• 专利附录
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    • 专利摘要:
    The invention relates to a method for three-dimensional mapping of an underground conduit (C) in closed trench. This method consists in that: - inside the underground duct (C), on the one hand, a probe (2) is introduced comprising at least one inertial unit (3) incorporating at least one accelerometer and at least one gyroscope and, on the other hand, it ensures the displacement of this probe (2) inside this underground conduit (C); during the movement of the probe (2) inside the underground duct (C), raw data provided by the accelerometer (s) and / or the gyroscope (s) and (b) are collected and recorded; on the other hand, at least one stopping of the probe (2) during which the probe (2) is calibrated is provided; at least according to the raw data provided by the accelerometer (s) and / or by the gyroscope (s) as well as from the results of the calibration, the coordinates of the positions adopted by the probe (2) are calculated, this in a reference frame three-dimensional; from the calculated coordinates, the underground duct (C) is mapped in three dimensions.
    公开号:FR3035960A1
    申请号:FR1555560
    申请日:2015-06-18
    公开日:2016-11-11
    发明作者:Xavier Arreguit；Jonathan Arreguit；Gianfranco Passoni；Emmanuel Avice
    申请人:Cerene Services；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method of three-dimensional mapping of a closed trench underground conduit. This invention relates to the field of research and mapping of underground duct networks.
    [0002] In fact, the subsoil, especially urban, contains an increasing number of networks and conduits whose exact location and / or sensitivity are usually ignored. Also, when work is undertaken, it is difficult to provide companies carrying out this work near these networks with relevant information on these networks. Such work causes, then regularly, degradations to such a network, more particularly to the conduits of such a network and / or hardware (wires, cables, fibers ...) that internally includes such a conduit. Such degradations can be accompanied by an interruption of service or even an attack on the environment. More seriously, such degradations can cause serious injury to workers or residents. In order to avoid these drawbacks, it is possible to map these networks when opening trenches. Then, another drawback is that the specialized company, which performs the mapping, must plan and synchronize the various interventions with different other stakeholders (opening of the trench, laying conduit, closing the trench. .) to determine when to collect data to map the network. This moment is generally very short because the trench must be closed again as soon as possible. Added to this is the geographical dispersion of the places to be mapped, which generates organizational difficulties in the specialized company (redundancy of teams and equipment) which is detrimental to the productivity of this company. In order to overcome these drawbacks, solutions have been devised for mapping networks without opening a trench, that is to say in closed trench.
    [0003] A first type of solution relates to electromagnetic detection methods. Among these methods and in the case of metal conduits, it is known to use electromagnetic detection, as the case may be, in passive mode or in active mode. It will be observed that such detection is then limited to metal conduits. For a non-metallic conduit, it is known to use electromagnetic type detection in active mode which then consists of introducing a probe into the conduit and sending a signal via a transmitter coupled thereto. The frequency emitted by the probe is received by a receiver. This detection is useful for detecting non-conductive networks but requires a connection to the network, an access authorization, an introduction of the probe inside the conduit without harming its operation which makes its applicability limited. Another solution relates to the detection by georadar which is based on the phenomenon of propagation of electromagnetic waves. The emission is done by an antenna while another antenna captures the refraction or transmission in the basement. Examination of the sensed waves reveals the identity of the underground structure and possible networks. However, this method requires the choice of a frequency. This choice determines the depth of investigation and the spatial resolution. Thus for the highest frequencies (around 1GHz), this method provides good spatial resolution and accurate radar images for low depths and vice versa. In addition, the nature of the soil determines the quality of the detection and the depth reached. Finally, this method requires a great deal of know-how. Another type of solution relates to acoustic pulse detection methods. Such a method consists in injecting pulsations, either on the pipe (a method frequently used for the water pipes and advantageously to avoid a service outage) or on the fluid (more difficult to implement). This method has the drawback of not being precise for indicating the depth of the conduit and is not suitable for mapping underground networks. Finally, another solution is to introduce, within an underground conduit, a probe having at least one inertial unit incorporating at least one accelerometer and at least one gyroscope. The method then consists in ensuring the displacement of this probe inside this underground duct and, during this movement, in collecting data supplied by the accelerometer (s) and / or the gyroscope (s). This method then consists in calculating the coordinates of the positions adopted by the probe in the underground duct, this being done by integrating these data over the entire length of the displacement. In fact, this method consists, more particularly, in a double integration of the data provided by the accelerometer or accelerometers of the probe, this over the entire duration of the displacement. In this regard, it will be observed that, when integrating such data, the errors (in particular measurement) affecting these data are also included. As a result, the coordinates of the positions adopted by the probe, calculated by such integration, are also tainted with errors which are all the more important as such integration is a function of time squared. The present invention aims to overcome the disadvantages of finishing devices of the state of the art. To this end, the invention relates to a method of three-dimensional mapping of a closed trench underground conduit. This process consists in that: - inside the underground duct, on the one hand, a probe is introduced comprising at least one inertial unit incorporating at least one accelerometer and at least one gyroscope 35 and, on the other hand, ensures the displacement of this probe inside this underground conduit; During the movement of the probe inside the underground duct, on the one hand, raw data provided by the accelerometer (s) and / or by the gyroscope (s) are collected and recorded and, on the other hand, on the other hand, at least one stopping of the probe during which this probe is calibrated is provided; at least according to the raw data provided by the accelerometer (s) and / or by the gyroscope (s) as well as from the results of the calibration, the coordinates of the positions adopted by the probe are calculated, this in a reference system to three dimensions; from the calculated coordinates, the underground duct is mapped in three dimensions. Another feature of this method is that, before introducing the probe into the subterranean conduit, this probe is connected to a point outside the subterranean conduit via a connection means of semi-rigid type, and it ensures the displacement of the probe inside the underground duct at least by pushing this probe inside the underground duct, this via the connection means of type semi-rigid. An additional feature is that: - before introducing the probe into the underground duct, this probe is connected to a point outside the underground duct, this being done through a means of connection ; during the displacement of the probe inside the underground duct, raw data supplied by determination means are collected and recorded to determine the length and / or the speed of displacement and / or the acceleration of the means. connection; the coordinates of the positions adopted by the probe in the three-dimensional coordinate system are calculated, also as a function of the raw data supplied by the determination means.
    [0004] Another characteristic is that, before calculating the coordinates of the positions adopted by the probe in the three-dimensional coordinate system, the errors introduced into the raw data are estimated, the raw data is corrected according to these errors. estimates are made, corrected raw data is recorded, and coordinates are calculated based on the corrected raw data. Finally, when calculating the coordinates of the positions adopted by the probe in the three-dimensional reference system, on the one hand, for each portion of the displacement of the probe inside the underground duct between two successive stops, one integrates the data, as the case may be, supplied at least by the accelerometer (s) and / or by the gyroscope (s) or corrected and, on the other hand, the integrated data are added together for all the portions of this displacement. . Thus, the method according to the invention consists in that, during the displacement of the probe inside the underground conduit, on the one hand, raw data supplied by the accelerometer (s) and / or by the gyroscope (s) and, on the other hand, at least one stop of the probe during which this probe is calibrated (more particularly to a calibration of the accelerometer (s) and / or the gyroscopes included in this probe). In this respect, it will be observed that when this probe is stopped, this probe is only subjected to gravity, that is to say only subject to the acceleration of gravity. This makes it possible, advantageously, to calibrate this probe with respect to this single acceleration of gravity. Another characteristic consists in connecting said probe to a point located outside the underground duct, this via a semi-rigid type of connection means, and the displacement of the probe is ensured. 35 at least by pushing this probe inside the subterranean duct, this by 3035960 6 through this semi-rigid connection means. This characteristic makes it possible to ensure the displacement of said probe via a means external to this probe. This makes it possible, advantageously, to avoid the design and the use of a probe incorporating internal (or even autonomous) means making it possible to ensure such a displacement but also to reduce the dimensions of such a probe (especially for a better adaptation to the underground conduits to be mapped) and to optimize the functions of the means (accelerometers and / or gyroscopes) on board this probe. Yet another characteristic consists in connecting said probe to a point situated outside the underground duct, this via a connection means, and in that, during the displacement of the probe to In the interior of the underground duct, raw data provided by determining means is collected and recorded to determine the length and / or the speed of displacement and / or the acceleration of the connecting means. The use of such a connection means and of such determination means advantageously makes it possible to determine data (length and / or speed and / or acceleration) relating to said connection means but also (and because of its connection to said probe) to said probe itself, this with improved accuracy over the raw data provided by the probe itself. This use allows, then also and during the calibration of the probe, to proceed to such calibration at distances provided by such determination means and, therefore, known with good accuracy.
    [0005] Additionally, before calculating the coordinates of the positions adopted by the probe, the method consists in estimating the errors introduced in the raw data, correcting these raw data, recording corrected raw data, and calculating coordinates based on these corrected raw data. This advantageously makes it possible to obtain the coordinates of the positions of the probe with improved accuracy compared to the methods of the state of the art. Finally, the method consists in that, when calculating the coordinates of the positions adopted by the probe in the three-dimensional reference system, on the one hand, for each portion of the displacement of the probe inside the underground duct included between two successive stops, one integrates the data, as the case, raw or corrected and, on the other hand, one adds the integrated data, this for all the 10 portions of this displacement. Thus, during this computation, the data on the completeness of the displacement are not integrated as in the state of the art but one integrates data on portions of this displacement (knowing that between each of these portions of displacement the probe is calibrated) before adding the integrated data to all of these displacement portions. This makes it possible, therefore, to avoid integrating all raw data containing errors (as in the prior art) but to add integrated data (corresponding to data containing errors may be 20 but which have been calibrated) and, thus and advantageously, to limit the integration of errors. Other objects and advantages of the present invention will become apparent from the following description relating to embodiments which are given only as indicative and non-limiting examples. The understanding of this description will be facilitated with reference to the appended drawings in which: FIG. 1 is a schematic and perspective view of a device making it possible to implement the method according to the invention; - Figure 2 is a schematic view of the device shown in Figure 1 positioned inside an underground conduit. The present invention relates, in particular, to the field of research and mapping of underground duct networks.
    [0006] In this regard, it will be observed that such an underground conduit C may consist either of a technical underground conduit receiving internally material (wires, cables, fibers, etc.) or conveying a fluid (water, gas, etc.). ), or by a visiting sleeve 5 juxtaposed to such a technical underground conduit. More particularly, this invention relates to a method of three-dimensional mapping of an underground conduit C in closed trench. The invention also relates to a device 1 for mapping three dimensions of such an underground conduit C in closed trench, this device 1 being more particularly designed for and / or able to implement said method. In fact, this device 1 comprises a probe 2 intended to be introduced inside the underground duct C.
    [0007] This device 1 also comprises first determination means 3 for determining the position and / or the orientation of this probe 2. Such first determination means 3 then comprise at least one inertial unit 30, which comprises the probe 2, and which comprises at least one accelerometer 300 and / or at least one gyroscope 301. In fact, this inertial unit 30 preferably comprises a plurality of accelerometers 300 (in particular three accelerometers) and / or or a plurality of gyroscopes 301 (including three gyroscopes). Such an accelerometer 300 and / or such a gyroscope 301 are preferably of the three-axis type. In this regard, it will be observed that the data provided by the accelerometer or accelerometers 300 make it possible to determine the displacement of the probe 2 while the data provided by the 30 or 301 gyroscopes makes it possible to determine the rotation of this probe 2 on itself . These two pieces of information make it possible to determine the position and orientation of the probe 2. In addition, these first determination means 3 may, again, comprise at least one optical system 31 comprising, on the one hand, a means for projecting a beam of light inside the underground duct C and, on the other hand, a means for collecting the images formed by this light beam inside this underground duct C, such means for collecting being more particularly constituted by a camera. The device 1 (in particular the probe 2, more particularly the first determination means 3) also includes means for analyzing these images. In this regard, it will be observed that this optical system 31 equips, preferably, an end of the probe 2, more particularly the end oriented in the direction of displacement of this probe 2 inside the conduit C. relates to the means for projecting a light beam, which is designed to project a particular light beam (more particularly a light beam with particular patterns) while the means for collecting the images, this is constituted by means for collecting particular images (again, with particular patterns) that form the particular light beam on a particular surface. This particular surface is constituted by the walls of the underground duct C and / or by material (wires, cables, fibers, etc.) contained in this underground duct C. In fact, the images collected reflect the environment of the probe 2 In addition, these first determination means 3 may also comprise at least one magnetometer 32 included in said probe 2.
    [0008] Another feature is that the probe 2 may further comprise at least one temperature sensor (not shown) and / or at least one pressure sensor (not shown). Yet another characteristic is that the probe 2 may comprise a memory 4 for recording the data provided by the first determination means 3 (more particularly by the inertial unit 30 - in particular by the accelerometer or accelerometers 300 and / or by the gyroscope (s) 301 and / or by the optical system 31), or even by the image analysis means and / or by the magnetometer (s) 32 and / or by the temperature sensor (s) and / or by the pressure sensor or sensors. According to an additional feature, the device 1 comprises at least one guiding means 5 for guiding said probe 5 inside the underground duct C. In fact, such a guiding means 5 consists of at least one flexible member 50, equipping said probe 2, and extending from this probe 2, as appropriate in the direction of movement of this probe 2 inside the conduit C or in a direction forming a non-zero angle with this direction of displacement of this probe 2 inside the duct C. As can be seen in FIG. 2, this guiding means 5 consists of a flexible member 50 fitted to said probe 2 and extending from this probe 2 (FIG. more particularly at the front of this probe 2) and in the direction of movement of this probe 2 inside the conduit C. Another feature is that the device 1 comprises at least one connecting means 6 for connecting the 20 probe 2 to a poi In a particular embodiment, such a connecting means 6 is constituted by a ribbon or by a cable, in particular a flexible cable. An additional feature is that this device 1 also comprises second determining means 7 for determining the length and / or the speed of displacement and / or the acceleration of this or these connecting means 6. A In this respect, it will be observed that these second determination means 7 may then have a means 70 for determining the length of such a connecting means 6, this determining means 70 possibly consisting of a metric counter of the length These second determination means 7 may also comprise a means 71 for determining the speed of movement of such a connecting means 6, this means determining device 71 that can be constituted by measuring means for measuring the running speed of the ribbon or cable constituting such a connecting means 6.
    [0009] In fact, these second determination means 7 advantageously make it possible to determine the length (in particular of unwinding or winding) and / or the speed of movement (in particular unwinding or winding) and / or the acceleration of the or connecting means 6, this with a much higher accuracy than those calculated on the basis of the data provided by the first determination means 3 and / or by the inertial unit 30, more particularly by the accelerometer or 300. Another feature is that the device 15 1 comprises at least one control means 8 for controlling the displacement of the probe 2 inside the conduit C. According to a first embodiment not shown, the control means 8 is constituted by means of propulsion (especially motorized) that includes the probe 2.
    [0010] However, according to a preferred embodiment illustrated in the appended figures, the control means 8 comprises, on the one hand, the connection means or means 6 and, on the other hand, an unwinder 80, in particular motorized, of this or these connecting means 6.
    [0011] With regard to this or these connecting means 6, these are semi-rigid type and have a rigidity allowing, by acting on this or these connection means 6 outside the underground conduit C, to push the probe 2 inside this underground duct C, this to ensure the displacement of this probe 2 inside this underground duct C. As mentioned above, such a connecting means 6 may be constituted by a ribbon, by cable or the like. In this regard, it will be observed that, in addition to permitting the displacement of the probe 2 inside the underground duct C, the use of such a semi-rigid connection means makes it possible, advantageously, the probe 2 to have, on the one hand, a pitch and a roll limited, especially between two nearby points and, on the other hand, a substantially zero lace. With regard to said unwinder 80, it is designed to act on the connection means or means 6, this to push the probe 2 inside the underground conduit C but also to draw said probe 2 for its purpose. withdrawal from this underground conduit C. In this connection, it will be observed that such a motorized unwinder 80 10 may comprise a control means for controlling the length (in particular unwinding or winding) and / or the speed of movement (in particular unwinding or winding) and / or the acceleration of the connection means 6. Such a control means can, then and advantageously, constitute and / or integrate the second determination means 7 of the length and / or the speed of displacement and / or the acceleration of this or these connecting means 6. The use of such an unwinder 80 also makes it possible to provide and control stops allowing resets 20 and / or a calibration, in particular periodicals. Another feature is that the device 1 may comprise at least one detection means 9 for detecting, on the surface, the position of the probe 2 inside the conduit C.
    [0012] In fact, this or these detection means 9 comprise, then, on the one hand, at least one transmission means 90 for transmitting a radio signal and that comprises the probe 2 and, on the other hand, at least one means 91 to receive the radio signal emitted by the transmission means or means 90, such receiving means 91 being intended to be positioned on the surface. In this regard, it will be observed that this or these detection means 9 preferably comprise a plurality of reception means 91 each constituted by a sensor, these reception means then being arranged in the form of a network of sensors. designed to detect the position of the probe 2 by triangulation.
    [0013] An additional feature is that the device 1 comprises, on the one hand, processing means 10 for data processing (more particularly raw data) provided by the first determining means 3 (inertial unit 30, optical system 31, magnetometer 32) as well as by the second determination means 7, or even by the detection means 9 and / or by the temperature sensor (s) and / or by the pressure sensor (s) and / or by the means of analysis of the 10 images. Additionally, this device 1 comprises, on the other hand, at least one transmission means 11 for transmitting these data to said processing means 10. According to a first embodiment, such a transmission means 11 can, at least in the following manner: part, be constituted by the connecting means 6 mentioned above. According to a second embodiment illustrated in FIG. 1, such a transmission means 11 comprises, on the one hand, at least one transmission means 110, which the probe 2 comprises, and which is designed to transmit a radio signal conveying the data provided by the first determination means 3 (inertial unit 30, optical system 31, magnetometer 32), or even by the temperature sensor (s) and / or by the pressure sensor (s) and / or by the analysis means images.
    [0014] On the other hand, such a transmission means 11 comprises at least one receiving means 111, which comprises the device 1, and which is designed to receive, on the surface, the signal emitted by the transmission means or means 110. According to a particular embodiment, the device 30 comprises a plurality of receiving means 111 each constituted by a sensor, these receiving means 111 being arranged in the form of a sensor array. According to a preferred embodiment of the invention, the transmission means or means 110 of the radio signal conveying the data provided by the first determination means 3, or even by the temperature sensor (s) and / or by the the pressure transducers 3035960 are constituted by the emission means or means 90 that comprise the detection means 9 mentioned above. Additionally, the receiving means 111 5 of the radio signal conveying the data provided by the first determination means 3, or even by the temperature sensor or sensors and / or by the pressure sensor or sensors, are constituted by the means or reception 91 that comprise the detection means 9 mentioned above.
    [0015] An additional feature is that the device 1 comprises a calculation means 12 for calculating, in a three-dimensional reference system, the coordinates of the positions adopted by the probe 2, this at least from the data (more particularly raw data). ) provided by the first determining means 3 (ie at least by the inertial unit 30, or even by the optical system 31 and / or by the magnetometer or magnetometers 32), or even by the second determining means 7 (of the length and / or speed of displacement and / or acceleration of this connection means 6) and / or by the image analysis means. Additionally, such computing means 12 may further be designed to calculate such coordinates from the data provided by the one or more sensing means 9 and / or the temperature sensor (s) and / or the one or more sensors. pressure sensors, this in addition to the data provided the first determining means 3 as well as by the second determination means 7. In this regard, it will be observed that the first determination means 3 and the second determining means 30 7, even again or the detection means 9, the temperature sensor (s) and / or the pressure sensor (s) may provide redundant data. According to another characteristic, said calculating means 12 comprises a data fusion algorithm (more particularly a redundant data fusion algorithm) provided by the first determination means 3035960 as well as the second determination means 7, or even by the detection means 9. According to a preferred embodiment, this data fusion algorithm is based on a Kalmann filter.
    [0016] Additionally, such an algorithm is used in combination with techniques known under the name "zero velocity updates" ZUPT, more particularly under the name "periodic zero velocity updates". This advantageously makes it possible to significantly increase the accuracy of the calculated coordinates. The device 1 further comprises a mapping means 13 for mapping in three dimensions the underground conduit C, this from the coordinates calculated by the calculation means 12.
    [0017] This device 1 also comprises at least one memory 14 for recording at least the data (more particularly the raw data) supplied by the first determination means 3 (in particular by the inertial unit 30 and / or by the optical system 31 and by the second determination means 7 (of the length and / or the speed of displacement and / or the acceleration of the connecting means 6), or even by the one or more of the magnetometers 32). detection means 9 and / or by the temperature sensor (s) and / or by the pressure sensor (s) and / or by the image analysis means. In this respect, it will be observed that the calculation means 12 mentioned above can then be designed to calculate the coordinates of the positions adopted by the probe 2, from these recorded data (in said memory 14) and from deferred in time. Additionally, this calculation means 12 may, again, be designed to calculate these coordinates after synchronization in time of these recorded data. Also and according to a preferred embodiment, it is, more particularly, said aforementioned processing means 10 which comprises said calculating means 12, said mapping means 3035960 and said memory 14. Such a processing means 10 is constituted by a computer while the calculation means 12 and / or the mapping means 13 are constituted by software implemented on this computer.
    [0018] It will be observed that the calculation means 12 mentioned above makes it possible, then, to calculate said coordinates of the probe 2 in a relative manner. The mapping device 1 may also include setting means (not shown) for wedging the probe 2 in an initial position, prior to the introduction of this probe 2 into the underground duct C. Such setting means are designed to position this probe 2 in a reference (particularly orthonormal) characterized by its center (corresponding, more particularly, to the initial position of the probe 2) and by its orientation. It is, more particularly, in this reference frame that said probe 2 will evolve, in particular during its displacement in the underground duct C. It is also in this frame that can then be calculated (relative to at this mark) the coordinates of the probe 2, this by the calculation means 12 mentioned above and at least during its displacement in the underground conduit C. An additional feature is that the mapping device 1 comprises, still, a satellite positioning system. This positioning system comprises, on the one hand, at least one laser material (in particular a construction and / or precision laser) designed to give an orientation and a point on the ground in line with this laser material called reference relative to the probe 2 and, on the other hand, a satellite positioning means (in particular of the GPS type) making it possible to determine the absolute position of this marker and this orientation of the probe 2 in a projection system imposed by the client. These are, more particularly, the wedging means 35 mentioned above, which then comprise at least one portion 3035960 17 of this positioning system, or which is associated at least a portion of this positioning system. The presence of such a positioning system then makes it possible, advantageously, to ensure a georeferencing of the center 5 of the marker and, consequently, also a georeferencing of the probe 2 itself, this by calculation of translation rotation (performed by the intermediate of the aforementioned calculating means 12) from, on the one hand, the coordinates (satellite) of the center of the marker provided by this positioning system 10 and, on the other hand, the coordinates of the probe 2 calculated by the means of calculation 12 mentioned above. As mentioned above, the invention also relates to a method of three-dimensional mapping of a subterranean duct C in closed trench. This method is capable of being implemented by the device 1 described above. This process consists, then, in that, inside the underground duct C, on the one hand, is introduced the probe 2 comprising the inertial unit (s) 3 incorporating the accelerometer (s) 300 and the gyroscope (s) 301 and on the other hand, the displacement of this probe 2 inside this underground duct C is ensured. This process consists, then, in that during the displacement of the probe 2 inside the underground duct C On the one hand, the raw data provided by the accelerometer (s) 300 and / or the gyroscope (s) 301 are collected and recorded (more particularly in the memory 4; 14) and, on the other hand, it is ensured at least one stop of the probe 2 during which this probe 2 is calibrated.
    [0019] Then and at least according to the raw data provided by the accelerometer (s) 300 and / or by the gyroscope (s) 301 as well as from the results of the calibration, it is calculated (in particular by means of the calculation means 12 mentioned above) the coordinates of the positions adopted by the probe 35 2, this in a three-dimensional reference.
    [0020] Finally, the method consists in that, from the calculated coordinates, the underground duct C is mapped in three dimensions. As mentioned above, one of the steps of the method consists in that a calibration is carried out of the probe 2. In fact, when such a calibration of this probe 2 is carried out, a calibration is made, more particularly, of the accelerometer or accelerometers 300 and / or of the gyroscope or gyroscopes 301 included in this probe 2.
    [0021] In this connection, it will be observed that, when the probe 2 is calibrated, raw data, supplied by the accelerometer (s) 300 and / or by the gyroscope (s) 301, are collected and recorded, corresponding to a position in which probe 2 is stopped.
    [0022] In fact, when the probe 2 is stationary, it is only subjected to gravity, that is to say to the acceleration of gravity. Also when calibrating the probe 2, it calibrates at least the accelerometer or 300 of this probe 2, this compared to the acceleration of gravity.
    [0023] This advantageously makes it possible to infer the orientation in the space of the probe 2 at standstill. As mentioned above, the method consists in that the displacement of the probe 2 is ensured inside the underground conduit C.
    [0024] Also and according to another characteristic of this process, before introducing the probe 2 into the underground conduit C, this probe 2 is connected to a point located outside the underground conduit C, this via connection means 6 of the semi-rigid type, and the displacement of the probe 2 inside the underground duct C is ensured by at least pushing this probe 2 inside the underground duct C, this via connecting means 6 of the semi-rigid type. In fact, when the displacement of the probe 2 inside the underground conduit C is ensured, this displacement is ensured, on the one hand and in a first direction, by pushing this probe 2 3035960 19 inside the C underground conduit through the connecting means 6 of the semi-rigid type as mentioned above and, secondly and in a second direction opposite to the first direction, by exerting traction on the probe 2, this 5 by intermediate coupling means 6 semi-rigid type. Anyway, it ensures the displacement of the probe 2, either at constant speed or (and preferably) variable speed.
    [0025] Yet another characteristic of the method is that, before introducing the probe 2 into the underground conduit C, this probe is connected to a point situated outside the underground conduit, this via the connection means 6, and, during the movement of the probe 2 inside the underground conduit C, raw data provided by the (second) determination means 7 are collected and recorded to determine the length and / or the speed of displacement and / or the acceleration of this connecting means 6. This method then consists in calculating the coordinates of the positions adopted by the probe 2 in the three-dimensional coordinate system, also (directly or indirectly). indirectly) according to the raw data provided by these determination means 7. According to a first embodiment, these coordinates are calculated by implementing a data fusion algorithm as mentioned above. above. In fact, this algorithm is, more particularly, implemented on raw data provided by the accelerometer (s) 300 and / or by the gyroscope (s) 301 as well as on the raw data provided by the (second) determination means 7. As mentioned above, the use of a connection means 6 and these (second) determination means 7 advantageously makes it possible to determine data (length and / or speed and / or acceleration) relating to said means of connection. Connection 6 but also (and because of its connection to said probe 2) to said probe 2 itself, this with improved accuracy compared to the raw data provided by the probe 2 itself (more particularly by the or the accelerometers 300 and / or the gyroscope (s) 301). This use also makes it possible, when calibrating the probe 2 when the latter is at a standstill, to carry out such a calibration at distances provided by such (second) determination means 7 and therefore known. with good precision. Another feature of the method is that, during the movement of the probe 2 within the underground conduit C, a light beam is projected into this underground conduit C and the images formed by this beam of light inside this underground conduit C, this via the optical system 31 mentioned above. The method then consists in analyzing these images (via the abovementioned analysis means) and in calculating (via the above-mentioned calculation means 12) the coordinates of the positions. adopted by the probe 2 in the three-dimensional reference, also according to the results of the analysis of the images. In fact, this method consists more particularly of projecting a particular beam of light (with particular patterns) and of collecting particular images (with particular patterns) that form the beam of light. particular to a particular surface (walls of the underground conduit C, material contained in the underground conduit C) of the underground conduit C. As mentioned above, the method consists in ensuring that the displacement of this probe 2 to the In fact, when such a displacement is ensured, on the one hand, a first displacement in a first direction (in particular from outside to inside of the underground duct C, plus particularly by pushing said probe 2 through the connecting means 6 as described above) and, secondly, a second displacement in a second direction (especially from the inside towards the outside of the underground duct C, more particularly by exerting a pull on the probe 2 through the connecting means 6 as described above), opposite the first direction.
    [0026] The method then consists in collecting and storing raw data provided by the accelerometer (s) 300 and / or the gyroscope (s) 300, or even by the determining means (3; 7) and / or by the means of analysis, this in both directions of displacement.
    [0027] In addition, this method consists in that, in both directions of movement, at least one stop of the probe 2 during which the calibration of this probe 2 is carried out is performed. Finally, the coordinates are calculated. positions 15 adopted by the probe 2 in the three-dimensional reference, also according to the raw data collected in both directions of displacement. Alternatively or additionally, this method consists in collecting and recording the raw data supplied by the accelerometer (s) 300 and / or by the gyroscope (s) 300 or even by the determination means 7. on the one hand, during the first displacement in the first direction of movement and at an entry point of the probe 2 into the underground conduit C and, on the other hand, during the second displacement in the second direction of displacement and at an exit point of the probe 2 of the underground conduit C, this exit point corresponding to said entry point. Finally, the coordinates of the positions adopted by the probe 2 in the three-dimensional coordinate system are calculated, also as a function of the raw data collected at the point of entry and at the exit point. Yet another feature is that, before calculating the coordinates of the positions adopted by the probe 2, the errors introduced in the raw data are estimated, the raw data is corrected according to these estimated errors, 3035960 are recorded. corrected raw data, and coordinated according to the corrected raw data. In this connection, it will be observed that it is possible to estimate (in particular as regards the length and / or the distance) in the raw data provided by the ac 300 (s) and / or by the gyroscope or gyroscopes 301, this with raw data provided by the (second) determination 7. calculates these Indeed and as mentioned above, these determination means 7 make it possible to provide the errors introduced by the celerometer second) data (length and / or velocity and / or acceleration) with improved accuracy over the raw data provided by the probe 2 (more particularly by the accelerometer (s) 300 and / or the gyroscope (s) 301). The raw data (provided by the accelerometer (s) 300 and / or by the gyroscope (s) 301) is then corrected according to the errors estimated from the data provided by the (second) determination means 7, this before 20 calculate the coordinates of the positions adopted by the probe 2. Additionally or alternatively, it is possible to estimate the errors (in particular concerning the orientation) introduced into the raw data supplied by the accelerometer (s) 300 and / or the gyroscope (s) 301. and / or by the (second) determination means 7, this from the result of the analysis of the images formed by the projected beam of light. The raw data (provided by the accelerometer (s) 300 and / or by the gyroscope (s) 301 and / or the (second) determination means 7) are then corrected according to the errors estimated from the results of the test. analysis of said images, this before calculating the coordinates of the positions adopted by the probe 2. Additionally or alternatively, it is possible to estimate the errors introduced into the raw data (supplied by the accelerometer (s) 300 and / or by the the gyroscopes 301 and / or by the determining means 7), this from the similarities between, on the one hand, the first displacement of the probe 2 in the first direction and, on the other hand, the second displacement of the probe 2 in the second direction. The raw data (supplied by the accelerometer (s) 300 and / or by the gyroscope (s) 301 and / or by the determination means 7) are then corrected according to the errors estimated from these similarities, before calculate the coordinates of the positions adopted by the probe 2. In fact, when the raw data is corrected, the curve of the raw data corresponding to the first displacement and the curve of the raw data corresponding to the second displacement are superimposed. Alternatively or (preferably) additionally, the errors introduced into the raw data (provided by the accelerometer (s) 300 and / or the gyroscope (s) 301 and / or by the determining means (s) 7 can be estimated. ), from the similarities between, on the one hand, the entry point and, on the other hand, the exit point of the probe. The raw data (provided by the accelerometer 300 and / or by the gyroscope (s) 301 and / or by the determining means 7) are then corrected according to the errors estimated from these similarities, before calculate the coordinates of the positions adopted by the probe 2. In fact, when the raw data is corrected, the calculated coordinates are superimposed on the point of entry and the point of exit. Additionally or alternatively, it is possible to estimate the errors introduced into the raw data (provided by the accelerometer (s) 300 and / or by the gyroscope (s) 301 and / or by the determination means 7), this from the constraints imposed by the size of the underground duct C and / or by the maximum curvature of the connecting means 6. The raw data (supplied by the accelerometer (s) 300 and / or by the gyroscope (s) 301 and / or by the determination means 7) as a function of the errors 35 estimated from these constraints, this before calculating the coordinates of the positions adopted by the probe 2.
    [0028] In any event, whatever the estimation of the error considered, the method consists, again, in recording the corrected raw data, prior to calculating the coordinates of the positions adopted by the probe 2.
    [0029] As mentioned above, a step of the method consists in calculating the coordinates of the positions adopted by the probe 2 in the three-dimensional frame of reference. In fact, when calculating these coordinates, on the one hand, the raw data (as the case may be) (supplied at least by the accelerometer (s) 300 and / or by the gyroscope (s) 301 or even by the second determination means 7) or corrected, this for each portion of the displacement of the probe 2 inside the underground conduit C between two successive stops and, on the other hand, the integrated data is added, this for the set of portions of this displacement. In this respect, it will be observed that, when integrating the data (raw or corrected) on a portion of the displacement comprised between two stops, the data (raw or corrected) of the accelerometer or accelerometers 300 are integrated more particularly. over a period of time between these two successive stops. With regard to the corrected data, these correspond to the raw data, on the one hand, which were provided by the accelerometer (s) 300 and / or the gyroscope (s) 301, or even by the second determination means. 7 and, on the other hand, which have been corrected in the manner mentioned above. Finally, when calculating these coordinates also according to the raw data provided by the determination means 7 and / or according to the results of the analysis of the images and / or according to the raw data collected in both directions of the displacement. and / or as a function of the raw data collected at the point of entry and at the point of exit and / or as a function of the corrected raw data, a data fusion algorithm (more particularly a redundant data fusion algorithm) is used. ).
    [0030] According to a preferred embodiment, this data fusion algorithm is based on a Kalmann filter. Additionally, such an algorithm is used in combination with techniques known under the name "zero velocity updates" ZUPT, more particularly under the name "periodic zero velocity updates". It will be observed that the method described above makes it possible to calculate the coordinates of the positions adopted by the probe 2, in an absolute manner.
    [0031] This method can then also consist in stopping (via the abovementioned locking means) the probe 2 in an initial position, prior to the introduction of this probe 2 into the underground conduit C.
    [0032] This setting makes it possible to position said probe 2 in a reference (in particular orthonormal) characterized by its center (corresponding, more particularly, to the initial position of the probe 2) and by its orientation. It is, more particularly, in this reference frame that said probe 2 will evolve, in particular during its displacement in the underground duct C. It is also possible, in this reference frame, to be calculated (in a relative manner by relative to this reference) the coordinates of the probe 2, this by the calculation means 12 mentioned above and at least during its movement in the underground conduit C. Finally, the method consists in that ensures a georeferencing from the center of the marker and therefore also a georeferencing of the probe 2 itself, this by calculation (more particularly carried out via the above-mentioned calculation means 12) from, on the one hand, the coordinates of the center of the marker (more particularly provided by the positioning system mentioned above) and, secondly, coordinates of the probe 2 calculated by the calculation means 12 mentioned above. 35
    权利要求:
    Claims (5)
    [0001]
    REVENDICATIONS1. A method of three-dimensional mapping of an underground duct (C) in closed trench, this process consists in that: - inside the underground duct (C), on the one hand, a probe (2) is introduced comprising at least one inertial unit (10) incorporating at least one accelerometer (300) and at least one gyroscope (301) and, on the other hand, the displacement of this probe (2) inside said conduit underground (C); during the movement of the probe (2) inside the underground duct (C), on the one hand, raw data provided by the accelerometer (s) (300) and / or by the or the gyroscopes (301) and, on the other hand, at least one stopping of the probe (2) during which the probe (2) is calibrated; at least according to the raw data provided by the accelerometers (300) and / or by the gyroscope (s) (101) as well as from the results of the calibration, the coordinates of the positions adopted by the probe (2) are calculated ), This in a three-dimensional repository; from the computed coordinates, the three-dimensional map of the subterranean cove (C) is mapped.
    [0002]
    2. A mapping method according to claim 1, characterized in that, when calibrated, one collects and records raw data, provided by the accelerometers (300) and / or by the gyroscope or (301) and corresponding to a position in which the probe (2) is at a standstill.
    [0003]
    3. A mapping method according to any one of the preceding teevendicstions, characterized in that, before introducing the probe (2) inside the sOuterrain conduit (C), is connected this probe (2) to a point located outside the underground duct (C), this via a means 3035960 27 connection type semi-rigid (6), and it ensures the movement of the probe (2) inside underground duct (c) at least by pushing this probe (2) inside the underground duct (C), this pax through the semi-rigid type connection means (6).
    [0004]
    4. A mapping method according to any one of the preceding claims, characterized in that: - before introducing the probe (2) inside the underground conduit (C), this probe (2) is connected to a point located outside the underground duct (C), this via a connecting means (6); during the displacement of the probe (2) within the underground conduit (C), raw data provided by determination means (7) are collected and recorded to determine the length and / or speed of the moving and / or accelerating the connecting means (6); the coordinates of the positions adopted by the probe (2) in the three-dimensional coordinate system are calculated, also as a function of the raw data supplied by the determination means (7).
    [0005]
    5. A mapping method according to any one of the preceding claims, characterized in that, during the displacement of the probe (2) inside the underground duct (C), a beam of light is projected to the Inside this underground duct (C), the images formed by this beam of light are collected inside this underground duct (C), these images are analyzed by an analysis means, and the coordinates of the positions are calculated. adopted by the probe (2) in the three-dimensional mark, also according to the results of the analysis of the images. £. A mapping method according to any one of the preceding claims, characterized in that: - when moving this probe (2) inside this underground duct (C), it is ensured that on the one hand, a first displacement in a first direction and, on the other hand, a second displacement, this in a second direction, opposite the. first sense; raw data provided by the accelerometers (300) and / or the gyroscope (301) is collected and recorded in both directions of displacement; in both directions of movement, at least one stopping of the probe (2) in which the process is carried out is carried out. a calibration of this probe (2); the coordinates of the positions adopted by the probe (2) in the three-dimensional coordinate system are calculated, also as a function of the raw data collected in the two directions of displacement. 7. A method of mapping according to claims 4 and 6, characterized in that: - when ensures the displacement of this probe (2) inside this underground conduit (C), it ensures, a on the other hand, a first displacement in A first direction and, secondly, a second displacement, this in a second direction, opposite to the first sense; Raw data provided by the determining means (7) is collected and recorded in both directions of movement; in both directions of movement, at least one stop is provided for the probe (2) during which calibration of this probe (2) is carried out; the coordinates of the positions adopted by the probe (2) in the three-dimensional coordinate system are calculated, also as a function of the raw data collected in the two directions of displacement. 8. A mapping method according to claims 5 and 6, characterized in that: - when one ensures the displacement of this probe (2) the interior of this underground conduit (C), it ensures, on the one hand a first displacement in a first direction and secondly a second displacement in a second direction opposite to the first direction; 3035960 29 - raw data still provided by the analysis means is collected and recorded in both directions of the displacement; in both directions of movement, at least one stopping of the probe (2) during which the probe (2) is calibrated is provided; the coordinates of the positions adopted by the probe (2) in the three-dimensional coordinate system are calculated, also as a function of the raw data collected in both directions of the displacement. 9. A mapping method according to any one of the preceding claims, characterized in that; when this probe (2) is moved inside this underground duct (C), a first displacement in a first direction and a second displacement are provided on the one hand. displacement, this in a second sense, opposite to the first sense; the raw data provided by the accelerometer (s) (300) and / or the gyroscope (s) (301) are collected and recorded on the one hand, during the first displacement in the first direction of movement and on one hand; point of entry of the probe (2) into the underground duct (C) and, secondly, during the second displacement in the second direction of travel and at an exit point of the probe (2) thereof. underground conduit (C), this exit point corresponding to said entry point; the coordinates of the positions taken by the probe in the three-dimensional coordinate system are calculated, also as a function of the raw data collected at the point of entry and so the point 10. The mapping method according to claims 4 and 9, characterized by the fact that: - when one ensures the displacement of this probe (2) inside this conduit-underground (C), one ensures, on the one hand, a first displacement in a first direction and, on the other hand, part, mn 3035960 30 second displacement, this in a second direction, opposite to the first sense; the raw data still provided by the determination means (7) is collected and recorded on the one hand during the first displacement in the first direction of movement and on a point of penetration of the probe (2). the underground duct (C) and, secondly, during the second displacement in the second direction of movement and at an exit point of the probe (2) of this underground duct (C), this exit point corresponding to said entry point ; the coordinates of the positions adopted by the probe in the three-dimensional coordinate system * are calculated, also as a function of the raw data collected at the point of entry and at the point of exit. he. A mapping method according to any one of the preceding claims, characterized in that, prior to calculating the coordinates of the positions adopted by the probe (2) in the three-dimensional coordinate system, the errors introduced into the raw data are estimated. corrects the raw data based on these estimated errors, corrected raw data is recorded, and the coordinates are calculated based on the corrected raw data. 12. A mapping method according to claim 11, characterized in that the errors are estimated, according to the case, from the similarities between the first displacement of the probe (2) in the first direction and the second displacement of the probe (2) in the second direction and / or from the similarities between the point of entry and the exit point of the probe (2) and / or from the constraints imposed by the size of the underground conduit (C) and / or by the maximum curvature of the connecting means (6). 13. A mapping method according to claims 4 and 11, characterized in that it estimates the errors from the raw data provided by the determination means (7). 14. A mapping method according to claims 5 and 11, characterized in that the errors are estimated from the result of the image analysis formed by the projected light beam. 15. A mapping method according to any one of the preceding claims, characterized in that, when calculating the coordinates of the positions adopted by the probe (2) in the three-dimensional reference system, on the one hand, for each portion of the displacement of the probe (2) inside the underground duct (C) between two successive stops, the data, as the case may be, are supplied at least 10 by the accelerometer (I (X)) and / or by the gyroscope (s) (301) or corrected and, on the other hand, the integrated data is added, this for all the portions of this displacement. 15
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    法律状态:
    2016-06-27| PLFP| Fee payment|Year of fee payment: 2 |
    2016-11-11| PLSC| Search report ready|Effective date: 20161111 |
    2017-06-19| PLFP| Fee payment|Year of fee payment: 3 |
    2019-07-09| PLFP| Fee payment|Year of fee payment: 5 |
    2020-06-22| PLFP| Fee payment|Year of fee payment: 6 |
    2021-06-22| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1553987|2015-05-04|
    FR1553987A|FR3035959A1|2015-05-04|2015-05-04|DEVICE AND METHOD FOR THREE-DIMENSIONAL MAPPING OF A UNDERGROUND CONDUIT IN CLOSED TRENCH|
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