that can be determined by means of the partial image object distances, and wherein the data processing device is designed and set up to detect from scenes acquired by the camera system

Create three-dimensional virtual representation of at least a portion of at least one line of the pipe system.

The present invention is based on the surprising finding that an exact metrological detection of a pipe system by means of a light field camera is accompanied by a multitude of advantages. In the prior art, it has been attempted to more accurately detect positions of particular features of conduits by more and more accurately detecting the position of a measuring device. However, a more precise metrological analysis of a line has shown that an exact virtual representation can be achieved, which provides a much better basis for further work steps. Here is the encompassed by the device according to the invention

Light field camera particularly advantageous.

Light field cameras are also referred to as plenoptic cameras. The basic principle of a light field camera differs from the conventional cameras by the design of the

Imaging system. Said conventional cameras usually comprise a lens with one or more lenses arranged behind one another and an image recording element arranged behind them and can only capture two-dimensional images or 2-D image data. In contrast, it is possible with a light field camera to capture the so-called 4-D light field of a scene. In this case, in addition to the position and the intensity of a light beam, the direction from which the light beam is incident on the image pickup element is determined.

This is made possible by a microlens arrangement (microlens array

Array) between the imaging system and the image pickup element. In the microlens array is a lens grid, comprising a plurality of generally arranged in a matrix microlenses. The lens grid is so positioned between the imaging system and the image pickup element, for example, in the rear image plane (focus plane, focal plane) of the imaging system that each pixel is refracted again and expanded into a cone, which then, for example, circular or elliptical on the image pickup element or sensitive surface hits.

Each microlens can according to an embodiment, a plurality of photosensitive cells (photodiodes or pixels) of the

Be assigned image capture element or its sensitive surface. In this way, the information is retained from which direction individual light rays have invaded the camera systems. A light beam striking a microlens ends up in the

Center of the circle or ellipse, an obliquely arriving

Light beam continues at the edge. The light detected by means of a light field camera is thus detected direction-selectively in separable partial images on the image sensor.

By means of an executed by the data processing device according to the invention image processing by suitable and known from the prior art software many fields can be generated from such a captured image. In particular, by a suitable juxtaposition of pixels, preferably in each case the same pixel under each microlens, from a captured image of an observed scene, for example, a plurality of partial images are generated which the different scenes, especially slightly from each other

deviate viewing angles (viewing angles).

Thus, two or more fields of an observed scene

are generated which have an offset, as in a pair of images, which was detected by means of a stereo camera. The number of sub-images of an observed scene that can be generated in this way corresponds to the number of pixels under each individual microlens and is thus freely selectable by the number of pixels. The choice of pixels and the number of microlenses is freely selectable and adaptable to the respective application. It can also be provided that by means of suitable image processing, for example by adding up partial images, images with

different focus can be generated. By such

It is possible to sum up the sharpness of one by means of a

Lichtfeldkamera captured image subsequently recalculate. Thus, the focus can be changed later.

It is thus possible by a measuring device according to the invention with a photographic camera, after the image acquisition by processing the captured image or the captured pixel data different

Create sharpness levels. Also, depth information can be obtained and extracted for further use.

In the context of the present invention has been shown that a

Use of a light field camera for metrological detection of a line system is advantageous and overcomes the disadvantages of the prior art. In particular, the advantage is realized that a camera system is provided which can determine distances to objects, wherein all other camera functions can optionally continue to be provided.

Advantageously, thus instead of a camera system and a

additional distance measuring element for the determination of

Object distances only a single camera module required. It is therefore no longer necessary a camera and an additional

Calibrate distance measuring element. Errors in the determination of object distances due to incorrect or inaccurate calibration of camera module and distance measuring element can no longer occur. Environmental influences, such as temperature differences and vibrations that occur during operation, do not have to be anticipated, as with the measurement system used hitherto, with regard to negative effects on the orientation of two camera modules or a camera module and a distance measuring element.

The position of a branch of the line can also by means of Distance measurement can be detected directly in its angular position to the measuring device, without rotation angle sensors or

Gravity sensors are used. Thus, the

Reliability of the measuring device according to the invention over the prior art significantly increased and potential sources of error are eliminated.

It can be provided that the measuring device a

Position detection device comprises or with this in

Active connection stands to the position of the measuring device and

in particular to detect their orientation, wherein in particular the data processing device is designed and set up to determine the position of the measuring device based on data of the camera system.

It has been shown that by the integrated distance measurement at

Capture properties of lines an exact

Position determination of the measuring device itself is made possible. For example, if a measuring device at the opening end of a too

positioned measuring line, the measuring device detects not only the opening end, but also their own distance from the opening end. If the measuring device is now moved into the line itself, the measuring device continues to precisely determine its distance from the opening end. This applies equally to other properties of the line, so that, for example, the distance to a crack in the line, a branch, and the like, is detected by measurement. The distance determinations result directly in the path traveled by the measuring device as well as the position in which the distance from the opening end to the first clearly recognizable characteristic of a line can be determined, and from this first property to a second property, from the second property to one third

Property, etc., so that an accurate three-dimensional image of the line system can be generated and the position of the measuring device relative to the opening end is always calculated from the images of the light field camera from the data processing device. That's it obviously, that the viewing angle of the light field camera, which may also include several combined to a system light field cameras must be designed accordingly, and in particular at least 180 °, preferably at least 270 °, wherein the coverage of the viewing angle can not be continuous, but also segmented.

In this case, it may be possible in particular that no further device for determining the position of the measuring device of the

Measuring device according to the invention are included.

It may alternatively be provided that the measuring device a

Position detection device comprises or with this in

Active connection is to detect the position of the measuring device and in particular their orientation.

It is obvious to a person skilled in the art that, of course, position-determining devices known from the prior art may also be included which are used exclusively for determining the

Measuring device are evaluated or their data are evaluated together with the data collected by the camera system. This may be advantageous for some applications, especially where lines have few unique identifiable properties and no such markings are applied.

It can also be provided that the measuring device a

Uncovering device comprises, in particular comprising a drilling and / or milling head, designed and set up to expose at least one branch by at least sectionally removing the lining hose.

Such an exposure device is particularly advantageous to the

detected opening directly exposed, the process of exposure does not require another device, so this time and

cost-saving can be performed.

Furthermore, it may be advantageous according to an embodiment of the present invention that the exposure device on a movable end of one in at least two, in particular three

Space axes movable robotic arm is arranged, which is in particular foldable and / or comprises at least one telescopic arm element.

By a movable uncovering device according to the invention recesses can be achieved at all points of a line. A retractable and / or partially telescopically extendable robot arm allows a compact design of the device according to the invention.

It is also preferred that the measuring device comprises a drive device and in particular at least one wheel, which with the

Drive device is operatively connected or can be brought.

A measuring device according to the invention may comprise either independently or with the aid of a cable, in particular a cable

Kevlar fibers and / or at least one pull rope, and / or pull rope is moved through a line to be rehabilitated. In the present case, however, it may be particularly advantageous if the measuring device is operatively connected or can be brought by means of an integrated or external drive device, which in particular can be controlled by a control device of the measuring device and thus an automated detection and exposure is possible.

Finally, it can be provided that the

Data processing device is designed and set up to control or regulate the position of the measuring device and the exposure device, so that in particular an autonomous exposure of branches can be based on data generated by the evaluation device.

This is particularly true for an autonomous metrological detection of the properties of a line and the position of branches and optionally their subsequent exposure after retraction of the

Lining hose advantageous.

The invention also provides a method for metrological Detecting a line system comprising the following steps, in particular in this order: a) introducing a measuring device comprising a light field camera, in particular a measuring device according to the invention, into a line to be rehabilitated with a lining hose; and b) moving the measuring device through the refurbished conduit to

metrological detection of the same by means of the at least one light field camera, and in particular generating a three-dimensional virtual representation of at least a portion of at least one line of the conduit system from scenes detected by the camera system; and c) storing the acquired information in one

Data processing device.

A method according to the invention provides, in a first step a), for a measuring device, in particular an inventive device

Measuring device is inserted into a line to be rehabilitated with a lining hose and moved for metrological detection of the same by this. In particular, characteristic

Characteristics of the line such as cracks, damage, branches, and the like detected by measurement, in their position and their distance relative to the measuring device.

It can be provided that the method following step

comprises, in particular after step c): d) introduction and curing of the lining tube in the

metrologically recorded line.

In the optional subsequent step d) is now a

Lining hose for refurbishment of the pipe inserted in this and cured. Method for introducing and curing

Lining hoses are known to those skilled in the art as described in the introduction.

In particular, it may be advantageous for a method according to the invention be, if this further comprises the following step, in particular in parallel to step b): e) detecting the position of the measuring device relative to the line and in particular detecting and detecting the position and the dimension of at least one branch of the line.

Detecting the position of the measuring device relative to the conduit is advantageous for creating a three-dimensional image of the same.

It can be provided that the inventive method comprises the following steps, in particular parallel to step b) or step e): f) detecting the position of the measuring device relative to the line by setting at least a first reference object, in particular an opening end of Line and / or one

Lining tube, and determining the distance of the measuring device to said reference object by the light field camera; g) detecting a second reference object arranged locally relative to the first reference project and determining the distance of the measuring device to the said reference objects by the light field camera; and optionally h) detecting a further reference object arranged locally relative to the first reference project and determining the distance of the measuring device to the second reference objects and the further reference object; and in particular i) repeating step h) with further reference objects, always replacing the oldest reference object with a new one.

It has been shown that a determination of the position of

Measuring device with highest precision by means of the

Measuring device covered light field camera is possible. In this case, a first reference object is first detected and the distance of the same to the measuring device determined. It is particularly preferred that it the first reference object is a first opening end of a pipe or of the lining hose. With movements through the, possibly rehabilitated, line another reference object is detected, and determines the distance from the first and to the other reference object. With a progressive movement of the measuring device through, possibly rehabilitated, line, another reference object is always detected, so that when crossing the, possibly rehabilitated, line after detecting an opening end always an n-th and n + 1th

Reference object for determining the position of the measuring device

can be used.

As already stated, lines to be rehabilitated generally have a multiplicity of potential reference objects, for example conspicuous ones

Dirt, branches, cracks, etc .. In the case of a refurbished with a lining hose lines, it has proven to be particularly advantageous if the lining hose has on its inside a plurality of spaced at defined intervals markers that can be used as reference objects. This can be, for example, simple color marking, which in one

constant distance in the manufacture of a lining hose are attached. Thus, it is easily possible even with rehabilitated lines to determine the exact position of the measuring device within the same.

It is obvious to a person skilled in the art that besides the

described reference objects also a variety of others

Reference objects that are already in the, possibly

rehabilitated lines, or be attached by the user to this, for example, by stickers, drawn lines, etc.

It may also be advantageous that the inventive method further comprises the following steps, in particular parallel to step d): j) introducing an exposure device in the with the Liner lined conduit, wherein the exposure device is optionally included in that of the measuring device; and k) moving the exposure apparatus to the location of a branch; and

I) exposing the branch by means of the exposure device.

Thus, an automated exposure of branches is possible without the need for manual intervention by a user.

Furthermore, it may be advantageous that the inventive

Method comprises the following step, in particular parallel to step k): m) detecting the position of the measuring device relative to the line and in particular detecting and detecting the position and the dimension of at least one branch of the line, in particular by carrying out steps f) to i) ,

Finally, it can be provided that according to the inventive method, the measuring device and / or the exposure device is moved autonomously through the rehabilitated line and in particular a

automatic uncovering of the branch by an autonomous control of the exposure device is carried out by the controller.

Also, the invention provides a use of an inventive

Measuring device for metrological detection of a line system, for detecting the position and dimensions of covered by a lining hose branches in a

Management system and / or for subsequent exposure of the

Branches by means of an exposure device.

The features of the invention disclosed in the foregoing description and the claims may be essential both individually and in any combination for the realization of the invention in its various embodiments.

Claims

claims

1 . Measuring device for metrological detection of a line system, comprising a camera system with at least one image pickup element having a surface sensitive to electromagnetic radiation, and with a microlens array arranged in the beam path of the

is arranged electromagnetic radiation, so that the camera system forms a light field camera, and further comprising a

Data processing device which generates at least two partial images from an image of an observed scene acquired by means of the camera system and which can be determined by the partial image object distances, and wherein the data processing device is designed and configured to generate a three-dimensional virtual representation of at least one section of at least one of scenes captured by the camera system Produce line of the pipe system.

2. Measuring device according to claim 1, characterized in that

the measuring device comprises or is operatively connected to a position detection device in order to detect the position of the measuring device and in particular its orientation, wherein in particular the data processing device is designed and set up, the position of the measuring device based on data of the camera system

determine.

3. Measuring device according to claim 1 or claim 2, characterized

marked that

the measuring device comprises an exposing device, in particular comprising a drilling and / or milling head, designed and arranged to expose at least one branch by at least sectionally removing the lining tube. Measuring device according to claim 3, characterized in that

the free-laying device is arranged at a movable end of a robot arm which is movable in at least two, in particular three spatial axes and which is in particular foldable and / or at least one

comprises telescopic arm element.

Measuring device according to one of the preceding claims, characterized in that

the measuring device comprises a drive device and in particular at least one wheel, which is in operative connection with the drive device or can be brought.

the data processing device is designed and set up in order to control or regulate the position of the measuring device as well as the exposure device, so that in particular an autonomous exposure of

Branches may be based on data generated by the evaluation device.

A method for the metrological detection of a line system, comprising the following steps, in particular in this order: a) introducing a measuring device comprising a light field camera, in particular a measuring device according to one of the preceding claims, in a, in particular with a lining hose to be rehabilitated line; and b) moving the measuring device through the refurbished conduit to

metrological detection of the same by means of the at least one light field camera, and in particular generating a three-dimensional virtual representation of at least a portion of at least one line of the line system from detected by the camera system scenes; and c) storing the acquired information in one

Data processing device.

8. The method of claim 7, further comprising the following step, in particular after step c) d) introduction and curing of the lining tube in the

metrologically recorded line.

9. The method of claim 7 or 8, further comprising the following step, in particular in parallel to step b) e) detecting the position of the measuring device relative to the line and in particular detecting and detecting the position and the dimension of at least one branch of the line.

10. The method according to claim 9, characterized, comprising the

following steps, in particular parallel to step b) or step e) f) detecting the position of the measuring device relative to the line by setting at least a first reference object, in particular an opening end of the conduit and / or a

Lining tube, and determining the distance of the measuring device to said reference object by the light field camera; g) detecting a second reference object arranged locally relative to the first reference project and determining the distance of the measuring device to the said reference objects by the light field camera; and optionally h) detecting a further reference object arranged locally relative to the first reference project and determining the distance of the measuring device to the second reference objects and the further one Reference object; and in particular i) repeating step h) with further reference objects, whereby always the oldest reference object is replaced by a new one.

1 1. The method according to any one of claims 7 to 10, further comprising the following steps, in particular in parallel to step d) j) introducing an exposure device in the with the

Lining lined conduit, with the

Uncovering device is optionally included in that of the measuring device; and k) moving the exposure device to the location of a branch; and I) exposing the branch by means of the exposure device.

The method of claim 11, further comprising the step, in particular in parallel to step k): a) detecting the position of the measuring device relative to the line and in particular detecting and detecting the position and the dimension of at least one branch of the line, in particular by performing steps f ) to i).

13. The method according to any one of claims 6 to 12, wherein

the measuring device and / or the Freilegevorrichtung is moved autonomously through the rehabilitated line and in particular an automatic exposure of the branch by an autonomous control of the exposure device is carried out by the control device.

14. Use of a measuring device according to one of claims 1 to 6 for the metrological detection of a line system, for detecting the position and dimensions of hidden by a lining hose branches in a line system and / or to subsequent exposure of the branches by means of an exposure device.