JP2013134219A - Data processing device, position detection system, data processing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp the state in a conduit.SOLUTION: A data processing device 13 includes an image acquisition unit 104 which acquires an image picked up by an imaging unit 25 provided integrally with a transmitter 26, an acquisition unit 106 which acquires the distance from a receiver to the transmitter 26 and its direction on the basis of information provided from the receiver having detected a magnetic field generated by the transmitter 26 and based upon the magnetic field, a position acquisition unit 107 which acquires the position of the transmitter 26 on the basis of the distance and direction that the acquisition unit 106 acquires, and an image generation unit 105 which associates the image that the image acquisition unit 104 acquires with the position that the position acquisition unit 107 acquires, and stores them in a storage unit 55.

Description

  The present invention relates to a data processing device, a position detection system, a data processing method, and a program.

  Conventionally, a position detecting device for detecting a position in the ground is known. For example, Patent Document 1 describes a position detection device that provides a transmission antenna at the head of an excavator, receives electromagnetic waves from the transmission antenna with a receiving antenna on the ground, and detects the current position of the head of the excavator. ing.

JP 2000-88969 A

  However, in Patent Document 1, it is possible to grasp the position in the ground, but it is desirable not only to know the position in the ground, but also to know what situation is in which position and what is in the interior.

  In view of the above-described problems, an object of the present invention is to provide a data processing device, a position detection system, a data processing method, and a program that make it possible to grasp the state in an object.

  (1) The present invention has been made in view of the above problems, and one aspect of the present invention is an image in which an inside of an object is captured by an imaging unit that can move along the object together with a transmitter that generates a magnetic field. Acquisition that acquires the distance and direction between the receiver and the transmitter based on information according to the magnetic field provided from the image acquisition unit to be acquired and the receiver that has detected the magnetic field generated by the transmitter A position acquisition unit that acquires the position of the transmitter, an image acquired by the image acquisition unit, and a position acquired by the position acquisition unit based on the distance and direction acquired by the acquisition unit And a storage control unit that stores the data in the storage unit.

  (2) In the data processing device described above, according to one aspect of the present invention, the acquisition unit acquires the absolute position of the receiver, and the position acquisition unit acquires the distance and direction acquired by the acquisition unit. A relative position calculation unit that calculates a relative position of the transmitter based on the receiver, a relative position calculated by the relative position calculation unit, and an absolute position of the receiver acquired by the acquisition unit And an absolute position calculation unit that calculates an absolute position of the transmitter.

(3) In the data processing device described above, according to one aspect of the present invention, the storage control unit has a data structure in which position information is included in a part of the image data acquired by the image acquisition unit. It is characterized by associating with each other.

  (4) According to one embodiment of the present invention, an imaging device including a transmitter that generates a magnetic field, an imaging unit that is movable along the object together with the transmitter, and images the inside of the object, and the transmitter generates A position detection system comprising a receiver for detecting a magnetic field and a data processing device, wherein the data processing device is based on information according to the magnetic field detected by the receiver. An acquisition unit that acquires the distance and direction, a position acquisition unit that acquires the position of the transmitter based on the distance and direction acquired by the acquisition unit, an image acquired by the image acquisition unit, and the position A position control system comprising: a storage control unit that associates and stores the position acquired by the acquisition unit in the storage unit.

  (5) In one embodiment of the present invention, the transmitter generates an image in which the inside of the object is captured by an imaging unit that is movable along the object together with the transmitter that generates a magnetic field. A step of obtaining a distance and direction between the receiver and the transmitter based on information according to the magnetic field provided from a receiver that has detected the magnetic field, and the transmission based on the obtained distance and direction. A data processing method comprising: acquiring a machine position; and storing the image acquired by the image acquisition unit and the position acquired by the position acquisition unit in association with each other in a storage unit is there.

  (6) According to one aspect of the present invention, in the computer, a step of acquiring an image in which an inside of the object is imaged by an imaging unit that is movable along the object together with a transmitter that generates a magnetic field; Based on information according to the magnetic field provided from the receiver that has detected the generated magnetic field, obtaining a distance and direction between the receiver and the transmitter, and based on the obtained distance and direction A program for executing the steps of acquiring the position of the transmitter, storing the image acquired by the image acquisition unit and the position acquired by the position acquisition unit in a storage unit in association with each other .

  According to the present invention, the position of the transmitter can be obtained based on the magnetic field generated by the transmitter detected by the receiver. When a still image is captured by the imaging unit within the object, the captured image at that time and the position information of the transmitter are associated with each other and recorded in the storage unit. Thereby, since the state in the imaged object can be managed in association with the imaged position, the state in the object can be grasped.

It is explanatory drawing of the outline | summary of the underground conduit management system which concerns on the 1st Embodiment of this invention. It is a side view of the pipe camera with a transmitter in the 1st embodiment of the present invention. It is a block diagram which shows the structure of the pipe camera with a transmitter in the 1st Embodiment of this invention. It is a side view of the receiver in the 1st Embodiment of this invention. It is a block diagram which shows the structure of the receiver in the 1st Embodiment of this invention. It is explanatory drawing of the outline | summary of the process at the time of detecting the position of a transmitter with the receiver in the 1st Embodiment of this invention. It is a block diagram of an example of the data processor in the 1st Embodiment of this invention. It is explanatory drawing of the display screen in the 1st Embodiment of this invention. It is explanatory drawing of the recording format of a JPEG image. It is a flowchart which shows the still image imaging process in the data processor in the 1st Embodiment of this invention. It is a flowchart which shows the process which calculates | requires the position of the transmitter in the 1st Embodiment of this invention. It is a functional block diagram which shows the still image imaging process in the data processor in the 1st Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram outlining an underground conduit management system (position detection system) 1 according to the first embodiment of the present invention. This underground conduit management system 1 can be used when laying a communication cable such as an optical cable or a metal cable in the ground, or when maintaining and inspecting a communication cable embedded in the underground conduit. As shown in FIG. 1, the underground conduit management system 1 according to the first embodiment of the present invention includes a pipe camera 11 with a transmitter, receivers 12a and 12b, and a data processing device 13. Yes. The underground conduit 10 is a conduit for burying a communication cable such as an optical cable or a metal cable in the ground.

  As shown in FIG. 2, the pipe camera 11 with a transmitter is configured by attaching a camera main body portion 22 to a distal end of a wire portion 21 via a connection portion 23. The wire part 21 is formed from glass fiber or carbon fiber resin. Further, a cable 24 for transmitting and receiving signals is disposed in the wire portion 21. The camera body unit 22 is integrally provided with an imaging unit 25 and a transmitter 26. When the wire unit 21 is inserted or pulled back into the pipeline, the camera body unit 22 moves in the pipeline along with the transmitter 26. Is possible. As shown in FIG. 3, the imaging unit 25 includes an imaging device 27 such as a charge coupled device (CCD) or a complementary metal oxide semiconductor field effect transistor (CMOS), and a camera processing circuit 28 that processes an imaging signal from the imaging device 27. Consists of That is, the imaging unit 25 is movable along with the transmitter 26 along with the object and images the inside of the object.

  The transmitter 26 includes an oscillator 29 that generates an LF (Low Frequency) band current and an antenna 30 that generates a magnetic field using the current supplied from the oscillator 29. The current from the oscillator 29 may be a continuous current or an intermittent current. The camera body 22 is provided with an interface 31. The interface 31 transmits and receives signals between the imaging unit 25 and the transmitter 26 in the camera body 22 and the outside. A cable 24 is led out from the interface 31. As shown in FIG. 1, the wire portion 21 of the pipe camera 11 with a transmitter is wound around a reel 35 and stored, and is pulled out from the reel 35 when in use. By pushing the wire part 21 into the pipe line from the outside, the camera body part 22 of the pipe camera 11 with a transmitter moves in the underground pipe line 10.

  In FIG. 1, the receivers 12 a and 12 b detect the magnetic field generated by the transmitter 26 in the camera body 22 and detect the position of the transmitter 26. As shown in FIG. 4, the receivers 12 a and 12 b are configured by attaching a signal acquisition unit 42 and a GPS acquisition unit 43 to a pole 41. The pole 41 can stand on the ground by the leg portion 44. As shown in FIG. 5, the signal acquisition unit 42 includes two coil antennas 45a and 45b arranged in directions orthogonal to each other. The coil antennas 45a and 45b detect the magnetic field generated by the transmitter 26 provided in the camera body 22 of the pipe camera 11. The reception outputs of the coil antennas 45 a and 45 b are sent to the reception signal processing unit 46. The reception signal processing unit 46 detects the signal levels of the two coil antennas 45a and 45b, and calculates the distance and direction of the transmitter 26 with respect to the receivers 12a and 12b. The GPS acquisition unit 43 receives signals from a plurality of GPS satellites 14 orbiting the earth, and measures the current positions (latitude and longitude) of the receivers 12a and 12b. The output of the GPS acquisition unit 43 is sent to the reception signal processing unit 46. Here, the GPS is used for positioning the current positions of the receivers 12a and 12b, but other GNSS (Global Navigation Satellite System) such as GALILEO or GLONASS may be used. The receivers 12a and 12b can perform wireless data communication with each other via a short-range wireless network such as ZigBee (registered trademark) or Bluetooth (registered trademark). The receivers 12a and 12b are provided with a wireless interface 47 for enabling such data communication. Further, at least one of the receivers 12 a and 12 b is provided with an interface 48 for connecting to the data processing device 13 via the wire portion 49.

  FIG. 6 is a diagram for explaining the outline of the processing of the reception signal processing unit 46 when the position of the transmitter 26 is detected by the receivers 12a and 12b. Here, it is assumed that the two receivers 12 a and 12 b are located at positions separated by an offset distance P along the underground conduit 10. Further, it is assumed that the transmitter 26 is at the depth D of the relative position (X, Y). Here, X and Y are the coordinates of the relative horizontal position of the transmitter 26 from the receiver 12a, and D is the depth of the transmitter 26 from the horizontal plane of the receiver 12a.

  As described above, the transmitter 26 generates a magnetic field. The generated magnetic field propagates to the ground surface without being greatly attenuated even in the ground. The magnetic field generated by the transmitter 26 is received by coil antennas 45a and 45b arranged in directions orthogonal to each other in the signal acquisition units 42 of the receivers 12a and 12b. The coil antennas 45a and 45b output electromotive force caused by electromagnetic induction caused by the passage of magnetic lines of force through the coil loop. The magnitude of the electromotive force induced by electromagnetic induction depends on the direction of the coil antennas 45 a and 45 b with respect to the electromagnetic field from the transmitter 26. Therefore, the magnetic field generated by the transmitter 26 is received by the coil antennas 45a and 45b oriented in directions orthogonal to each other. Then, the received signal processing unit 46 analyzes these signal levels to determine the respective directions θ1 and θ2 toward the transmitter 26 with respect to the receivers 12a and 12b.

  The intensity of the magnetic field received by the coil antennas 45a and 45b varies depending on the distance from the transmitter 26 to the receivers 12a and 12b. Therefore, the received signal processing unit 46 calculates the distance Q1 from the receiver 12a to the transmitter 26 and the distance Q2 from the receiver 12b to the transmitter 26 based on the strength of the magnetic field received by the coil antennas 45a and 45b. Guess by doing.

The received signal processing unit 46 calculates the direction θ1 from the receiver 12a to the transmitter 26 based on the signal level received by the coil antennas 45a and 45b provided in the receiver 12a. Similarly, the received signal processing unit 46 calculates the direction θ2 from the receiver 12b to the transmitter 26 based on the signal level received by the coil antennas 45a and 45b included in the receiver 12b.
Here, since the offset distance P between the two receivers 12a and 12b is known, the received signal processing unit 46 uses the offset distance P and the directions θ1 and θ2 to determine the distance from the receiver 12a to the transmitter 26. Q1 and the distance Q2 from the receiver 12b to the transmitter 26 may be obtained.

  In the above example, the two receivers 12a and 12b are arranged. However, if a larger number of receivers are arranged, the measurement range can be expanded and the measurement accuracy can be improved. is there. In the above example, the two receivers 12a and 12b are arranged along the underground conduit 10, but three or more receivers are arranged, and three coil antennas orthogonal to each receiver are arranged. If the receiver is placed, the receiver can be placed at an arbitrary position and the position of the transmitter can be detected. The present invention is not limited to such a position detection method.

  In FIG. 1, the data processing device 13 is a processing device for managing the underground conduit 10. Such a data processing device 13 can be constituted by a personal computer as shown in FIG. In FIG. 7, the control unit 51 is connected to a bus 52. The control unit 51 is composed of a CPU (Central Processing Unit), and interprets and executes a command. The application programs executed by the control unit 51 include a monitor program 67, a position detection program 68, and a still image shooting program 69. The monitor program 67 displays the captured image from the imaging unit 25 of the camera body unit 22 on the display unit 58 as a monitor screen. The position detection program 68 obtains the position of the transmitter 26 provided in the camera main body 22 using information from the receiver 12a. When the still image shooting program 69 shoots a still image of the image from the imaging unit 25, the position information at that time is added to the captured still image and recorded in the storage unit 55.

  The control unit 51 includes a distance Q1 from the receiver 12a to the transmitter 26, a distance Q2 from the receiver 12b to the transmitter 26, a direction θ1 from the receiver 12a to the transmitter 26, and from the receiver 12b to the transmitter 26. The depth D of the transmitter 26 and the relative position (X, Y) with respect to the vertical position of the receiver 12b are calculated based on the direction θ2.

  Further, as described above, the receivers 12 a and 12 b have the GPS acquisition unit 43. The GPS acquisition unit 43 can acquire the absolute positions (latitude and longitude) of the receivers 12a and 12b. The control unit 51 uses the absolute position of the receiver 12b to convert the relative position (X, Y) of the transmitter 26 with respect to the receiver 12b into an absolute position (latitude, longitude).

  Further, a ROM (Read Only Memory) 53 and a RAM (Random Access Memory) 54 are connected to the bus 52. The ROM 53 stores a boot program such as BIOS (Basic Input Output System). The RAM 54 is used as a main memory. A storage unit 55 is connected to the bus 52. The storage unit 55 includes, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are recorded in the storage unit 55. Further, a display unit 58 such as a liquid crystal display is connected to the bus 52 via a graphics processing unit 57. A communication interface 59 is connected to the bus 52. Further, a general-purpose interface 60 is connected to the bus 52. As the general-purpose interface 60, for example, a USB (Universal Serial Bus) interface is used. Various peripheral devices such as a keyboard 61, a mouse 62, and a memory card drive 64 are connected to the general-purpose interface 60. Furthermore, in the first embodiment of the present invention, the general-purpose interface 60 is connected to the camera body 22 of the pipe camera 11 with a transmitter via the wire part 21 that is a communication line. Further, the general-purpose interface 60 is connected to the receiver 12a via a wire unit 49 that is a communication line.

  In the underground conduit management system 1 according to the first embodiment of the present invention, when the data processing device 13 performs desired still image shooting from the imaging screen of the imaging unit 25 of the camera body unit 22, the still image is displayed. The image and the position information at that time are associated and recorded in the storage unit 55. That is, as shown in FIG. 1, when the camera body 22 of the pipe camera 11 with a transmitter is inserted into the underground conduit 10, the imaging unit 25 in the camera body 22 causes the imaging body 25 to As shown in FIG. 3, the inside of the underground conduit 10 is imaged. Then, the imaging unit 25 outputs image data obtained by imaging to the data processing device 13 via the wire unit 21. As a result, the monitor image 71 is displayed on the display unit 58. The display unit 58 also displays information 72 on the current shooting position and depth. When the camera main body 22 is moved in the underground conduit 10, the monitor image 71 changes accordingly, and the information 72 of the shooting position and depth is updated. Thereby, the operator can monitor the internal state of the underground conduit 10 in real time.

  Here, when the operator operates the shutter button 70 with the mouse 62, for example, the monitor image 71 at this time is acquired as a still image, and the still image is compressed and encoded by, for example, the JPEG (Joint Photographic Experts Group) method. The JPEG method compresses and encodes still image data using DCT (Discrete Cosine Transform) and a variable length code. When the shutter button 70 is operated, information is input from the receiver 12a via the general-purpose interface 60. The receiver 12a and the receiver 12b share information via a wireless network. The information from the receiver 12a includes the distance Q1 and direction θ1 from the receiver 12a to the transmitter 26, the distance Q2 and direction θ2 from the receiver 12b to the transmitter 26, the GPS position information of the receiver 12a, and the receiver 12b. GPS location information and the like are included (see FIG. 6). When these pieces of information are input from the receiver 12a via the general-purpose interface 60, the data processing device 13 obtains the position of the transmitter 26 provided in the camera body 22 using these pieces of information. Then, the data processing device 13 associates the acquired still image of the monitor image with the position information of the transmitter 26 provided in the camera body unit 22 to generate a set of still image data files. Is recorded in the storage unit 55. That is, the image generation unit 105 associates the data by creating a data structure in which position information is included in part of the image data acquired by the image acquisition unit 104.

  Here, as the file format of the still image data, for example, a file format defined by the DCF (Design Rule for Camera File system) standard or the Exif standard established by JEITA (Japan Electronics and Information Technology Industries Association) is used. it can. In the Exif system, as shown in FIG. 9, shooting information and thumbnail images are embedded along with JPEG format images from SOI (Start Of Image) to EOI (End Of Image). In such a JPEG file, the control unit 51 embeds various types of imaging information in a segment called an application marker segment 1 by an information addition part called a tag.

  Thereby, the control part 51 can record the positional information on the transmitter 26 provided in the camera body part 22 in the application marker segment 1 together with information such as the shooting date as tag information. Note that the method of recording the still image of the monitor image and the positional information of the transmitter 26 provided in the camera body unit 22 in association with each other is not limited to the DCF standard or the Exif standard.

  As described above, in the first embodiment of the present invention, when a still image is captured by the imaging unit 25 of the camera body 22, the control unit 51 adds the still image captured at that time to the camera body 22. Is recorded in association with the position information of the transmitter 26 provided in the network. For this reason, when a stored still image is reproduced and its properties are displayed, as shown in FIG. 8B, information 82 of the photographing position and depth when this image is photographed together with the reproduced image 81. Is displayed. As a result, the operator can manage the state in the underground conduit 10 and the photographed position in association with each other, and can be used for analysis of the state in the conduit and maintenance / inspection work.

  FIG. 10 is a flowchart showing still image capturing processing in the data processing device 13 in the underground conduit management system 1 according to the first embodiment of the present invention. In FIG. 10, the control unit 51 determines whether or not the shutter button 70 has been operated (step S102) while displaying the imaging screen of the imaging unit 25 on the display unit 58 as a monitor screen (step S101). When it is determined in step S102 that the shutter button 70 has not been operated (NO in step S102), the process proceeds to step S101. If it is determined in step S102 that the shutter button 70 has been operated (YES in step S102), the control unit 51 captures a captured image of the imaging unit 25 (step S103), and a still image of the captured image is, for example, in JPEG format. Compression encoding is performed (step S104). Further, the control unit 51 obtains the position of the transmitter 26 provided in the camera main body unit 22 using information from the receiver 12a (step S105). Then, the control unit 51 generates a still image data file by associating the JPEG image formed in step S104 with the position information of the transmitter 26 provided in the camera body unit 22 calculated in step S105. The still image data file is recorded in the storage unit 55 (step S106), and the process proceeds to step S101.

  FIG. 11 is a flowchart showing processing for obtaining the position of the transmitter 26 provided in the camera main body 22 using information from the receiver 12a in step S105 of FIG. In FIG. 11, the control unit 51 communicates with the receiver 12a, acquires the distance Q1 and the direction θ1 from the receiver 12a to the transmitter 26 (step S201), and the distance Q2 from the receiver 12b to the transmitter 26. And the direction θ2 are acquired (step S202). Next, the control unit 51 determines the transmitter based on the receiver 12a from the distance Q1 and direction θ1 from the receiver 12a to the transmitter 26 and the distance Q2 and direction θ2 from the receiver 12b to the transmitter 26. 26 relative position and depth D are obtained (step S203). Next, the control unit 51 acquires the absolute position of the receiver 12a measured by the GPS acquisition unit 43 (step S204), and acquires the absolute position of the receiver 12b measured by the GPS acquisition unit 43 (step S204). S205). Then, the control unit 51 uses the relative position of the transmitter 26 with reference to the receiver 12b obtained in step S203 and the absolute position of the receiver 12b acquired in step S204 to determine the absolute value of the transmitter 26. The position (latitude, longitude) and the depth from the ground surface are calculated (step S206), and the absolute position and depth of the transmitter 26 are output (step S207).

  FIG. 12 is a functional block diagram showing still image capturing processing in the data processing device 13 in the underground conduit management system 1 according to the first embodiment of the present invention. The data processing device 13 includes a storage unit 55, a display unit 58, a recording timing reception unit 101, an image acquisition unit 104, an acquisition unit 106, a position acquisition unit 107, and an image generation unit (storage control unit) 105. Is provided.

  In FIG. 12, when the user presses the shutter button 70 displayed on the display unit 58, the recording timing receiving unit 101 supplies a recording timing signal to the imaging unit 25 of the camera main body unit 22 and the relative position. It supplies to the calculation part 102 and the absolute position calculation part 103. When receiving the recording timing signal, the imaging unit 25 images the subject in the underground conduit 10 and outputs the captured image to the image acquisition unit 104. The image acquisition unit 104 outputs the image input from the imaging unit 25 to the image generation unit 105. The acquisition unit 106 communicates with the receiver 12a, receives the distance Q1 and the direction θ1 from the receiver 12a to the transmitter 26, and the distance Q2 and the direction θ2 from the receiver 12b to the transmitter 26, The relative position calculation unit 102 is supplied. In addition, the acquisition unit 106 receives the absolute position of the receiver 12 a and the absolute position of the receiver 12 b measured by GPS and supplies them to the absolute position calculation unit 103. The relative position calculation unit 102 and the absolute position calculation unit 103 constitute a position acquisition unit 107.

  The relative position calculation unit 102 determines from the receiver 12a of the transmitter 26 based on the distance Q1 and direction θ1 from the receiver 12a to the transmitter 26 and the distance Q2 and direction θ2 from the receiver 12b to the transmitter 26. And the relative position (X, Y) of the transmitter 26 with respect to the receiver 12b. The relative position calculation unit 102 outputs the relative position (X, Y) and the depth D to the absolute position calculation unit 103.

When the recording timing signal is input from the recording timing receiving unit 101, the absolute position calculating unit 103 acquires the absolute position of the receiver 12a and the absolute position of the receiver 12b measured by the GPS from the acquiring unit 106.
Then, the absolute position calculation unit 103 determines the absolute position (latitude, longitude) of the transmitter 26 based on the acquired absolute position of the receiver 12b and the relative position (X, Y) input from the relative position calculation unit 102. ) Is calculated. Then, the absolute position calculation unit 103 outputs the calculated absolute position and the depth D input from the relative position calculation unit 102 to the image generation unit 105.

  The image generation unit 105 compresses and encodes the captured image acquired by the image acquisition unit 104 using, for example, the JPEG method, the still image data subjected to the compression encoding, and the absolute position and depth input from the absolute position calculation unit 103. In association with D, it is stored in the storage unit 55 as a group of still image data files.

  The relative position calculation unit 102 may calculate the relative position of the transmitter 26 with respect to the receiver 12a. In this case, the absolute position calculation unit 103 calculates the absolute position (latitude and longitude) of the transmitter 26 based on the absolute position of the receiver 12a and the relative position of the transmitter 26 with respect to the receiver 12a. That's fine.

  As described above, in the first embodiment of the present invention, when a still image of the imaging unit 25 in the camera body 22 is captured, the captured image at that time and the transmitter 26 provided in the camera body 22 are captured. Are recorded in the storage unit 55 in association with each other. Thereby, the state in the underground conduit 10 photographed by the camera body unit 22 and the photographed position can be managed in association with each other.

  In the above-described embodiment, the example of monitoring underground piping when embedding a communication cable such as an optical cable or a metal cable in the ground has been described, but the present invention is not limited to such underground piping, The same applies to the case of monitoring piping installed inside or outside. That is, the present invention is suitable for use in laying a communication cable in a pipeline and for maintaining or checking the state in the pipeline. In this embodiment, although the case where it was the pipe line laid toward the horizontal direction was demonstrated, not only this but the pipe line laid toward the vertical direction may be sufficient.

  In the above-described embodiment, on the receivers 12a and 12b side, the distance Q1 and the direction θ1 from the receiver 12a to the transmitter 26 based on the reception signal levels of the respective coil antennas 45a and 45b, and the receiver 12b. The distance Q2 and the direction θ2 from the transmitter 26 to the transmitter 26 are calculated, these pieces of information are sent to the data processor 13, and the data processor 13 side detects the position of the transmitter 26 based on this information. Yes.

The present invention is not limited to such a configuration, and the reception signal levels of the respective coil antennas 45a and 45b of the receivers 12a and 12b are sent to the data processing device 13, and the data processing device 13 side receives the receiver. Based on the received signal levels of the coil antennas 45a and 45b of 12a and 12b, the distance Q1 and direction θ1 from the receiver 12a to the transmitter 26, and the distance Q2 and direction θ2 from the receiver 12b to the transmitter 26 are obtained. It is good also as a structure which calculates and detects the position of the transmitter 26 based on these.
That is, the acquisition unit 106 may acquire the distance and direction to the transmitter 26 based on information based on the magnetic field provided from the receiver 12a that has detected the magnetic field generated by the transmitter 26.

  The data processing device 13 may display a map on the display unit 58 and display at least one of a still image, latitude, longitude, and depth on the map.

  Further, by recording a program for executing each process of the data processing device 13 of the present embodiment on a computer-readable recording medium, and causing the computer system to read and execute the program recorded on the recording medium. The above-described various processes related to the data processing device 13 may be performed.

  Here, the “computer system” may include an OS and hardware such as peripheral devices. Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used. The “computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a CD-ROM, a hard disk built in a computer system, etc. This is a storage device.

  Further, the “computer-readable recording medium” refers to a volatile memory (for example, DRAM (Dynamic) in a computer system serving as a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. Random Access Memory)) that holds a program for a certain period of time is also included. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design etc. of the range which does not deviate from the summary of this invention are included.

1: Underground conduit management system (position detection system)
10: underground conduit 11: pipe camera with transmitter 12a, 12b: receiver 13 data processing device 22: camera body unit 25: imaging unit 26: transmitter 27: imaging device 58: display unit 101: recording timing receiving unit 102: Relative position calculation unit 103: Absolute position calculation unit 104: Image acquisition unit 105: Image generation unit (storage control unit)
106: Acquisition unit 107: Position acquisition unit

As shown in FIG. 2, the pipe camera 11 with a transmitter is configured by attaching a camera main body portion 22 to a distal end of a wire portion 21 via a connection portion 23. The wire part 21 is formed from glass fiber or carbon fiber resin. Further, a cable 24 for transmitting and receiving signals is disposed in the wire portion 21. The camera body unit 22 is integrally provided with an imaging unit 25 and a transmitter 26. When the wire unit 21 is inserted or pulled back into the pipeline, the camera body unit 22 moves in the pipeline along with the transmitter 26. Is possible. As shown in FIG. 3, the imaging unit 25 includes an imaging device 27 such as a charge coupled device (CCD) or a complementary metal oxide semiconductor field effect transistor (CMOS), and a camera processing unit 28 that processes an imaging signal from the imaging device 27. Consists of That is, the imaging unit 25 is movable along with the transmitter 26 along with the object and images the inside of the object.

FIG. 6 is a diagram for explaining the outline of the processing of the reception signal processing unit 46 when the position of the transmitter 26 is detected by the receivers 12a and 12b. Here, it is assumed that the two receivers 12 a and 12 b are located at positions separated by an offset distance P along the underground conduit 10. Further, it is assumed that the transmitter 26 is at the depth D of the relative position (X, Y). Here, X and Y are coordinates of the relative horizontal position of the receiver 12 b of the transmitter 26, D is the depth of the transmitter 26 from the horizontal plane of the receiver 12 b.

FIG. 11 is a flowchart showing processing for obtaining the position of the transmitter 26 provided in the camera main body 22 using information from the receiver 12a in step S105 of FIG. In FIG. 11, the control unit 51 communicates with the receiver 12a, acquires the distance Q1 and the direction θ1 from the receiver 12a to the transmitter 26 (step S201), and the distance Q2 from the receiver 12b to the transmitter 26. And the direction θ2 are acquired (step S202). Next, the control unit 51, and the distance Q1 and direction θ1 from receiver 12a to the transmitter 26, from the distance Q2 and direction θ2 Metropolitan to transmitter 26 from the receiver 12b, a reference receiver 12 b originating The relative position and depth D of the machine 26 are obtained (step S203). Next, the control unit 51 acquires the absolute position of the receiver 12a measured by the GPS acquisition unit 43 (step S204), and acquires the absolute position of the receiver 12b measured by the GPS acquisition unit 43 (step S204). S205). Then, the control unit 51 uses the relative position of the transmitter 26 with reference to the receiver 12b obtained in step S203 and the absolute position of the receiver 12b acquired in step S204 to determine the absolute value of the transmitter 26. The position (latitude, longitude) and the depth from the ground surface are calculated (step S206), and the absolute position and depth of the transmitter 26 are output (step S207).

The relative position calculating unit 102, a distance Q1 and direction θ1 from receiver 12a to the transmitter 26, based on the distance Q2 and direction θ2 from the receiver 12b to the transmitter 26, receiver 12 b of the transmitter 26 And the relative position (X, Y) of the transmitter 26 with respect to the receiver 12b. The relative position calculation unit 102 outputs the relative position (X, Y) and the depth D to the absolute position calculation unit 103.

Claims (6)

An image acquisition unit that acquires an image in which the inside of the object is imaged by an imaging unit that is movable along the object together with a transmitter that generates a magnetic field;
An acquisition unit that acquires a distance and a direction between the receiver and the transmitter based on information according to the magnetic field provided from a receiver that detects the magnetic field generated by the transmitter;
A position acquisition unit that acquires the position of the transmitter based on the distance and direction acquired by the acquisition unit;
A storage control unit that associates and stores the image acquired by the image acquisition unit and the position acquired by the position acquisition unit in the storage unit;
A data processing apparatus comprising: The acquisition unit acquires the absolute position of the receiver,
The position acquisition unit
A relative position calculation unit that calculates a relative position of the transmitter with respect to the receiver based on the distance and direction acquired by the acquisition unit;
An absolute position calculating unit that calculates an absolute position of the transmitter based on the relative position calculated by the relative position calculating unit and the absolute position of the receiver acquired by the acquiring unit;
The data processing apparatus according to claim 1, further comprising:   3. The storage control unit according to claim 1, wherein the storage control unit associates the storage control unit with a data structure in which position information is included in a part of image data acquired by the image acquisition unit. Data processing device. An imaging device comprising a transmitter that generates a magnetic field, an imaging unit that is movable along the object together with the transmitter and images the inside of the object, a receiver that detects the magnetic field generated by the transmitter, and data A position detection system comprising a processing device,
The data processing device includes:
Based on information according to the magnetic field detected by the receiver, an acquisition unit that acquires the distance and direction between the receiver and the transmitter;
A position acquisition unit that acquires the position of the transmitter based on the distance and direction acquired by the acquisition unit;
A storage control unit that associates and stores the image acquired by the image acquisition unit and the position acquired by the position acquisition unit in the storage unit;
A position detection system comprising: Acquiring an image in which the inside of the object is imaged by an imaging unit that is movable along the object together with a transmitter that generates a magnetic field;
Obtaining a distance and direction between the receiver and the transmitter based on information according to the magnetic field provided from a receiver that detects the magnetic field generated by the transmitter;
Acquiring the position of the transmitter based on the acquired distance and direction;
Storing the image acquired by the image acquisition unit in association with the position acquired by the position acquisition unit in the storage unit;
A data processing method characterized by comprising: On the computer,
Acquiring an image in which the inside of the object is imaged by an imaging unit that is movable along the object together with a transmitter that generates a magnetic field;
Obtaining a distance and direction between the receiver and the transmitter based on information according to the magnetic field provided from a receiver that has detected the magnetic field generated by the transmitter;
Obtaining the position of the transmitter based on the obtained distance and direction;
Associating an image acquired by the image acquisition unit with a position acquired by the position acquisition unit in a storage unit;
A program for running