Pipe Navigation Posture Measurement Using 3D Depth Sensors
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Solution Overview
Problem
Existing navigation algorithms for intelligent PIGs in pipe integrity management suffer from errors due to misalignment between the central line of the pipe and the central line of the intelligent PIG, particularly in pitch and yaw directions, leading to inaccurate location calculations.
Innovation Solution
A method and device for measuring the posture of a moving body within a pipe using a 3D depth sensor to generate three-dimensional shape information, an extension vector, and direction vector, along with guide parts to calculate inclination angles, including pitch and yaw, to correct for misalignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the navigation algorithm assumes alignment between pipe central line and intelligent PIG central line, then the navigation calculation is simplified, but location accuracy deteriorates when inclination exists
Solution Approach 1:
The patent replaces the mechanical assumption of alignment with an optical measurement system. A 3D depth sensor captures the pipe's internal geometry, and through image processing and coordinate transformation, the system calculates the actual inclination angle between the pipe central line and the PIG central line, substituting the simplified mechanical model with precise optical measurement and computational geometry.
2Measurement precision
If inclination measurement is added to correct navigation errors, then location accuracy is improved, but device complexity increases
Solution Approach 1:
The 3D depth sensor serves multiple functions: it maps the pipe's internal geometry, measures the inclination angle, and provides spatial reference for navigation correction. By making the depth sensor multi-functional, the patent avoids adding separate inclination measurement devices, thereby improving location accuracy while minimizing the increase in device complexity.
Solution Approach 2:
The system uses the depth sensor data to automatically calculate and correct its own navigation errors. The inclination measurement and correction process is performed autonomously by the system itself, eliminating the need for external calibration equipment or manual adjustment mechanisms, thus improving accuracy without proportionally increasing complexity.
Data Source
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AI summary
According to an embodiment of the present invention, a method of measuring a posture is provided. The method may include generating three-dimensional shape information of a pipe in which a moving body moves, generating an extension vector of the pipe from the three-dimensional shape information, generating a direction vector indicating a direction in which the moving body is oriented, and generating a first inclination angle of the moving body with respect to the pipe based on the extension vector and the direction vector.