DE102008031636A1 - Inaccessible tubing system e.g. water pipe system, measuring method, involves placing sensor device with sensor e.g. ultrasonic sensor, into inaccessible tubing system, and calculating model of system based on provided sensor data - Google Patents

Abstract

The method involves placing a sensor device (10) with a sensor (11) e.g. ultrasonic sensor, into an inaccessible tubing system (20) e.g. water pipe system, and carrying out a sensor measurement at local positions (21-23) in the system by the sensor for providing of sensor data (SD) of a part of an internal structure (24) of the system. A model (M) e.g. two-dimensional model, of the system is calculated based on the provided sensor data. The sensor device is attached into the system by an endoscope-like device (50), a rigid cable or by a controlled or autonomous robot. An independent claim is also included for an arrangement for measuring an inaccessible system.

Description

The The invention relates to a method and an arrangement for measuring an existing, inaccessible system.

In already existing or existing, inaccessible or poorly accessible systems, such as water pipe systems, Cable ducts or ventilation systems, provides the troubleshooting and troubleshooting on the basis of one from the outside unrecognizable and often undocumented internal structure of the systems is a problem. For example, in older Houses often not documented, like the water pipes run the water pipe system.

A Intervention planning for an error is due to ignorance or inaccurate knowledge of the internal structure conventionally only difficult possible. As a result of ignorance or inaccurate Knowing the internal structure, such an intervention is time consuming and expensive. However, the engagement time is conventional Of considerable interest, since the system often during an intervention is impaired in its function. For example a water pipe system can not handle water when troubleshooting. Furthermore, it is in water pipe systems, especially in old houses, often necessary, at least parts of the system, for example, individual Water pipes to expose.

Therefore The invention is based on the object, an existing, inaccessible System without measuring the system changing intervention.

A Another task is an existing, inaccessible System on as simple and inexpensive Way to measure.

According to the invention this task by a method with the characteristics of the Patent claim 1 or by an arrangement having the features of Patent claim 13 solved.

• a) Einbringen zumindest einer Sensorvorrichtung mit zumindest einem Sensor in das System;
• b) Aufnehmen zumindest einer Sensormessung an zumindest einer Ortsposition in dem System durch den zumindest einen in das System eingebrachten Sensor zur Bereitstellung von Sensordaten zumindest eines Teils einer inneren Struktur des Systems; und
• c) Berechnen eines Modells des Systems in Abhängigkeit der bereitgestellten Sensordaten.

Accordingly, a method is proposed for measuring an existing, inaccessible system comprising the steps of:

• a) introducing at least one sensor device with at least one sensor into the system;
• b) receiving at least one sensor measurement at at least one location position in the system by the at least one sensor incorporated into the system to provide sensor data of at least a portion of an internal structure of the system; and
• c) calculating a model of the system as a function of the provided sensor data.

• a) zumindest einer Sensorvorrichtung mit zumindest einem Sensor, welche zum Einbringen in das System geeignet ist, wobei der jeweilige in das System eingebrachte Sensor dazu geeignet ist, zumindest eine Sensormessung an zumindest einer Ortsposition in dem System zur Bereitstellung von Sensordaten zumindest eines Teils einer inneren Struktur des Systems aufzunehmen; und
• b) einem Berechnungsmittel, welches dazu eingerichtet ist, ein Modell des Systems in Abhängigkeit der bereitgestellten Sensordaten zu berechnen.

Furthermore, an arrangement for measuring an existing, inaccessible system is proposed which comprises:

• a) at least one sensor device having at least one sensor which is suitable for introduction into the system, wherein the respective sensor introduced into the system is suitable for carrying out at least one sensor measurement on at least one spatial position in the system for providing sensor data of at least part of an inner one Structure of the system; and
• b) a calculation means, which is set up to calculate a model of the system as a function of the provided sensor data.

According to one Further development of the invention is advantageously a model For example, a three-dimensional model of the to be examined or system to be measured. This model facilitates the planning of an intervention and consequently reduces its costs and the intervention time. Thus, a minimally invasive procedure or an intervention without any change in the system gets by the exact knowledge of the location or knowledge of the inner Structure of the system facilitates or allows.

Further can advantageously by means of the calculated model of the intervention be better and more clearly planned by a team of technicians.

in the Meaning of the present application refers to an existing, inaccessible System such a system, which is not without the man a, the system changing, intervention accessible is. Similarly, an inaccessible system means such systems whose access to the human dangers means, for example by heat or gases.

Examples for such existing, inaccessible systems are technical systems, pipe systems, such as water pipe systems, shaft systems, cable ducts, Ventilation systems and the like.

The For example, structure or inner structure is a spatial one or topological structure. Furthermore, the structure can compounds, for example of piping, within the system map.

advantageous Refinements and developments of the invention will become apparent the dependent claims and the description with reference on the drawings.

According to a preferred development, the model is as a one-dimensional or as a two-dimensional or as a three-dimensional or formed as a four-dimensional model.

The Creating a four-dimensional model is especially then advantageous if the system to be examined or ver measured a mechanical system that has an unknown kinematics in it Inside has.

According to one Another preferred embodiment, the sensor device by means of an endoscope-like device, a substantially rigid Cable or by means of a controlled or autonomous robot in the system introduced.

For example can the endoscopic device in their respective interior an electrical line for transmission of the provided Have sensor data to the outside. The analogy is at a rigid Cable possible.

According to one Another preferred development is a plurality of sensor measurements a plurality of spatial positions of the system.

According to one Another preferred development is at the respective location recorded a plurality of sensor measurements.

According to one Another preferred development is a plurality of sensor measurements at least one respective location position with different directional alignments of the sensor and / or differently set sensor parameters recorded by the sensor.

Examples for such sensor parameters are in a trained as a camera Sensor the film sensitivity, the possibility of using different Negatives, the zoom and the aperture setting. Next, it is beneficial at a predetermined spatial position, multiple noise reduction images take.

According to a further preferred development, the model is calculated as a function of the sensor data provided by means of an image processing algorithm and / or by means of a pattern recognition algorithm. An example of this is in "Dinstinctive Image Features from Scale Invariant Keypoints"; Journal "International Journal of Computer Vision", Springer, Netherlands, ISBN 0920-5691 (print) 1573-1405 (Online), Volume 60, Number 2 / November 2004 . DOI 10.1023 / B: VISI.0000029664.99615.94, pages 91-110, Computer Science, SpringerLink Date, Sunday, October 31, 2004 , described.

According to one Another preferred development is in the recording of at least a sensor measurement a predetermined pattern to a predetermined, Projected part of the internal structure projected.

By the projection of the predetermined pattern on the predetermined part of the inner structure to be picked up, its texture can be better absorbed. An example of such structured light can be found in "Accurate 3D measurement using a structured light system", RJ Valkenburg and AM McIvor ,

According to one Another preferred development, the calculated model forms a three-dimensional map of the internal structure of the system.

According to one Another preferred development is the sensor data provided by means of a transmission device in the system incorporated sensor device to an outside of the system arranged receiving device transmitted.

According to one Another preferred development is the model of the sensor device or calculated by the receiving device.

Consequently is both an offline calculation and an online calculation of the model possible.

According to one Another preferred development, the sensor data from the Sensor device stored.

According to one preferred embodiment of the arrangement, this has an endoscopic Device, a substantially rigid cable or a controlled or autonomous robot for introducing the at least one sensor device into the system.

According to one Another preferred embodiment, the sensor device Adjustment means, which is adapted to the sensor in to align different directions and / or at least one Adjust sensor parameters.

According to one Another preferred embodiment, the sensor device has a Lighting device, which is adapted to a predetermined Pattern on a predetermined, to be included part of the inner To project structure.

According to a further preferred embodiment, the sensor device has a transmission device, which is set up to supply the sensor data provided by the at least one sensor from the sensor device to a receiving device arranged outside the system to be transferred.

According to one Another preferred embodiment includes the sensor device the calculation means.

According to a further preferred embodiment, the at least one sensor is at least one camera and / or at least one ultrasonic sensor and / or at least one 3D laser scanner and / or at least one radar sensor and / or a 3D time of Flight camera trained. An example of using a 3D time-of-flight camera is in "Real-Time 3D Imaging with Miniaturized Optical Range Camera", T. Oggier, R. Kaufmann, M. Lehmann, P. Metzler, G. Lang, M. Schweizer, M. Richter, B. Büttgen, N. Blanc , K. Griesbach, B. Uhlmann, K.-H. Stegemann, C. Ellmers, CSEM SA; Center suisse d'électronique et de microtechnique SA, Badenerstrasse 569, 8048 Zurich; ZMD, Center for Microelectronics Dresden, Grenzstrasse 28, 01109 Dresden , shown.

According to one Another preferred embodiment, the camera includes a two-dimensional or a three-dimensional camera and / or a memory device.

According to one Another preferred embodiment, the sensor device has a Storage device, which is adapted to the provided Save sensor data.

• a) Einbringen einer Kamera in das System;
• b) Aufnehmen einer Mehrzahl von Bildern an einer Mehrzahl verschiedener Ortspositionen in dem System durch die in das System eingebrachte Kamera zur Bereitstellung von Bilddaten zumindest eines Teils der inneren Struktur des Systems;
• c) Berechnen eines Modells des Systems in Abhängigkeit der bereitgestellten Bilddaten.

According to a further preferred development, a method is proposed for measuring an existing, inaccessible system with the following steps:

• a) introducing a camera into the system;
• b) capturing a plurality of images at a plurality of different location locations in the system by the camera incorporated into the system to provide image data of at least a portion of the internal structure of the system;
• c) calculating a model of the system depending on the provided image data.

there Can the camera as an analog or digital camera with or without Memory be formed. The camera can also be a camera or to be a video camera. Also, the camera can be considered a two-dimensional or a three-dimensional camera may be formed. The image data may be analog image data or digital image data. Furthermore, the image data may be compressed and / or decoded become.

The Invention will be described below with reference to the schematic figures specified embodiments explained in more detail. Show it:

1 a schematic block diagram of a first embodiment of an arrangement for measuring an existing, inaccessible system;

2 a schematic block diagram of a second embodiment of an arrangement for measuring an existing, inaccessible system;

3 a schematic block diagram of a third embodiment of an arrangement for measuring an existing, inaccessible system; and

4 a schematic flow diagram of an embodiment of the method for measuring an existing, inaccessible system.

In All figures are the same or functionally identical means and facilities - if otherwise indicated - with the same reference numerals Mistake.

In 1 is a schematic block diagram of a first embodiment of an arrangement 1 for measuring an existing, inaccessible system 20 shown. Without restriction of generality shows 1 as a system 20 a section of a pipe system.

The order 1 for measuring the system 20 has at least one sensor device 10 and a calculating means 34 , The calculation means 34 can in the sensor device 10 be integrated. According to the embodiment according to 1 is the calculating means 34 but in a receiving device 30 Arranged outside the system 20 located. The receiving device 30 and the sensor device 10 are by means of a communication channel, for example by means of a radio channel 40 , coupled.

The sensor device 10 has at least one sensor 11 , The sensor device 10 is for insertion into the system 20 suitable. To 1 is the sensor device 10 by means of an endoscope-like device 50 already in the system 20 brought in. It is located at the location position 23 ,

The respective in the system 20 introduced sensor 11 in the sensor device 10 is integrated, is suitable for at least one sensor measurement at least one spatial position 21 - 23 in the system 20 for providing sensor data SD, at least part of an internal structure 24 of the system. To 1 takes the sensor 11 for example, at the location positions 21 - 23 Sensor measurements and provides appropriate Sensor data SD ready. The sensor data SD are transmitted by means of the radio channel 40 to the receiving device 30 transfer.

That in the receiving device 30 integrated calculation means 34 is designed to be a model M of the system 20 depending on the over the radio channel 40 received sensor data SD of the sensor device 10 to calculate.

Alternative to the endoscopic device 50 may be a substantially rigid cable or a controlled or autonomous robot for introducing the sensor device 10 in the system 20 be used.

2 shows a schematic block diagram of a second embodiment of an arrangement 1 for measuring an existing, inaccessible system 20 , The system 20 to 2 is abstractly presented without restriction of the generality and can the system 20 to 1 correspond.

According to the embodiments according to 2 has the sensor device 10 an adjustment means 15 which is adapted to the sensor 11 align in different directions and / or adjust at least one sensor parameter.

Furthermore, the sensor device 10 a transmission device 13 which is adapted to that of the at least one sensor 11 provided sensor data SD from the sensor device 10 to one outside the system 20 arranged receiving device 30 transferred to. The receiving device 30 can - as in 1 - the calculation means 34 exhibit. In this case, the transmission device 13 the sensor device 10 by means of the radio channel 40 with the receiving device 30 coupled. Over the radio channel 40 In addition to the sensor data SD, remote control signals FS1, FS2 can also be transmitted. The of the transmission device 13 received remote control signals FS1, FS2 can be sent to the setting means 15 to get redirected.

The adjustment means 15 may be a first adjustment signal ES1 in response to a received, first remote control signal FS1 for adjusting the sensor 11 to generate. Next, the adjustment means 15 a second adjusting signal ES2 in response to a received, second remote control signal FS2 for setting a lighting device 16 to generate. The lighting device 16 is preferably adapted to apply a predetermined pattern to a predetermined part of the internal structure to be picked up 24 to project.

Next, the sensor device 10 a storage means or a storage device 12 which is adapted to that of the sensor 11 stored sensor data SD cache.

3 shows a schematic block diagram of a third embodiment of an arrangement 1 for measuring an existing, inaccessible system 20 , The inaccessible system 20 is represented abstractly and can, for example, be like the pipe system 20 of the 1 be educated.

According to the embodiment according to 3 has the sensor device 10 a sensor 11 , a storage device 12 and a calculating means 14 ,

The sensor 11 is suitable for at least one spatial position 21 - 23 (see 1 ) in the system 20 To include sensor measurements to provide sensor data SD.

The storage device 12 is suitable for buffering the recorded sensor data SD. The calculation means 14 is further adapted to a model M of the system 20 depending on the cached sensor data SD to calculate.

According to the embodiment according to 3 can the sensor device 10 the calculation means 14 integrate.

The at least one sensor 11 can be embodied as at least one camera and / or as at least one ultrasonic sensor and / or as at least one 3D laser scanner and / or as at least one radar sensor and / or as a 3D time-of-flight camera.

The camera 11 may be a two-dimensional or a three-dimensional camera and preferably a memory device (not shown).

4 shows a schematic flow diagram of an embodiment of the method for measuring an existing, inaccessible system 20 ,

The method according to the invention will be described below with reference to the block diagram in FIG 4 with reference to the block diagram images in the 1 to 3 explained. The method according to the invention comprises the method steps S1 to S3:

Process step S1:

At least one sensor device 10 , wel at least one sensor 11 has, is in the system 20 introduced or retracted into this. In this case, the sensor device 10 preferably by means of an endoscope-like device 50 , a substantially rigid cable or by means of a controlled or autonomous robot into the system 20 brought in.

Step S2:

At least one sensor measurement is at least one spatial position 21 - 23 in the system 20 through the at least one in the system 20 incorporated sensor 11 for providing sensor data SD of at least part of an internal structure 24 of the system 20 added. In this case, preferably, a plurality of sensor measurements at a plurality of location positions 21 - 23 of the system 20 added. Furthermore, preferably at the respective location position 21 - 23 a plurality of sensor measurements are recorded. The inclusion of a plurality of sensor measurements at the respective location position 21 - 23 is used in particular for noise reduction.

Furthermore, a plurality of sensor measurements at at least one respective location position 21 - 23 at different directional orientations of the sensor 11 and / or at differently set sensor parameters of the sensor 11 be recorded.

In particular, upon receiving the at least one sensor measurement, a predetermined pattern may be applied to a predetermined, receivable portion of the internal structure 24 be projected.

Preferably, the sensor data SD provided by means of a transmission device 13 the one in the system 20 incorporated sensor device 10 to one outside the system 20 arranged receiving device 30 be transmitted. Further, the sensor data SD from the sensor device 10 cached or stored.

Step S3:

A model M of the system 20 is calculated as a function of the sensor data SD provided. The model M can be a one-dimensional, a two-dimensional, a three-dimensional or a four-dimensional model.

Preferably the model M will depend on the provided Sensor data SD by means of an image processing algorithm and / or calculated using a pattern recognition algorithm.

Even though the present invention described above with reference to the preferred embodiments it is not limited to that, but to manifold ones Modifiable manner.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited non-patent literature

• - "Dinstinctive Image Features from Scale Invariant Keypoints"; Journal "International Journal of Computer Vision", Springer, Netherlands, ISBN 0920-5691 (print) 1573-1405 (Online), volume volume 60, Number 2 / November 2004 [0023]
• - DOI 10.1023 / B: VISI.0000029664.99615.94, pages 91-110, Computer Science, SpringerLink Date, Sunday, October 31, 2004 [0023]
• - "Accurate 3D measurement using a structured light system," RJ Valkenburg and AM McIvor [0025]
• "Real-Time 3D Imaging with a Miniaturized Optical Range Camera", T. Oggier, R. Kaufmann, M. Lehmann, P. Metzler, G. Lang, M. Schweizer, M. Richter, B. Büttgen, N. Blanc, K. Griesbach, B. Uhlmann, K.-H. Stegemann, C. Ellmers, CSEM SA; Center suisse d'électronique et de microtechnique SA, Badenerstrasse 569, 8048 Zurich; ZMD, Center for Microelectronics Dresden, Grenzstrasse 28, 01109 Dresden [0036]

Claims (21)

Method for measuring an existing, inaccessible system ( 20 ), comprising the steps of: a) introducing at least one sensor device ( 10 ) with at least one sensor ( 11 ) into the system ( 20 ); b) recording at least one sensor measurement at at least one spatial position ( 21 - 23 ) in the system ( 20 ) by the at least one into the system ( 20 ) introduced sensor ( 11 ) for providing sensor data (SD) of at least part of an internal structure ( 24 ) of the system ( 20 ); and c) calculating a model (M) of the system ( 20 ) depending on the provided sensor data (SD). Method according to claim 1, characterized in that that the model (M) as a one-dimensional or as a two-dimensional or formed as a three-dimensional or as a four-dimensional model is. Method according to claim 1 or 2, characterized in that the sensor device ( 10 ) by means of an endoscopic device ( 50 ), a substantially rigid cable or by means of a controlled or autonomous robot into the system ( 20 ) is introduced. The method of claim 1, 2 or 3, characterized in that a plurality of sensor measurements at a plurality of location positions ( 21 - 23 ) of the system ( 20 ) is recorded. Method according to claim 1 or one of claims 2 to 4, characterized in that at the respective spatial position ( 21 - 23 ) a plurality of sensor measurements is recorded. A method according to claim 5, characterized in that a plurality of sensor measurements at at least one respective spatial position ( 21 - 23 ) at different direction orientations of the sensor ( 11 ) and / or at differently set sensor parameters of the sensor ( 11 ) is recorded. The method of claim 1 or any of the claims 2 to 6, characterized in that the model (M) in dependence the provided sensor data (SD) by means of an image processing algorithm and / or calculated by means of a pattern recognition algorithm. Method according to claim 1 or one of claims 2 to 7, characterized in that, when the at least one sensor measurement is taken, a predetermined pattern is applied to a predetermined part of the internal structure to be picked up ( 24 ) is projected. Method according to Claim 1 or one of Claims 2 to 8, characterized in that the calculated model (M) is a three-dimensional map of the internal structure ( 24 ) of the system ( 20 ) maps. Method according to claim 1 or one of claims 2 to 9, characterized in that the sensor data (SD) provided by means of a transmission device ( 13 ) in the system ( 20 ) incorporated sensor device ( 10 ) to one outside the system ( 20 ) receiving device ( 30 ) be transmitted. Method according to claim 1 or one of claims 2 to 10, characterized in that the model (M) of the sensor device ( 10 ) or from the receiving device ( 30 ) is calculated. Method according to claim 1 or one of claims 2 to 11, characterized in that the sensor data (SD) from the sensor device ( 10 ) get saved. Arrangement ( 1 ) for measuring an existing, inaccessible system ( 20 ), comprising: a) at least one sensor device ( 10 ) with at least one sensor ( 11 ), which for introduction into the system ( 20 ), whereby the respective one in the system ( 20 ) introduced sensor ( 11 ) is suitable for carrying out at least one sensor measurement on at least one spatial position ( 21 - 23 ) in the system ( 20 ) for providing sensor data (SD) of at least part of an internal structure ( 24 ) of the system ( 20 ); and b) a calculation means ( 14 . 34 ), which is adapted to a model (M) of the system ( 20 ) depending on the provided sensor data (SD). Arrangement according to claim 13, characterized in that an endoscopic device ( 50 ), a substantially rigid cable or a controlled or autonomous robot for introducing the at least one sensor device ( 10 ) into the system ( 20 ) is provided. Arrangement according to claim 13 or 14, characterized in that the sensor device ( 10 ) an adjustment means ( 15 ), which is adapted to the sensor ( 11 ) in different directions and / or to set at least one sensor parameter. Arrangement according to claim 13, 14 or 15, characterized in that the sensor device ( 10 ) a lighting device ( 16 ), which is adapted to a vorbestimm pattern on a predetermined part of the internal structure ( 24 ) to project. Arrangement according to claim 13 or one of claims 14 to 16, characterized in that the sensor device ( 10 ) a transmission device ( 13 ), which is adapted to receive from the at least one sensor ( 11 ) provided sensor data (SD) from the sensor device ( 10 ) to one outside the system ( 20 ) receiving device ( 30 ) transferred to. Arrangement according to claim 13 or one of claims 14 to 17, characterized in that the sensor device ( 10 ) the calculation means ( 14 ) integrated. Arrangement according to claim 13 or one of claims 14 to 18, characterized in that the at least one sensor ( 11 ) is embodied as at least one camera and / or as at least one ultrasonic sensor and / or as at least one 3D laser scanner and / or as at least one radar sensor and / or as a 3D time-of-flight camera. Arrangement according to claim 19, characterized in that the camera ( 11 ) is a two-dimensional or a three-dimensional camera and / or has a memory device. Arrangement according to claim 13 or one of claims 14 to 20, characterized in that the sensor device ( 10 ) a storage device ( 14 ) configured to store the provided sensor data (SD).