JP2002196083A - Survey system for underground embedded body, and guide system for moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance precision of a servey position for an embedded body in an underground buried body surveying system. SOLUTION: This underground buried body surveying system 10 is provided with buried body surveying means 18, 24a for surveying the embedded body by transmitting and receiving an underground wave, a survey scale obtaining part 24d for detecting survey scales for the surveying means 18, 24a based on the underground wave from a referential embedded body 16, and an image information generating part 24f for generating survey image information for image-outputting a position of the embedded body based on the survey scales and a surveyed result of the embedded body. A burried condition of the embedded body is grasped precisely since survey information is calibrated based on the survey scales.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a buried object detection system for detecting a buried object by transmitting and receiving an underground detection wave,
In particular, the present invention relates to improvement of search position accuracy.

[0002]

2. Description of the Related Art Conventionally, there has been known a radar-type buried object search system that analyzes an buried object based on a detection wave propagating in the ground and a reflected wave thereof. This system can grasp the outline of the burying position or burying posture of the buried object before digging the ground from the ground surface at the time of construction etc.,
It contributes to improving work efficiency.

[0003]

However, in practice, the propagation condition (propagation speed, etc.) of the underground wave changes depending on the exploration point because the relative permittivity in the ground changes depending on the moisture or the salt content. Therefore, there is a problem that the measurement error of the search position of the buried object with respect to the actual burying position increases depending on the search point.

[0004]

SUMMARY OF THE INVENTION In view of the above problems, an underground object exploration system according to the present invention includes an underground object exploring means for exploring an underground object by transmitting and receiving an underground wave, and an underground object from a reference underground object. Search scale detection means for detecting the search scale of the buried object detection means based on the wave, based on the search scale and the search results of the buried object, the search image information for outputting the position of the buried object image Image information generating means for generating. Thus, the search information can be calibrated based on the search scale, so that the buried state of the buried object can be grasped more accurately.

In addition, the method of exploring an underground object according to the present invention includes a step of exploring an underground object by transmitting and receiving an underground wave, and a ground coordinate of a search reference position of the underground object exploring means based on a ground wave. A position detection step of acquiring a value, and image information generation for generating search image information for outputting an image of the position of the buried object on the ground coordinates based on the search result of the buried object and the ground coordinate value of the search reference position And a step.

[0006] In the conventional method of searching for a buried object, the position of the buried object is obtained only as a position based on the probe equipped with the buried object detecting means. In some cases, it may be unclear to which position on the earth coordinates the acquired search result is.

On the other hand, according to the present invention, the position of the buried object can be obtained as a position on the ground coordinates, so that the buried position of the buried object can be grasped more accurately, and the exploration device can detect the position of the buried object. Even in the case of further movement, it is possible to more reliably return to the search point. In addition, by acquiring the position of the buried object on the ground coordinates in advance, the moving body can be moved to a desired position based on the location of the moving body on the ground coordinates without mounting the buried object searching means. I can guide you. As a result, it is not always necessary to equip a moving object (for example, a construction vehicle for excavating the ground) that accesses a point having a predetermined positional relationship from the buried object with relatively expensive buried object detection means. The simplification and the reduction of the production or maintenance cost of the device can be achieved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory view showing a buried object detection system and a buried state of a buried object, and FIG. 2 is a block diagram of the buried object detection system.

As shown in FIG. 1, a buried object exploration system 10 according to this embodiment transmits an underground exploration wave Wrt toward an underground 12 and transmits the underground exploration wave Wrt to the underground 12 (buried object). 14 and a reference buried object 16), and a search wave transmitting / receiving unit 18 for receiving the reflected wave Wrr, and a reference wave receiving unit 20 for receiving an underground wave Ws from the reference buried object 16 also buried in the ground 12. And a terrestrial wave receiving unit 22 that receives the terrestrial wave Wg. Of these, the exploration wave transmitting and receiving unit 18 can be configured as a transmitting and receiving mechanism of a known underground radar device, for example, and the terrestrial wave receiving unit 22 can be configured as a receiving mechanism of a known GPS receiving device. Further, the reference wave receiving unit 20 may include an electromagnetic induction type antenna. FIG. 1 shows a buried object detection system 1
This example is provided with wheels that can move on the ground at 0.

As shown in FIG. 2, the buried object detection system 10 further controls the respective parts of the buried object detection system 10 and also controls the above-mentioned parts (for example, the search wave transmitting / receiving unit 18, the reference wave receiving unit 20, or A control unit 24 (for example, a CPU) that processes each piece of information obtained from the terrestrial wave receiving unit 22 and a storage unit 26 (for example, a RAM or a ROM) that stores parameters or processing results used in control or processing by the control unit 24. , Or a hard disk); an input unit 28 (for example, operation buttons) for inputting various commands to the control unit 24; and an output unit 30 (for example, image output or audio output) for outputting various information such as search results (for example, image output or audio output). A display or a speaker, etc.) and information for inputting / outputting various information to / from the buried object detection system 10. Comprising input and output unit 32 (e.g., removable device [for example CD-R drive, DVD drive, or the like wireless transceiver) and, the.

An embedded object exploration system 1 according to the present embodiment.
At 0, the display as the output unit 30 displays a location image (for example, a location image on the ground coordinates of the system 10 together with a search image indicating the location and state of the buried object (14, 16) in the ground coordinates). A pentagonal shape p) whose apex is directed toward the traveling direction shown in FIG. 3 is output. Therefore, the relative positional relationship between the system 10 and the buried objects (14, 16) can be easily grasped.

The reference buried object 16 is disclosed in, for example,
It can be configured as a known data recording medium as disclosed in JP-A-85089. In the present embodiment, the reference buried object 16 transmits an underground wave Ws obtained by modulating (for example, frequency modulation) a baseband signal indicating information on the reference buried object 16 (reference buried object information). Here, the reference buried object information according to the present embodiment includes at least information indicating a buried position of the reference buried object 16 (for example, a buried depth from the ground surface or a ground coordinate value of a buried point). 16 other attribute information (for example, reference embedded object 16)
In particular, when the reference buried object 16 is buried in a predetermined positional relationship (for example, 50 cm above the buried object 14) with respect to the predetermined buried object 14, this buried object 14 Attribute information (for example, the position, type, shape, and size of the buried object 14, relative positional relationship with the reference buried object 16, etc.)
May be included. Further, it is preferable that the reference buried object 16 obtains the energy required for transmitting the underground wave Ws from the received underground exploration wave Wrt.

Here, the processing of each information in the control unit 24 will be described. Control unit 24 (exploration information acquisition unit 24
In a), search information is obtained based on a search result in the search wave transmitting / receiving unit 18. Here, the search information includes information indicating the position of the buried object (14, 16) relative to the search reference position (for example, the burial depth in the ground), and is acquired every time the search wave transmitting / receiving unit 18 performs the search. . This search information is generated based on the required time from when the search wave transmitting / receiving unit 18 transmits the underground search wave Wrt to when it receives the reflected wave Wrr (and the reception intensity of the reflected wave Wrr). Therefore, the required time may be used as it is as a parameter indicating the position of the buried object (14, 16) in the search information.

The control unit 24 (reference buried object information acquisition unit 2)
4b) acquires information (reference buried object information) on the reference buried object based on the reception result of the underground wave Ws received by the reference wave receiving unit 20. In this embodiment, since the underground wave Ws from the reference buried object 16 is a modulated wave of a baseband signal indicating the reference buried object information, the reference buried object information acquisition unit 24b
Acquires reference buried object information including the buried position of the reference buried object 16 from the demodulated signal of the underground wave Ws.

The control unit 24 (ground coordinate value obtaining unit 24c)
Acquires the ground coordinate value of the search reference position based on the reception result of the ground wave Wg in the ground wave receiving unit 22. For example,
When the terrestrial wave receiving unit 22 is configured as a receiving mechanism of the GPS receiver, a latitude value, a longitude value, and an altitude value are acquired as the ground coordinate value.

The control unit 24 (the search scale obtaining unit 24)
d) acquires a search scale based on the search information indicating the reference buried object 16 and the reference buried object information. Here, the exploration scale is the actual length relative to the unit length of the exploration coordinates,
That is, the scale of the search information. For example, the actual distance between the search reference position and the reference buried object 16 (acquired from the reference buried object information) is Lo, and the distance from the search reference position of the reference buried object 16 (or the time interval required for transmission / reception; If (acquisition) is Lr, the exploration scale acquisition unit 24
d calculates the search scale Lm as Lm = Lo / Lr. The search information indicating the reference buried object 16 can be easily extracted from the obtained search information while distinguishing it from other buried objects 14. For this distinction, for example, the embedding position or shape may be different from the other embedding objects 14. Further, this distinction may be made based on the position, shape, size, or the like of each of the embedded object 14 and the reference embedded object 16 included in the reference embedded object information.

Next, a control unit 24 (a search information calibration unit 24)
e) calibrate the search information to the actual scale based on the search scale. More specifically, when the search scale is Lm shown in the above example, the search information can be calibrated to a value on the actual scale by multiplying the search information by this search scale Lm. By performing such a calibration, regardless of the geology of the point where the exploration was performed,
The burying position of the buried object can be grasped more accurately. Then, the control unit 24 stores the calibrated search information (calibrated search information) in the storage unit 26.

Next, the control unit 24 (image information generation unit 24)
f) generates search image information for outputting a search result as an image based on the search information (for example, calibrated search information) stored in the storage unit 26 and the ground coordinate value of the search reference position. An example of the search image information will be described with reference to the drawings.
FIG. 3 is an example of a search image.

The image information generating unit 24f determines the buried object (14, 1) based on a plurality of pieces of search information for each search reference position.
Exploration image information for outputting a three-dimensional image indicating the embedded state of 6) is generated. For example, as shown in FIG. 3, when the search information for the search reference position s is information indicating the position of a buried object in a columnar three-dimensional unit area U extending in the depth direction, the location of each search reference position s By arranging a plurality of pieces of search image information of each unit area U on the ground coordinates based on the coordinate values, it is possible to generate search image information for a predetermined three-dimensional area G. In a region near the boundary between the plurality of unit regions U, particularly in a region where the plurality of unit regions U overlap, some smoothing processing is performed on the exploration information in this region so that a step or discontinuity of the embedded object image does not occur. Is also good. Further, the processing relating to the generation of the search image information is applicable regardless of the information effective range of each search information (that is, the shape of the unit area U).

The image information generating section 24f generates search image information including information for outputting an image of a coordinate reference on the ground coordinates. Here, the information for outputting the coordinate reference as an image is information for outputting an image of a display element (for example, a line segment b1 or a point b2) indicating a predetermined position on the ground coordinates. A display element (for example, a number or a character, etc.) indicating a ground coordinate value; (x1, y
1, z1), (x2, y2, z2)) may be included as information for image output. Note that it is desirable that a plurality of such coordinate references exist on one search image.

The coordinate reference may be a point having a predetermined positional relationship relative to the reference embedded object 16. In this way, the embedding position of the reference embedded object 16 having a relatively opposite positional relationship from the coordinate reference can be more easily grasped. As an example, as shown in FIG.
A predetermined direction (for example, vertically upward) with respect to the reference buried object 16
If the point on the surface of the earth is a detectable point (for example, the coordinate reference b2 in FIG. 3), the point is located in a direction opposite to the predetermined direction (for example, vertically downward) from the coordinate reference b2. ) Indicates that there is a reference buried object 16. Accordingly, the reference buried object 16 or the buried object 14 buried in a predetermined positional relationship with respect to the reference buried object 16
When some kind of access is performed from the ground surface side, this access can be performed more easily. For example, when excavating the ground from the ground surface to expose a target (the reference buried object 16 or the buried object 14) or excavating these targets, the coordinate reference b2 is first detected on the ground surface. By excavating in the predetermined direction from the coordinate reference b2, it is possible to easily reach the vicinity of the target.

The control unit 24 stores the reference buried object information used in the process of calibrating the search information and the ground coordinate value of the search reference position used in the process of generating the search image information in each process. In order to identify each of them, the search information, the calibrated search information, the reference buried object information, and the ground coordinate value of the search reference position are stored in the storage unit 26 in a state where their correspondence can be identified. More specifically, for example, these information may be stored together with the reception time of the underground wave or terrestrial wave that is the source of each information, or together with the acquisition time of each information, or may be received at the same or close timing. The respective pieces of information described above may be stored in association with each other. Also,
An identifier for indicating the correspondence between information may be assigned to each piece of information, and this identifier may be stored. The control unit 24 stores the generated search image information in the storage unit 26.

Next, a moving object guidance system according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 4 is a block diagram of the mobile object guidance system.

The mobile object guidance system 4 according to the present embodiment
At 0, the control unit 42 (the guide image information generation unit 42a)
An exploration image showing the buried position and the buried state of the buried object (14, 16) in the ground coordinates, and a location image showing the location of the system 40 on the ground coordinates (for example, a pentagonal shape with its apex pointing toward the traveling direction) ) Is generated. Therefore, the relative positional relationship between the system 40 and the buried object (14, 16) can be easily grasped.

The mobile body guidance system 40 includes an information input / output unit 44 (for example, a removable device [for example, a CD-R
Drive, DVD drive, or a wireless transmission / reception device), and the guide image information generation unit 42a uses the information input / output unit 44 to obtain various types of information (for example, search image information) acquired or generated in the buried object search system 10. Etc.).

The mobile object guidance system 40 is provided with a terrestrial wave Wg.
Is provided. This terrestrial wave receiving unit 46 can be configured as a receiving mechanism of a known GPS receiving device, like the terrestrial wave receiving unit 22 of the buried object search system 10.

In addition, the mobile unit guidance system 40 includes a storage unit 48 (for example, a RAM, a ROM, a hard disk, or the like) for storing parameters, various information, processing results, and the like used in control of each unit of the system 40 by the control unit 42 or information processing. ), An input unit 50 (for example, operation buttons) for inputting various commands to the control unit 48, and an output unit 52 (for example, display or speaker) for outputting various information such as search results (for example, image output or audio output). ).

With such an apparatus configuration, the mobile object guidance system 40 can use the search information acquired by the embedded object search system and the ground coordinate value of the search reference position even if the mobile object guide system 40 does not have means for searching for the embedded object. It is possible to grasp the burial status of the buried object.

The present invention is not limited to the above embodiment. In the first embodiment, the buried object detection system 1
0 is integrally formed on a spacecraft that can move on the ground, but each function may be distributed to a plurality of devices. For example, a spacecraft is equipped with a buried object exploration unit and a terrestrial wave reception unit, and the operation of the spacecraft can be remotely controlled. It may be performed in an information processing device different from the device. In this case, various information such as a control signal of the spacecraft, a search result by the buried object search unit or a reception result by the terrestrial wave reception unit is transmitted through a wireless or wired communication line.
It is exchanged between the spacecraft and the information processing device.

Further, the processing of various kinds of information may be performed by the probe, and the output may be performed by another device (output device). In this case, various signals such as information to be output at the output unit (for example, information for image output such as search image information or information for audio output) or a control signal for remotely controlling the search device are: The information is exchanged between the spacecraft and the information processing device through a wireless or wired communication line.

The functions of the mobile object guidance system 40 according to the second embodiment may be distributed to a plurality of devices. For example, various types of information processing may be performed on the moving body side, and output may be performed by another device (output device). In this case, the terrestrial wave reception result and various signals such as a control signal for remotely controlling the mobile unit are transmitted and received between the mobile unit and the information processing device via a wireless or wired communication line.

Also, from the output unit of the object search system or the mobile object guidance system, a target point of movement of the probe or the mobile object (point having a predetermined positional relationship with the object or the reference object) and the search device or the mobile object. Relative position information indicating a relative positional relationship with the location of (own device) may be output as an image or a sound. As the relative position information, for example, the direction of the movement target point with respect to the own device or the separation distance can be output.

The reference embedded object information stored in the reference embedded object 16 may be rewritable. In this way, even when the buried position of the reference buried object 16 is shifted from the time of burying, the information indicating the latest buried position can be updated. The information indicating the buried position is the terrestrial wave W
It can be a value on the ground coordinates based on g.

[0034]

As described above, according to the present invention,
Since the exploration information can be calibrated on the exploration scale according to the place, the buried position of the buried object can be grasped more accurately.

Further, according to the present invention, since the exploration information can be acquired in association with the ground coordinates, the buried position of the buried object can be grasped more accurately. In addition, the acquired search results can be more easily reused.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an embedded object exploration system and an embedded state of an embedded object according to a first embodiment of the present invention.

FIG. 2 is a block diagram of an embedded object exploration system according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating an example of an output image based on search image information and location information generated by the embedded object search system according to the first embodiment of the present invention.

FIG. 4 is a block diagram of a mobile object guidance system according to a second embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 10 buried object exploration system, 12 underground, 14 buried object, 16 reference buried object, 18 exploration wave transmitting / receiving unit, 20
Reference wave receiver, 22 terrestrial wave receiver, 24 controller, 2
4a search information acquisition unit, 24b reference buried object information acquisition unit, 24c ground coordinate value acquisition unit, 24d search scale acquisition unit, 24e search information calibration unit, 24f image information generation unit, 26 storage unit, 28 input unit, 30 output unit , 32
Information input / output unit, 40 mobile guidance system, 42 control unit, 42a guide image information generation unit, 44 information input / output unit, 46 terrestrial wave reception unit, 48 storage unit, Wg terrestrial wave, Wrt underground exploration wave, Ws land Medium wave, Wrr Underground reflected wave.

Claims (5)

[Claims] 1. A buried object detecting means for detecting a buried object by transmitting and receiving an underground wave, a search scale detecting means for detecting a search scale of the buried object detecting means based on an underground wave from a reference buried object, An underground buried object search system, comprising: image information generating means for generating search image information for outputting an image of the position of the buried object based on the search scale and the search result of the buried object. 2. The underground object exploration system according to claim 1, wherein the underground wave for detecting the exploration scale includes information indicating an embedded position of a reference embedded object. Underground exploration system. 3. The underground object exploration system according to claim 1, further comprising: a position detection unit that acquires a ground coordinate value of a search reference position of the underground object detection unit based on a ground wave. The image information generating means further generates the exploration image information based on the ground coordinate value as information for outputting the position of the buried object on the ground coordinate as an image. Object exploration system. 4. A locating means for acquiring a location of a moving object in ground coordinates based on a ground wave, and a search result and a search for the buried object obtained by the buried object detecting system according to claim 3. A mobile object guidance system, comprising: image information generating means for generating guide image information indicating a positional relationship between a buried object and a mobile object based on a ground coordinate value of a reference position and a location of the mobile object. 5. A buried object detecting step of detecting a buried object by transmitting and receiving an underground wave; a position detecting step of acquiring a ground coordinate value of a search reference position of the buried object detecting means based on a terrestrial wave; An image information generating step of generating exploration image information for outputting an image of the position of the buried object on the ground coordinates based on the search result of the object and the ground coordinate value of the search reference position; Method.