Confined-Space Tool Localization Using 3D Surface Models
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Solution Overview
Problem
Current localization methods for mobile remote inspection and manipulation tools in confined spaces are inefficient due to reliance on external references or beacons, which are not always available, and require large, power-intensive sensor systems, leading to inaccurate pose determination and increased complexity.
Innovation Solution
A localization method using a combination of pose sensors and distance sensors with a pre-existing 3D environment model to simulate and compare distance measurements, allowing for precise determination of the tool's pose without external references, utilizing small and lightweight sensors like ToF infrared sensors or LIDAR devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external references or beacons are used for localization, then localization accuracy is improved, but device complexity and power requirements increase
Solution Approach 1:
The system uses the confined space environment itself (its geometry and surfaces) as the reference for localization, eliminating the need for external beacons or markers. The distance sensors measure distances to the space's interior surfaces, and the pre-existing 3D model of the space provides the reference framework, allowing the tool to localize itself using only the environment available to it.
Solution Approach 2:
A pre-existing 3D model (copy or representation) of the confined space is created beforehand and stored. This digital model contains geometric information about the space's surfaces and structure, which is then used during localization by comparing simulated distance measurements from candidate poses against actual sensor measurements, enabling accurate pose determination without external references.
2Measurement precision
If large sensor systems are used for localization, then measurement precision is improved, but power consumption increases
Solution Approach 1:
The system employs small, low-power distance sensors (such as ToF infrared sensors or LIDAR devices) instead of large, power-intensive sensor arrays. These compact sensors consume minimal power while providing sufficient measurement precision for accurate localization when used in combination with the pre-existing 3D environment model and simulation approach.
3Reliability
If multiple sensors are added for self-localization, then localization reliability is improved, but device weight increases
Solution Approach 1:
The distance sensors serve multiple functions: they measure distances for localization, can be used for navigation, and provide data for mapping unknown spaces. This multi-functionality allows the system to achieve reliable localization without adding dedicated heavy sensors, as the same lightweight distance sensors fulfill multiple operational needs.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise localization of mobile remote inspection and manipulation tools within confined spaces, reducing sensor complexity and power requirements, and providing accurate global coordinate data for inspection and maintenance tasks.
Implementation Method 1
small and lightweight sensors like ToF infrared sensors or LIDAR devices
Implementation Method 2
small and lightweight sensors like ToF infrared sensors or LIDAR devices
Data Source
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AI summary
A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or manipulation tool (13), such as an inspection camera (14), pose sensors (22, 28, 53a-c, 54) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the position and orientation of the movable carrier (24, 52a-c), and distance sensors (29, 31) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the distance to interior surfaces (6) of the confined space (7) as well as a pre-existing 3D environment model of interior surfaces of the confined space. The localization method uses probabilistic comparison of measurement data provided by the distance sensors (29, 31) with simulated distance values that would result from a set of candidate poses of the movable carrier using the 3D environment model in order to precisely determine the actual 3D pose of the movable carrier .