JP2016099125A - Search device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To implement a search device which reduces the work time required for examination of a buried object and is capable of reducing a computational load for such visualization as to facilitate visual recognition of a position of a buried object within a search range.SOLUTION: A controller 30 comprises: a marker setting unit 41 which sets markers to positions where buried pipes are likely to exist in acquired sectional data P; a coordinate acquisition unit 42 which acquires respective three-dimensional coordinates of the markers; a same buried pipe determination unit 51 which determines whether a first marker existing on first sectional data and a second marker existing on second sectional data adjacent to the first sectional data indicate a same buried pipe or not on the basis of the three-dimensional coordinates of the first and second markers acquired by the coordinate acquisition unit 42; a line connection unit 52 which connects, by a segment, the three-dimensional coordinates of the first and second markers determined to indicate the same buried pipe; and a search map creation unit 54 which creates a search map s where the connecting segment is projected on a two-dimensional plane.SELECTED DRAWING: Figure 2

Description

  The present invention processes a reflected wave of an electromagnetic wave for exploration radiated toward the ground when scanned along a plurality of scanning lines set to be parallel or orthogonal to each other in the exploration range on the ground surface. The present invention relates to an exploration apparatus including a control unit that acquires cross-sectional data indicating a state of burying a buried pipe in a vertical sectional view including the scanning line.

  In the exploration in such a medium, exploration devices for exploring buried objects or cavities in the ground using reflection of electromagnetic waves are known. The exploration device shown in Patent Document 1 radiates electromagnetic waves toward the ground at a position (x, y) on the ground surface, receives a reflected signal from an embedded object, and receives a reception signal for each reflection time at regular intervals. Measure strength. This exploration device takes positions (x, y) on the ground surface in a grid pattern at regular intervals, and sets the reflection time as z, and data values (received signal strength) at all positions when viewed in the xy plane in xyz space. ) Is obtained, and the three-dimensional data is visualized by applying a migration process.

JP 2000-75025 A

  However, in the above-described exploration device, when investigating the presence or absence of buried objects in the ground, it is necessary to scan the entire surface (ground surface) of the medium that is the exploration target at fine intervals according to the desired resolution. is there. For this reason, for example, there is a problem that it takes time and labor to investigate a buried object that may be present at a planned cutting position during an operation of cutting the medium surface.

  For the purpose of shortening the investigation time, there are some exploration devices that provide multiple electromagnetic wave transmitters and receivers and increase the number of locations that can receive electromagnetic waves per unit time. There is a problem that cannot be used.

  Moreover, since the radio wave velocity in the ground varies depending on the soil quality, groundwater, water content ratio, etc., it cannot be displayed accurately when imaged at a uniform radio wave velocity. This is because the relative permittivity of the electrical constant has a great influence. When exploring underground, it is necessary to estimate the relative permittivity distribution using three-dimensional data and correct the radio wave velocity. Since the calculation for this correction requires a memory capacity and a calculation speed, when a large amount of data is acquired by scanning the entire surface of the ground, the calculation device provided in the exploration device main body or the calculation device is used. It may not be possible.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to realize an exploration device capable of reducing the calculation load for visualizing the position of the buried object in the exploration range so that it can be easily grasped while reducing the work time required for the investigation of the buried object. There is.

In order to achieve the above-mentioned object, the characteristic configuration of the exploration device according to the present invention is such that, when scanned along a plurality of scanning lines set parallel or orthogonal to each other in the exploration range on the ground surface, An exploration device including a control unit that processes a reflected wave of an exploration electromagnetic wave radiated toward and obtains cross-sectional data indicating a buried state of a buried pipe in a vertical sectional view including the scanning line,
The control unit is
In each of the acquired plurality of cross-sectional data, in each of the cross-sectional data, a marker setting unit that sets a marker at a position where the embedded pipe may exist, and in each of the plurality of cross-sectional data, the three-dimensional coordinates of each of the markers A coordinate acquisition unit to acquire;
A first marker that is the marker existing on the first cross-sectional data that is one of the cross-sectional data, and a second marker that is the marker existing on the second cross-sectional data that is another adjacent cross-sectional data. The same embedded pipe determination unit that determines whether the same embedded pipe is indicated based on the three-dimensional coordinates of the first marker and the three-dimensional coordinates of the second marker acquired by the coordinate acquisition unit;
A connecting portion that connects the three-dimensional coordinates of the first marker and the second marker determined by the same embedded tube determination unit with a line segment determined to indicate the same embedded tube;
And an exploration map generation unit that generates an exploration map in which the line segments connected by the connection unit are projected onto a two-dimensional plane.

According to the above characteristic configuration, when scanning is performed along a plurality of scanning lines set on the ground surface, cross-sectional data at the scanning line position is acquired. Subsequently, a marker is set by the marker setting unit at a position where the embedded pipe may exist in the cross-sectional data, and the three-dimensional coordinate in which the marker is set is acquired by the coordinate acquisition unit. Furthermore, by connecting the three-dimensional coordinates determined by the same embedded pipe determination unit to indicate the embedded pipe (the three-dimensional coordinates of the first marker and the three-dimensional coordinates of the second marker) with a line segment by the connection unit A line is drawn to the position where the buried pipe is considered to exist. The connected line segments are projected and displayed on a two-dimensional plane by the exploration map generator.
With such a configuration, the worker can scan the position of the buried pipe in the search range by only scanning the scanning device on a plurality of scanning lines set parallel or orthogonal to each other. Can be grasped above.

Here, when scanning the exploration device, it is not necessary to scan the entire exploration range, and it is preferable to scan by providing a plurality of scan lines as appropriate in accordance with the embedding situation of the buried pipe that has been grasped in advance. For example, when the exploration area is set on a road, buried pipes are often provided in the traveling direction of the road, so that a plurality of transverse pipes in the traveling direction are arranged at appropriate intervals along the traveling direction of the road. It is possible to accurately grasp the position of the buried pipe simply by providing a scanning line and scanning.
For this reason, it is possible to reduce the number of scan lines to be set and to reduce the number of cross-section data acquired by the cross-section data acquisition unit, compared to the case where the entire search range is scanned. As a result, the amount of calculation for correcting the radio wave speed necessary for the underground exploration can be reduced, so that the calculation load required for generating the exploration map can be reduced.

  In the control unit of the exploration device, after the marker position is acquired from the cross-sectional data by the marker setting unit, only the three-dimensional coordinate group indicating the position where the marker is set is processed. For this reason, the amount of data can be greatly reduced and the calculation load can be reduced as compared with the case where the search map is generated by processing all the cross-sectional data acquired by scanning the scanning line as in the prior art. Therefore, it is also possible to generate an exploration map using a mobile terminal such as a smartphone or a tablet as necessary.

  As described above, it is possible to realize an exploration device capable of reducing the calculation load for visualizing the position of the buried object in the exploration range so that it can be easily grasped while reducing the work time required for the investigation of the buried object. it can.

Further characteristic configuration, the same buried pipe determination unit,
The three-dimensional coordinates of the second marker are within a predetermined distance relative to the three-dimensional coordinates of the first marker;
Third cross-sectional data, which is cross-sectional data different from the first cross-sectional data and the second cross-sectional data, is on an extension line of a vector connecting the three-dimensional coordinates of the first marker and the three-dimensional coordinates of the second marker. Exists,
When a third marker that is the marker present on the third cross-sectional data exists in the direction of the vector,
It is in determining that the first marker and the second marker indicate the same buried pipe.

  According to the above characteristic configuration, there is a possibility that an embedded pipe exists between the three-dimensional coordinates of the first marker on the first cross-sectional data and the three-dimensional coordinates of the second marker on the second cross-sectional data due to the connecting portion. When drawing a line segment at a high position, the same embedded pipe determination unit can determine the position where the embedded pipe is highly likely to exist with higher accuracy by using the third cross section data. That is, it is possible to realize an exploration device capable of acquiring the position of the buried object in the exploration range with higher accuracy and visualizing it so as to be easily grasped while suppressing the work time required for investigating the buried object.

Yet another characteristic configuration is that, when the third marker exists within a certain distance from a position where the extension line of the vector intersects in the third cross-sectional data,
The third marker is at a point considered to be present in the vector direction.

  According to the above-described characteristic configuration, for example, the first cross section is located at a position where there is a possibility that the buried pipe exists by eliminating the influence of the measurement error by previously determining a certain distance based on the measurement error. A line segment from the three-dimensional coordinates of the upper first marker to the three-dimensional coordinates of the second marker on the second cross section can be connected.

In another feature configuration, the exploration map generation unit
The line segment connected by the connection unit is configured to be displayed in different cases based on the coordinate position of the line segment in the depth direction.

  According to the above characteristic configuration, the position in the depth direction of the buried pipe indicated by the line segment on the two-dimensional search map can be distinguished. That is, the operator can check information on the depth direction in addition to the position of the buried pipe from the exploration map. That is, it is possible to realize an exploration device that can visualize the position of the buried object in the exploration range so that it can be easily grasped three-dimensionally while suppressing the work time required for investigating the buried object.

Schematic diagram of exploration equipment Exploration device block diagram Diagram showing correspondence between scan line and cross-section data The figure which shows the correspondence of the cross-sectional data and exploration map in 1st Embodiment. The figure which shows the correspondence of the cross-sectional data and exploration map in 2nd Embodiment. The figure which shows the correspondence of the cross-sectional data and exploration map in 3rd Embodiment.

1. Outline of Exploration Device The exploration device 3 according to an embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, one embodiment of the exploration device 3 includes an antenna 31 that is a transmission / reception means and a control unit 30 that processes a signal obtained by the transceiver as main devices. It is configured. And in this embodiment, the signal processing in the control part 30 has the characteristic.

  Further, as shown in FIG. 1B, the exploration device 3 is scanned along a scanning line SL set in an exploration range SA including a buried pipe X buried in the ground by being manually pushed by an operator. The When scanned along the scanning line SL, the search device 3 emits a search electromagnetic wave toward the ground, processes a reflected wave of the search electromagnetic wave, and exists in the medium below the search range SA. Used to probe the position of an object.

  In the present embodiment, the exploration device 3 is used for exploring the position of the buried pipe X existing in the ground as a medium, with the exploration range SA set on the ground surface.

  The exploration device 3 includes a control unit 30 that outputs an exploration map s as shown in FIG. 4B and FIG. 6F based on the reflected wave acquired by the antenna 31. The exploration map s shows an outline of the position of the buried pipe X in the exploration area SA. In FIG. 4B and FIG. 6F, the position where the possibility that the buried pipe X is present is black and thick. It is displayed as a line segment (two types of solid line and broken line). 4B and 6F, the horizontal direction of the exploration map s is the x direction, and the vertical direction is the y direction. The exploration map s output by the control unit 30 is displayed on the display unit 32 installed on the upper part of the exploration device 3 as shown in FIG.

  More specifically, the exploration device 3 is a hand-held radar exploration device, and travels along a scanning line SL set in a predetermined exploration range SA that is a target of exploration work for the buried pipe X. The exploration device 3 may be a self-propelled radar exploration device. The exploration device 3 emits exploration electromagnetic waves from the antenna 31 into the ground while traveling. If the buried pipe X exists in the propagation path of the radiated electromagnetic wave, the exploring electromagnetic wave is reflected there. The reflected wave that is reflected and returned is processed by the control unit 30, and an exploration map s for evaluating the presence of the target buried pipe X is generated.

  The search range SA is generally a specific range on a sidewalk, road, wall of a building, and the like, and a scanning line SL is set in the search range SA. The scanning lines SL are set so as to be parallel or orthogonal to each other. In the present embodiment, at least three or more scanning lines SL are set. At this time, a reference marker M that defines the scanning line SL is given to the ground surface of the search range SA as an index. In the present embodiment, as shown in FIG. 3A, since the embedded tube X is a straight tube in advance and the provided direction is clear, the plurality of scanning lines SL are arranged in one direction (y direction). ) Only.

  Here, the reference marker M that defines the scanning line SL is, for example, characters or symbols indicating the starting point, the middle point, or the ending point of the scanning line SL, and may be drawn directly on the ground surface with chalk or paint. A marker such as a triangular cone may be placed on the ground. Alternatively, the reference marker M that defines the scanning line SL can be created by a method of drawing a line indicating the scanning line SL or a method of placing a rope. That is, it is important that the actual scanning position and the search data at the scanning position are related by the position of the ground surface of the reference marker M. In addition, when the positional relationship of the scanning line SL is known in advance by the control unit 30, the reference marker M may not be added.

  In the example of FIG. 1A, the reference marker M is an index drawn with chalk on the ground, which includes black circles and arrows indicating the operation directions at the starting points of the three scanning lines SL. In the present embodiment, as described later, the scanning line SL may be set at an arbitrary interval and direction according to the situation of the buried pipe X that the operator wants to check.

2. Detailed Configuration of Search Device As shown in FIG. 2, the search device 3 includes an antenna 31, a control unit 30, and a display unit 32. The control unit 30 performs signal processing on the electromagnetic wave received by the antenna 31, and the display unit 32 displays the exploration map s signal-processed by the control unit 30 in the form of visualization.

2-1. Antenna The antenna 31 of the exploration device 3 is preferably composed of a plurality of antenna elements. The exploration device 3 transmits a pulsed electromagnetic wave in the microwave region through the antenna 31 to the ground at a predetermined repetition frequency and a transmission unit (both not shown) and the antenna 31 from the ground. A receiving unit (not shown) that receives the reflected wave reflected is provided.

  By the way, the exploration device 3 is moved along the scanning line SL set from the reference marker M, which is an index drawn on the ground with chalk, or from the reference marker M as a starting point. The exploration device 3 is equipped with a position detection sensor unit (not shown) for detecting the movement distance or the movement point. This position data is sent to the control unit 30 and is combined with the reflected wave reflected from the ground and used to create the exploration map s. The position detection sensor unit can be easily constructed by a rotary encoder connected to the traveling wheel, but may be constructed by GPS or a gyro.

2-2. Display Unit The display unit 32 includes a flat panel display that displays the exploration map s in a form that can be visually confirmed by an operator. Specifically, the exploration map s is visualized and displayed in the form shown in FIG. 4B on the flat panel display. The operator can grasp the position of the buried pipe X in the exploration range SA by viewing the exploration map s displayed on the display unit 32. As shown in FIG. 1B, the flat panel display is provided on the upper surface of the exploration device 3 in an inclined posture so that it can be clearly seen by an operator who manually pushes the exploration device 3.

2-3. Control unit The exploration device 3 appropriately amplifies the reception signal received by the reception unit, and performs signal processing on the amplified reception signal so that it can be displayed on the display unit 32. More specifically, the control unit 30 includes a cross-sectional data acquisition unit 40 that acquires the cross-sectional data P based on the received signal, a marker setting unit 41 and a coordinate acquisition unit for generating the coordinate group data p from the acquired cross-sectional data P 42, and a coordinate group data processing unit 50 for generating an exploration map s from the generated coordinate group data p.

  Hereinafter, the embodiment will be described on the assumption that the cross-sectional data P is two-dimensional data such as the schematic diagrams shown in FIGS. In the figure, the x direction indicates the position on the scanning line SL, and the z direction indicates the depth direction in the ground. The arc-shaped mark indicates a position where the intensity of the received signal is relatively high.

2-3-1. Cross Section Data Acquisition Unit The cross section data acquisition unit 40 acquires the cross section data P for each scanning line SL when the exploration device 3 is scanned on the scanning line SL by the operator. The cross-section data P is acquired by the cross-section data acquisition unit 40 based on the reception signals received by the position detection sensor unit and the reception unit as described above.

  The cross-sectional data P is data in which the intensity of the reflected wave at each spatial position (combination of the position on the scanning line SL and the depth of the ground) is recorded. For example, as shown in FIG. It can be visualized by a graph in which the position on the scanning line SL is taken in the (x direction) and the underground depth is taken in the vertical axis (z direction).

  This will be described using a specific example. FIG. 3A shows a view of a road in which a sewage pipe and a gas pipe are buried as the buried pipe X, as viewed from above. Cross section data generated by the cross section data acquisition unit 40 for each scanning line SL when the operator scans the exploration device 3 with the scanning range SL set in the area shown in FIG. P is shown in FIGS. 3 (b) to 3 (d).

  Here, the number and position of the scanning lines SL provided by the operator are appropriately set according to the accuracy of the required exploration map s. For example, as shown in FIG. 3A, when the road is in the search range SA, it is known in advance that the direction in which the buried pipe X is laid is along the road traveling direction (y direction). Therefore, for the purpose of roughly grasping the positional relationship of the buried pipe X under the exploration range SA, it is only necessary to provide the scanning lines SL at regular intervals in the y direction in the figure. In this case, the scanning line SL is preferably provided in parallel with the x direction.

  3B to 3D sequentially show cross-sectional data P (Pa to Pc) generated at positions indicated by Pa to Pc in FIG. In the figure, the horizontal direction is the x direction indicating the position on the scanning line SL, and the vertical direction is the z direction indicating the depth of the ground. In the figure, in the cross-sectional data P, only the portions where the intensity distribution of the reflected wave is formed in an arc shape are displayed. Further, a portion where the strength of the received signal is particularly high is indicated by a thick line.

2-3-2. Marker setting unit The marker setting unit 41 sets the marker m at a position where the embedded tube X may exist in the cross-sectional data P acquired by the cross-sectional data acquisition unit 40. The marker m is information indicating that there is a high possibility that the buried pipe X exists at the set spatial position.

  For example, in the cross-sectional data P (Pa to Pc) shown in FIGS. 3B to 3D, the marker m is set by the marker setting unit 41 at a location where the intensity of the reflected wave indicated by the thick line in the drawing is strong. The In the cross-sectional data P, a threshold value for determining a location where the marker m is set (in order to determine that the intensity of the reflected wave is high) may be set as appropriate.

  In the present embodiment, the marker m is automatically set by the marker setting unit 41. However, the marker setting unit 41 may confirm that the cross section data P is present by the operator and the embedded pipe X may exist. The marker m may be configured to be manually set at a position where it is determined that is high.

2-3-3. Coordinate Acquisition Unit The coordinate acquisition unit 42 acquires the three-dimensional coordinates of each of the markers m included in the cross-section data P in each of the plurality of cross-section data P acquired by the cross-section data acquisition unit 40. In the present embodiment, the three-dimensional coordinates are represented by (x, y, z) indicating the absolute positions in the x direction, y direction, and z direction in the drawing.

  The coordinate acquisition unit 42 acquires the three-dimensional coordinates of the marker m for all the cross-section data P acquired by the cross-section data acquisition unit 40, and uses the acquired three-dimensional coordinates as a group of coordinate group data p inside the control unit 30. Generate with In this way, by converting the plurality of cross-sectional data P into the coordinate group data p, it is possible to greatly reduce the data capacity and reduce the processing load for generating the exploration map s.

  Specifically, in the cross-sectional data P (Pa to Pc) shown in FIGS. 3B to 3D, the coordinate acquisition unit 42 sets the three-dimensional coordinates a1 and a2 of the marker m set by the marker setting unit 41. , B1 to b3, and c1 to c4 are acquired. The acquired three-dimensional coordinates are collected together and generated as coordinate group data p.

  As shown in FIG. 2, the coordinate group data p acquired by the coordinate acquisition unit 42 is appropriately processed by the coordinate group data processing unit 50 and visualized as a search map s on a two-dimensional plane. The coordinate group data processing unit 50 includes units 51 to 54 described below.

2-3-4. Same embedded pipe determination unit The same embedded pipe determination unit 51 determines whether or not two points of the three-dimensional coordinates included in the coordinate group data p indicate the same embedded pipe X based on their positional relationship. Configured to determine.

  In the present embodiment, for example, a marker acquired by the coordinate acquisition unit 42 as to whether one marker m in the cross-section data Pa and another marker m in the adjacent cross-section data Pb indicate the same buried pipe X. The determination is based on the positional relationship between the three-dimensional coordinates a1 of m and the three-dimensional coordinates b1 of the marker m. Here, “adjacent cross-section data P” refers to cross-section data P adjacent to the cross-section data P provided with one marker m in one direction (in this embodiment, the y-direction) provided with a plurality of scanning lines SL. Means.

  In this example, the cross-section data Pa corresponds to “first cross-section data”, and the cross-section data Pb corresponds to “second cross-section data”. Further, the marker m at the position of the three-dimensional coordinate a1 corresponds to the “first marker”, and the marker m at the position of the three-dimensional coordinate b1 corresponds to the “second marker”.

  More specifically, the three-dimensional coordinates (hereinafter referred to as coordinates p1) of the marker m in one cross-sectional data P and the three-dimensional coordinates (hereinafter referred to as coordinates p2) of the marker m in the other cross-sectional data P are as follows. When present, it is determined that the same buried pipe X is indicated when the coordinates p1 and the coordinates p2 satisfy the following two conditions.

  The first condition is that the coordinates p1 and the coordinates p2 exist within a predetermined distance, and the second condition is that another cross-sectional data P exists in the direction of the vector from the coordinates p1 to the coordinates p2. The three-dimensional coordinates indicating the presence of the marker m exist in the direction of the vector from the coordinate p1 to the coordinate p2 on the cross-sectional data P (in this embodiment, the position corresponding to the extension line of the vector).

  Here, the “predetermined distance” in the first condition may be appropriately set by the operator, and may be set to be about 1.2 times the distance between p1 and the other cross-sectional data P, for example. it can. If the buried pipe X can have a 90 ° bend, such as a gas pipe or a water pipe, the distance between p1 and other cross-sectional data P is set finely, like an electric / communication cable or a sewer pipe. In addition, when the buried pipe X is only a straight pipe, the distance between p1 and the other cross-sectional data P may be set coarsely. Specifically, in the case of a gas pipe or a water pipe, the distance between p1 and the other cross section data P is set to 25 cm, and in the case of an electric / communication cable or a sewer pipe, p1 and the other cross section data P are set. The distance between and should be set to 50 cm.

  Regarding determination of whether or not there is a three-dimensional coordinate different from the coordinates p1 and the coordinates p2 acquired by the coordinate acquisition unit 42 at a position on the extension line of the vector from the coordinates p1 to the coordinates p2 under the second condition. Shall allow some error. Specifically, the determination may be made based on whether or not three-dimensional coordinates exist within a certain distance from the position where the extension lines of the vector intersect in another cross-sectional data P.

  Here, the “certain distance” may be set in consideration of a measurement error, for example. Specifically, when the buried pipe X is a straight pipe, the length is 10 cm, and when it is a curved pipe, the length is 2 to 3 times that of a straight pipe.

  A specific example will be described with reference to FIGS. FIG. 4A shows three-dimensional coordinates a1, a2, b1 to b3 included in the coordinate group data p acquired from the cross-sectional data P (Pa to Pc) shown in FIGS. The projections of c1 to c4 are shown in a three-dimensional space.

  For example, paying attention to the three-dimensional coordinate a1 in the cross-sectional data Pa, in the cross-sectional data Pb, which is different cross-sectional data P, a three-dimensional coordinate existing within a predetermined distance is searched. In this example, it is assumed that the three-dimensional coordinate b1 is within a predetermined distance (the first condition is satisfied).

  Subsequently, the same buried pipe determination unit 51 calculates a vector from the three-dimensional coordinate a1 to the three-dimensional coordinate b1, and searches for the cross-sectional data P existing on the extension line of the vector. In this example, the cross-sectional data Pc exists on the extension line of the vector from the three-dimensional coordinate a1 to the three-dimensional coordinate b1, and the three-dimensional coordinate c1 exists on the extension line of the vector (the three-dimensional coordinates b1 are the above two Meet eye requirements). Here, the cross-sectional data Pc corresponds to “third cross-sectional data”, and the marker m at the position of the three-dimensional coordinate c1 corresponds to “third marker”.

  Based on the above results, in this example, it is determined that the three-dimensional coordinate a1 and the three-dimensional coordinate b1 indicate the same buried pipe.

  As another example, attention is paid to the three-dimensional coordinate a2 in the cross-sectional data Pa. In this example, it is assumed that the three-dimensional coordinates b2 and b3 are within a predetermined distance (the first condition is satisfied).

  Subsequently, the same buried pipe determination unit 51 calculates a vector from the three-dimensional coordinate a1 to the three-dimensional coordinate (b2 or b3) for each of the three-dimensional coordinates (b2 and b3), and exists on an extension line of the vector. Find the cross-sectional data P to be used.

  In this example, the cross-sectional data Pc exists on the extension line of the vector from the three-dimensional coordinate a2 to the three-dimensional coordinate b2, and the three-dimensional coordinate c2 exists on the extension line of the vector (the three-dimensional coordinates b2 are the above two Meet eye requirements). Here, the cross-section data Pc corresponds to “third cross-section data”, and the marker m at the position of the three-dimensional coordinate c2 corresponds to “third marker”.

  On the other hand, the cross-section data P does not exist on the extension line of the vector from the three-dimensional coordinate a2 to the three-dimensional coordinate b3 (the three-dimensional coordinate b3 does not satisfy the second condition).

  Based on the above results, in this example, it is determined that the three-dimensional coordinate a2 and the three-dimensional coordinate b2 indicate the same buried pipe. The same embedded pipe determination unit 51 performs such processing for all three-dimensional coordinates included in the coordinate group data p, and obtains two points indicating the same embedded pipe X.

2-3-5. Connection unit The connection unit 52 represents a line segment that connects the three-dimensional coordinates of one marker m and another marker m determined by the same embedded tube determination unit 51 to indicate the same embedded tube X in a three-dimensional space. To place. Specifically, as illustrated in FIG. 4A, two points indicating the same embedded pipe X obtained by the same embedded pipe determining unit 51 are connected by a line segment. Specifically, in FIG. 4A, line segments L1 to L4 are connected.

2-3-6. Depth Direction Reflecting Unit In the present embodiment, the coordinate group data processing unit 50 includes a depth direction reflecting unit 53. The direction reflection unit 53 displays the line segments connected by the connection unit 52 in different cases based on the coordinate positions of the line segments in the depth direction (z direction in the figure).

  Specifically, the depth direction reflecting unit 53 is configured to change the line type (solid line and broken line) according to the position in the depth direction, for example, as illustrated in FIG. . In the example of FIG. 4A, L1 and L2 are indicated by broken lines, and L3 and L4 that are closer to the ground surface than L1 and L2 are indicated by solid lines.

  Note that the method of dividing the line segment by the depth direction reflecting unit 53 is not limited to changing the line type, but the color of the line segment is changed, the color density of the line segment is changed, the thickness of the line segment is changed, and the like. Various methods may be used.

2-3-7. Exploration Map Generation Unit The exploration map generation unit 54 projects and displays a line segment in the three-dimensional space arranged by the connection unit 52 on a two-dimensional plane. More specifically, the exploration map generation unit 54 generates the exploration map s by projecting a line segment in the three-dimensional space onto the surface (the xy plane in the drawing) of the exploration area SA, and the exploration map. s is displayed on the display unit 32. That is, a state when a line segment in the three-dimensional space is viewed from the surface of the search range SA (the xy plane in the drawing) is generated as the search map s.

  A specific example of the exploration map s is shown in FIG. By displaying such an exploration map s on the display unit 32, the operator knows where the buried pipe X exists in the exploration range SA and how deep it is. It becomes possible.

[Second Embodiment]
In the first embodiment, an example has been shown in which it is known in advance that the buried pipe X is laid in only one direction in the exploration range SA. In this case, as described above, the scanning lines SL may be provided only at a constant interval only in the y direction as shown in FIG.

  However, in actual sites, there are many cases where the buried pipe X is not laid in only one direction in the exploration range SA, or where it is unknown how it is laid in the first place. Hereinafter, an operation procedure of the exploration device 3 and a process in the control unit 30 of the exploration device 3 in such a case will be described. In addition, in order to simplify description, in this embodiment, each process in the control part 30 is demonstrated on an xy plane (two-dimensional space).

  The configuration of the exploration device 3 is the same as in the above embodiment. First, as shown in FIG. 5A, the operator sets scanning lines SL in a grid pattern at regular intervals in the search range SA. That is, in the present embodiment, the plurality of scanning lines SL are set in any of two orthogonal directions (x direction and y direction in the figure). The interval between the scanning lines SL at this time is preferably 25 cm, for example.

  In the present embodiment, as shown by the dotted line in FIG. 5A, the buried pipe X has a bent portion. FIG. 5B shows the result of scanning each scanning line SL in FIG. In FIG. 5B, the position of the cross-sectional data P corresponding to each scanning line SL is indicated by a broken line, and the coordinates corresponding to the buried pipe marker m in the cross-sectional data P are indicated by black dots.

  When the operator scans the scanning device 3 on the scanning line SL, the scanning device 3 acquires the cross-sectional data P corresponding to each scanning line SL by the cross-sectional data acquiring unit 40. Further, the embedded pipe marker m is set in each cross-section data P by the marker setting unit 41, the coordinates of each embedded pipe marker m are acquired by the coordinate acquisition unit 42, and the coordinate group data p is generated.

  In the present embodiment, the method for selecting “adjacent cross-section data P” in the same embedded pipe determination unit 51 in the coordinate group data processing unit 50 is different from that in the first embodiment. Specifically, with respect to the coordinates of one marker m, as the cross-sectional data P adjacent to the coordinates, two directions (in the figure, x) where the scanning line SL is provided with respect to the coordinates of the one marker m. The cross-sectional data P existing adjacent to any one of the direction and the y direction) is used.

  In the example of FIG. 5B, for example, the cross-section data Px1, Px2, Py1, and Py2 correspond to “adjacent cross-section data P” with respect to the coordinates of the marker m on the cross-section data Py2. Here, when the cross-sectional data Py2 is “first cross-sectional data”, the cross-sectional data Py1 or Py3 corresponds to “second cross-sectional data”.

  In the present embodiment, when there are a plurality of adjacent cross-section data P with respect to the coordinates of one marker m in the first cross-section data, one marker is used for each cross-section data P as the second cross-section data. It is determined whether the coordinates of m and the other marker m in the second cross-sectional data indicate the same buried pipe X. About the determination method, it carries out similarly to the said 1st Embodiment.

  Thereby, in the same embedded pipe determination part 51, it is determined based on those positional relationships whether two points of the three-dimensional coordinates included in the coordinate group data p indicate the same embedded pipe X. Can do. The processes of the connection unit 52 to the exploration map generation unit 54 in the coordinate group data processing unit 50 are the same as those in the first embodiment.

  As described above, as shown in FIG. 5B, a line segment is drawn at a position where the buried pipe X may exist in the exploration map s. As shown in the figure, by setting the scanning lines SL in a lattice shape, even if the buried pipe X is bent, it is possible to display a line segment at a substantially correct position. When it is desired to grasp the position of the buried pipe X with higher accuracy, it is preferable to reset the scanning lines SL at finer intervals and acquire the cross-sectional data P again.

[Third Embodiment]
As a third embodiment, an example of a configuration in which the same buried pipe determination unit 51 determines that two points of the coordinate group data p indicate the same buried pipe X by a method different from the first embodiment. Indicates. In the present embodiment, an example is shown in which a scanning line SL parallel to the x direction and a scanning line SL parallel to the y direction are set in the search range SA. Since other configurations are the same as those in the first embodiment, description thereof is omitted.

  As shown in FIG. 6F, in the present embodiment, scanning lines SL are set at five locations indicated by Pa2 to Pe2 on the search range SA (xy plane). Sectional data P (Pa2 to Pe2) acquired by scanning the positions Pa2 to Pe2 are shown in FIGS.

  In the present embodiment, the same embedded pipe determination unit 51 determines that the three-dimensional coordinates at the same depth direction (z direction) in the adjacent cross-section data P indicate the same embedded pipe X. . With such a configuration, when the scanning line SL is set in both the x direction and the y direction, the embedded tube X is bent as shown in FIG. 6 (f) based on the cross-sectional data Pa2-Pe2. The exploration map s can be suitably generated and displayed on the display unit 32 even when the buried pipe X intersects at a position between the sectional data Pb and the sectional data Pc. It becomes.

[Another embodiment]
(1) The determination method by the same embedded pipe determination part 51 is not restricted to the method shown in the said 1st-3rd embodiment. For example, when the distance between the three-dimensional coordinate of the marker m in one cross-sectional data P and the three-dimensional coordinate of the marker m in the other cross-sectional data P is within a predetermined distance, the same buried pipe is indicated. You may judge.

  Further, for example, the three-dimensional coordinates of the marker m in one cross-sectional data P and the three-dimensional coordinates of the marker m in the other cross-sectional data P are viewed on the surface (xy plane) of the search range SA, and the coordinates You may determine that the distance between them exists in a predetermined distance as showing the same buried pipe.

  In the first embodiment, as a second condition for determining whether the same buried pipe determination unit 51 indicates the same buried pipe X, another cross section is provided in the vector direction from the coordinate p1 to the coordinate p2. An example is shown in which one piece of data P is present and three-dimensional coordinates indicating the presence of the marker m are present at a position corresponding to an extension line of a vector from the coordinate p1 to the coordinate p2 on the cross-sectional data P. . That is, the example in which the same embedded pipe determination unit 51 performs the determination based on the three cross-sectional data P is shown.

  However, the second condition is not limited to such a form. That is, the same embedded pipe determination unit 51 may perform determination based on four or more cross-sectional data P. Specifically, as the second condition, the same buried pipe determination unit 51 has two or more cross-sectional data P in the vector direction from the coordinate p1 to the coordinate p2, and the cross-section data in any cross-sectional data P It may be used that three-dimensional coordinates indicating the presence of the marker m are present at a position corresponding to an extension line of a vector from the coordinate p1 to the coordinate p2 on the data P.

  Moreover, although the said example showed the example in the case where all determine automatically in the same embedment pipe determination part 51, the three-dimensional coordinate from which it is determined that the operator arbitrarily shows the same embedment pipe It does not matter as a configuration that can be added or deleted.

(2) In the said embodiment, although the example in the case of providing the depth direction reflection part 53 was shown, it is good also as a structure which does not provide the depth direction reflection part 53. FIG.

(3) In the above embodiment, an example in which the connecting portion 52 connects a line segment from the coordinate p1 to the coordinate p2 on the three-dimensional space is shown. However, the connecting portion 52 is a line segment on the two-dimensional space. Can be tied. Specifically, the connection unit 52 may be configured to connect the line segments in a state where the coordinates p1 and the coordinates p2 are projected on the xy plane (that is, a state where the coordinates p1 and the coordinates p2 are projected on the exploration map s).

(4) In the above-described embodiment, an example in which the control unit 30 and the display unit 32 are integrated with the antenna 31 as the exploration device 3 has been described, but each unit may be provided as a separate body. Absent.

  For example, as the exploration device 3, a combination of an exploration device that only acquires the cross-sectional data P and generates the coordinate group data p and a portable terminal that can communicate with the exploration device may be used. Specifically, the exploration device includes an antenna 31, a cross-section data acquisition unit 40, a marker setting unit 41, and a coordinate acquisition unit 42, and a mobile terminal such as a smartphone or a tablet includes the coordinate group data processing unit 50 and the control unit 30. A configuration including the display unit 32 is possible.

  The present invention processes a reflected wave of an electromagnetic wave for exploration radiated toward the ground when scanned along a plurality of scanning lines set to be parallel or orthogonal to each other in the exploration range on the ground surface. It can be used as an exploration device including a control unit that acquires cross-sectional data indicating the state of burying a buried pipe in a vertical sectional view including the scanning line.

3: Exploration device 30: Control unit 41: Marker setting unit 42: Coordinate acquisition unit 51: Same buried pipe determination unit 52: Connection unit 54: Exploration map generation unit P: Section data Pa to Pc: Section data Pa2 to Pe2: Section Data SA: Exploration range SL: Scan line X: Buried pipes a1, a2, b1 to b3, c1 to c4: Three-dimensional coordinates m: Markers s: Exploration map

Claims (4)

When scanning along a plurality of scanning lines set to be parallel or orthogonal to each other in the search range on the ground surface, the reflected waves of the search electromagnetic waves radiated toward the ground are processed, and the scan lines An exploration device including a control unit that acquires cross-sectional data indicating a buried state of a buried pipe in a vertical sectional view including:
The control unit is
In each of the acquired plurality of cross-sectional data, in each of the cross-sectional data, a marker setting unit that sets a marker at a position where the embedded pipe may exist, and in each of the plurality of cross-sectional data, the three-dimensional coordinates of each of the markers A coordinate acquisition unit to acquire;
A first marker that is the marker existing on the first cross-sectional data that is one of the cross-sectional data, and a second marker that is the marker existing on the second cross-sectional data that is another adjacent cross-sectional data. The same embedded pipe determination unit that determines whether the same embedded pipe is indicated based on the three-dimensional coordinates of the first marker and the three-dimensional coordinates of the second marker acquired by the coordinate acquisition unit;
A connecting portion that connects the three-dimensional coordinates of the first marker and the second marker determined by the same embedded tube determination unit with a line segment determined to indicate the same embedded tube;
An exploration apparatus comprising: an exploration map generation unit that generates an exploration map obtained by projecting the line segments connected by the connection unit onto a two-dimensional plane. The same buried pipe determination unit,
The three-dimensional coordinates of the second marker are within a predetermined distance relative to the three-dimensional coordinates of the first marker;
Third cross-sectional data, which is cross-sectional data different from the first cross-sectional data and the second cross-sectional data, is on an extension line of a vector connecting the three-dimensional coordinates of the first marker and the three-dimensional coordinates of the second marker. Exists,
When a third marker that is the marker present on the third cross-sectional data exists in the direction of the vector,
The exploration device according to claim 1, wherein the first marker and the second marker are determined to indicate the same buried pipe. When the third marker is present within a certain distance from the position where the extension lines of the vectors intersect in the third cross-sectional data,
The exploration device according to claim 2, wherein the third marker is considered to exist in the direction of the vector. The exploration map generation unit
The exploration according to any one of claims 1 to 3, wherein the line segment connected by the connection portion is configured to be classified and displayed based on a coordinate position of the line segment in a depth direction. apparatus.

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