JP2020186994A - Buried object measurement device, method, and program - Google Patents

Abstract

To provide a buried object measurement device, method, and program which improve measurement efficiency when a measurement part measures a buried object while moving within a measurement range.SOLUTION: When an electromagnetic wave device 12 measures a buried object while moving within a measurement range, an estimation section 22 estimates a three-dimensional map of the outside of a building and the vicinity of a measurement device and a self position on the three-dimensional map. An instruction section 24 specifies a range in which the own device has completed the measurement on the three-dimensional map and instructs the own device to move to a direction for measuring an unmeasured range.SELECTED DRAWING: Figure 6

Description

The present invention relates to buried object measuring devices, methods, and programs.

For example, when constructing a buried pipe buried in the ground, the ledger in which information such as the position of the buried pipe is recorded is referred to, but the position of the buried pipe may differ between the record in the ledger and the actual position. .. When constructing a buried pipe, it is desirable to accurately grasp the buried position in advance from the viewpoint of preventing damage to the buried pipe and improving work efficiency.

Regarding the measurement of buried objects such as buried pipes, for example, a pipe type discriminating device for nondestructively discriminating the pipe type of a pipe member has been proposed. This device includes a transmitting antenna that emits electromagnetic waves toward the buried pipe, a receiving antenna that receives reflected electromagnetic waves from the buried pipe, a signal calculation processing means that processes the received signal of the receiving antenna as required, and signal calculation. It is provided with a pipe type determining means for nondestructively determining the pipe type of the buried pipe by using the processing signal of the processing means. Then, the signal calculation processing means processes the reflected electromagnetic wave from the bottom surface of the buried pipe, calculates the propagation time from being transmitted from the transmitting antenna to being received by the receiving antenna, and the tube type determining means is the electromagnetic wave. The tube type is determined non-destructively based on the propagation time.

JP-A-2002-228599

When measuring a wide measurement range, it is necessary to measure at each point while moving the measuring device, but in order to measure the measurement range without omission and to accurately grasp the measurement data at which point. In addition, in the conventional on-site measurement, it is necessary to draw a measurement line as a mark of the measurement position on the measurement surface such as a road surface in advance (hereinafter referred to as "measurement line setting work"). This survey line setting work occupies about 50% of the on-site measurement time, which causes a decrease in measurement efficiency.

The present invention has been made in view of the above points, and provides a buried object measuring device, a method, and a program capable of improving the measurement efficiency when measuring a buried object while moving the measuring range. With the goal.

In order to achieve the above object, the buried object measuring device according to the present invention has a measuring unit that measures buried objects while moving the measurement range, a three-dimensional map around the measuring unit, and the measurement in the three-dimensional map. An estimation unit that estimates the position of the unit, an instruction unit that specifies a region that has been measured by the measurement unit in the three-dimensional map, and an instruction unit that indicates a movement direction for the measurement unit to measure an unmeasured region. Is configured to include.

According to the buried object measuring device according to the present invention, when the measuring unit measures the buried object while moving the measurement range, the estimating unit is a three-dimensional map around the measuring unit and the measuring unit in the three-dimensional map. The position is estimated, the indicating unit identifies the measured area on the three-dimensional map, and the measuring unit instructs the moving direction for measuring the unmeasured area. As a result, it is possible to improve the measurement efficiency when measuring the buried object while moving the measurement range without requiring the work of setting the measurement line on the surface of the structure with a marker or the like as the pre-processing of the measurement. ..

Further, the instruction unit identifies a region measured by the measurement unit in the three-dimensional map based on the position of the measurement unit estimated by the estimation unit and the measurement width of the measurement unit, and measures the measurement. It is possible to display on the display device a screen in which the measured area is represented in a mode different from that of the unmeasured area. By explicitly displaying the measured area, it becomes easy to grasp the moving direction for measuring the unmeasured area.

Further, the indicating unit measures the measurement unit so that the overlap width between the end of the measurement width of the measurement unit and the measured area is within a predetermined range from the position of the measurement unit estimated by the estimation unit. A screen in which the moving direction when moving the unit is drawn on the three-dimensional map can be displayed on the display device. In addition, the indicator unit can issue a warning when the overlap width between the end of the measurement width of the measurement unit and the measured area becomes a predetermined value or less during measurement by the measurement unit. .. In addition, the indicator can check whether the unmeasured region remains within a predetermined range. As a result, measurement can be performed efficiently without omission.

In addition, the measuring unit can measure the intensity of the reflected wave of the electromagnetic wave radiated inward from the measuring surface at each position on the measuring surface. As a result, information such as the burial position of the buried object can be obtained.

Further, in the buried object measuring device according to the present invention, the intensity of the reflected wave of the electromagnetic wave measured at each position by the measuring unit is three-dimensionalized based on the position of the measuring unit estimated by the estimating unit. A generator that generates an image can be further included. As a result, the information inside the structure can be reproduced in three dimensions.

In addition, the generation unit can align the generated three-dimensional image with the three-dimensional map estimated by the estimation unit to generate a three-dimensional image showing the inside and outside of the measurement surface. As a result, for example, when performing work on a buried object whose burial position is specified, the ease of work, obstacles, and the like can be grasped from the surrounding conditions.

In addition, the generation unit can correct the three-dimensional image according to the height or inclination of the measurement surface indicated by the three-dimensional map. As a result, the buried object can be reproduced with higher accuracy.

Further, in the buried object measuring method according to the present invention, the measuring unit measures the buried object while moving the measurement range, and the estimating unit measures the three-dimensional map around the measuring unit and the measuring unit in the three-dimensional map. This is a method in which the position of the above is estimated, the instructing unit identifies the area measured by the measuring unit in the three-dimensional map, and the measuring unit instructs the moving direction for measuring the unmeasured area.

Further, in the buried object measurement program according to the present invention, when the measuring unit measures the buried object while moving the measurement range, the three-dimensional map around the measuring unit and the measuring unit in the three-dimensional map. The estimation unit functions as an estimation unit that estimates the position of the device, and the measurement unit specifies an area that has already been measured in the three-dimensional map, and the measurement unit functions as an instruction unit that indicates a moving direction for measuring an unmeasured area. It is a program to make you.

According to the buried object measuring device, method, and program according to the present invention, the position of the measuring unit is estimated in the three-dimensional map around the measuring unit and the three-dimensional map, and the area measured by the measuring unit in the three-dimensional map is determined. By specifying and instructing the moving direction for measuring the unmeasured area by the measuring unit, it is possible to improve the measurement efficiency when measuring the buried object while moving the measuring range.

It is external perspective view of the buried object measuring apparatus. It is a front view and the side view of the buried object measuring device. It is a figure for demonstrating the detection of a reflection response waveform. It is a figure which shows an example of the reflection response waveform detected per one grid. It is a block diagram which shows the hardware configuration of a processing part. It is a block diagram which shows an example of the functional structure of a processing part. It is a figure which shows an example of a 3D map. It is a figure for demonstrating the identification of the measured area, the measurement prediction line, and the moving direction. It is a figure which shows an example of a navigation screen. It is a figure for demonstrating the reflected wave intensity image in a horizontal direction, a transverse direction, and a longitudinal direction. It is a figure which shows an example of the reflected wave intensity image in a horizontal direction, a transverse direction, and a longitudinal direction. It is a figure which shows an example of the underground analysis image. It is a figure which shows an example of the underground / ground combined image. It is a flowchart which shows an example of a navigation process. It is a flowchart which shows an example of analysis processing.

Hereinafter, an example of the embodiment of the present invention will be described with reference to the drawings.

In this embodiment, a case of measuring the burial position of the burial pipe buried in the road structure will be described.

FIG. 1 is an external perspective view of the buried object measuring device 10 according to the present embodiment, and FIG. 2 is a front view and a side view. As shown in FIGS. 1 and 2, the buried object measuring device 10 includes an electromagnetic wave device 12, a laser scanner 16, a color camera 18, and a processing unit 20, and each of these configurations is mounted on a wheelbarrow 30. The entire buried object measuring device 10 is movable.

The electromagnetic wave device 12 includes a plurality of electromagnetic wave irradiation units and reception units provided on a line orthogonal to the moving direction of the buried object measuring device 10. As shown in FIG. 3, the electromagnetic wave device 12 irradiates an electromagnetic wave from the road surface in the underground direction (depth direction) while scanning in the measurement range 95 moving direction of the road surface, and receives the reflected wave. As a result, the reflected wave intensity according to the depth is detected for each grid in the measurement range 95. The reflected wave intensity according to the depth is detected in the form of a reflection response waveform as shown in FIG. 4 per grid. One grid is, for example, 1 cm × 1 cm, and one line width can be 1.0 m. In this case, 100 grids of reflection response waveforms are detected per line.

The depth corresponds to the time from the irradiation of the electromagnetic wave to the reception of the reflected wave. By extracting the reflected wave intensity corresponding to each desired depth from the reflection response waveform as shown in FIG. 4, the reflected wave intensity for each depth of the road structure can be obtained. That is, the reflection response waveform is detected for each grid set two-dimensionally with respect to the road surface, and a plurality of reflected wave intensity values in the depth direction are obtained from the detected reflection response waveform, whereby the measurement range is measured. At 95, a three-dimensional reflected wave intensity can be obtained.

The electromagnetic wave device 12 outputs the information of the reflection response waveform (reflected wave intensity according to the depth) for each acquired grid to the processing unit 20 as measurement data. The electromagnetic wave device 12 is an example of the measuring unit of the present invention.

The laser scanner 16 irradiates the laser while scanning in the horizontal and vertical directions, measures the time until the laser reflects back at each point of the peripheral object of the buried object measuring device 10, and measures the TOF (Time of Flight). ) Method, the time from laser irradiation to return is converted into distance. The laser scanner 16 calculates the three-dimensional coordinate values (X, Y, Z) of each point based on the irradiation angle of the laser and the distance to each point, and processes the three-dimensional (3D) point cloud data in the processing unit 20. Output to.

The color camera 18 is a camera capable of taking a color image, preferably a camera capable of taking a wide angle of view around the buried object measuring device 10 such as a 360 ° camera. The color camera 18 outputs the captured color image to the processing unit 20.

The processing unit 20 is an information processing device such as a personal computer or a tablet terminal. FIG. 5 is a block diagram showing a hardware configuration of the processing unit 20. As shown in FIG. 5, the processing unit 20 includes a CPU (Central Processing Unit) 42, a memory 44, a storage device 46, an input device 48, an output device 50, an optical disk drive device 52, and a communication I / F (Interface) 54. Have. Each configuration is communicably connected to each other via a bus.

The storage device 46 stores a buried object measurement program for executing a buried object measurement process including a navigation process and an analysis process described later. The CPU 42 is a central arithmetic processing unit that executes various programs and controls each configuration. That is, the CPU 42 reads the program from the storage device 46 and executes the program using the memory 44 as a work area. The CPU 42 controls each of the above configurations and performs various arithmetic processes according to the program stored in the storage device 46.

The memory 44 is composed of a RAM (Random Access Memory), and temporarily stores programs and data as a work area. The storage device 46 is composed of a ROM (Read Only Memory) and an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data.

The input device 48 is a device for performing various inputs such as a keyboard and a mouse. The output device 50 is a device for outputting various information such as a display and a printer. By adopting a touch panel display as the output device 50, it may function as an input device 48. The optical disc drive device 52 reads data stored in various recording media such as a CD-ROM (Compact Disc Read Only Memory) or a Blu-ray disc, and writes data to the recording medium.

The communication I / F 54 is an interface for communicating with other devices, and standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark) are used.

FIG. 6 is a block diagram showing an example of the functional configuration of the buried object measuring device 10. As shown in FIG. 6, the buried object measuring device 10 includes an estimation unit 22, an instruction unit 24, and a generation unit 28 as a functional configuration. Further, a part of the storage area of the buried object measuring device 10 functions as a 3D map / measurement data storage unit 26. Each functional configuration is realized by the CPU 42 reading the buried object measurement program stored in the storage device 46, expanding the program into the memory 44, and executing the program.

The estimation unit 22 estimates the position of the buried object measuring device 10 on the outside (ground) of the road structure and the 3D map around the buried object measuring device 10 and the 3D map. Specifically, the estimation unit 22 acquires the 3D point cloud data output from the laser scanner 16 and matches it with the predetermined shape data to match the 3D point cloud data around the buried object measuring device 10 as shown in FIG. 7, for example. Estimate a 3D map showing the dimensional shape. Further, the estimation unit 22 estimates the self-position (elliptical portion in FIG. 7) in the three-dimensional space represented by the 3D map based on the acquired 3D point cloud data. The estimation unit 22 can use, for example, SLAM (Simultaneous Localization and Mapping) technology for estimating the 3D map and the self-position.

The estimation unit 22 stores the estimated 3D map and self-position information in the 3D map / measurement data storage unit 26, and passes it to the instruction unit 24.

In the 3D map delivered from the estimation unit 22, the instruction unit 24 identifies the area measured by the buried object measuring device 10 and determines the moving direction for the buried object measuring device 10 to measure the unmeasured area. Instruct.

Specifically, the instruction unit 24 is 3D as shown in FIG. 8 based on the movement locus of the self-position of the buried object measuring device 10 estimated by the estimating unit 22 and the measurement width of the buried object measuring device 10. In the map, the buried object measuring device 10 identifies the measured area, that is, the measured area. In FIG. 8, for the sake of simplicity, the periphery of the buried object measuring device 10 shown by the 3D map is represented by a two-dimensional plane.

As shown in FIG. 8, for example, in the instruction unit 24, the overlap width between the end portion of the measurement width and the measured area is within a predetermined range from the self-position of the buried object measuring device 10 estimated by the estimation unit 22. When the buried object measuring device 10 is moved as described above, the measurement prediction line and the moving direction are specified.

The instruction unit 24 acquires a color image from the color camera 18, matches the feature points of the image with the 3D map, adds color information of the actual image to each point group, and colors the 3D map. .. This improves the reproducibility of the 3D map. Then, the instruction unit 24 represents the measured area in a different manner from the unmeasured area in the colorized 3D map, and draws the specified measurement prediction line and the moving direction on the navigation screen (hereinafter, abbreviated as "navigation screen"). ”) Is generated and displayed on the display device which is the output device 50. FIG. 9 shows an example of the navigation screen. In the example of FIG. 9, the measured area is filled and displayed in a manner that can be distinguished from the unmeasured area. Further, in the example of FIG. 9, an illustration simulating a worker who moves the buried object measuring device 10 is also drawn.

By moving the buried object measuring device 10 along the measurement prediction line in the moving direction instructed on this navigation screen, the worker leaks from the measurement range 95 without requiring the measurement line setting work. It is possible to perform efficient measurement without any problems.

Further, the instruction unit 24 determines the overlapping width between the end of the measurement width and the measured area during measurement by the buried object measuring device 10 instead of the display of the navigation screen or together with the display of the navigation screen. When it becomes less than the value, a warning may be output by a voice message, a beep sound, or the like. Further, when the instruction unit 24 receives the instruction for confirming the unmeasured area or the instruction for ending the measurement, the instruction unit 24 checks whether or not the unmeasured area remains in the measurement range 95, and if it remains. May issue a warning to that effect.

As described above, the 3D map / measurement data storage unit 26 stores the 3D map estimated by the estimation unit 22 and the self-position information. Instead of the 3D map estimated by the estimation unit 22, the colorized 3D map by the instruction unit 24 may be stored in the 3D map / measurement data storage unit 26. The 3D map and the self-position information are stored in association with the measurement time of the 3D point cloud data used when estimating the 3D map.

Further, the 3D map / measurement data storage unit 26 stores the measurement data (reflection response waveform for each grid) measured by the electromagnetic wave device 12 in association with the measurement time. The measurement time associated with the 3D map, self-position information (trajectory), and measurement data can be synchronized with each other by using the time of the GPS (Global Positioning System) clock with the electromagnetic wave device 12 and the laser scanner 16. To do so.

The generation unit 28 generates an underground analysis image in which the measurement data stored in the 3D map / measurement data storage unit 26 is three-dimensionalized based on the self-position information. Specifically, the generation unit 28 extracts the reflected wave intensity for each desired depth from the measurement data, that is, the reflection response waveform for each grid measured by the electromagnetic wave device 12, and converts the reflected wave intensity into a pixel value. A reflected wave intensity image is generated by converting and plane-coupling the pixels corresponding to each grid.

As described above, since the information of the reflection response waveform of each grid output from the electromagnetic wave device 12 represents the three-dimensional reflected wave intensity, the generation unit 28 uses this information as shown in FIG. Multiple reflected wave intensity images in the horizontal direction (depth direction), multiple reflected wave intensity images in the transverse direction (moving direction of the buried object measuring device 10), and multiple reflected waves in the longitudinal direction (width direction of the measurement range 95). Intensity images can be generated. The generation unit 28 specifies which position each reflected wave intensity image corresponds to in each direction based on the self-position information. FIG. 11 shows an example of the reflected wave intensity image in each direction.

The generation unit 28 specifies a three-dimensional position (x, y, z) of the buried pipe based on a plurality of reflected wave intensity images in each direction, and sets the specified position as the center of the pipe diameter. Further, as shown in FIG. 12, the generation unit 28 of each buried pipe is based on the information on the type and diameter of the buried pipe obtained from the design information or ledger information of the buried pipe and the specified pipe diameter center. Along with reproducing the three-dimensional shape, a three-dimensional underground analysis image color-coded according to the type of the buried pipe is generated.

In addition, the generation unit 28 aligns the underground analysis image and the 3D map and combines them to generate a three-dimensional underground / ground combined image showing the inside and outside of the road structure. Specifically, at least three points are set with a fixed structure such as a manhole, which is commonly obtained from the measurement site and the measurement data and the 3D map, as a reference point. The generation unit 28 aligns the 3D map with the underground analysis image by matching the reference point with the 3D map and the underground analysis image.

In addition, the generation unit 28 corrects the underground analysis image according to the height or inclination of the road surface indicated by the 3D map. Since the 3D map has height information such as topography, the inclination and height of the ground surface are expressed. On the other hand, if the underground analysis image generated from the measurement data of the electromagnetic wave device 12 does not have information on the inclination and height of the ground surface, the topography of the ground surface cannot be reproduced, so the 3D map and the underground analysis image are displayed. When joining, it is necessary to have a process to match the inclination and height of the ground surface. For example, the generation unit 28 adjusts the horizontal position between the 3D map and the underground analysis image, and then uses the ground surface height of the 3D map directly above at the change point of the buried pipe obtained from the 3D underground analysis image as a reference. As a result, the depth of the buried pipe is corrected according to the shape of the ground surface.

The generation unit 28 displays the generated three-dimensional underground analysis image and the underground / ground combined image on the display device.

Next, the operation of the buried object measuring device 10 according to the present embodiment will be described.

At the measurement site, while moving the buried object measuring device 10, the measurement data measured by the electromagnetic wave device 12 is acquired and sequentially stored in the 3D map / measurement data storage unit 26. Then, in conjunction with the measurement of the measurement data, the processing unit 20 executes the navigation process shown in FIG. The electromagnetic wave device 12 and the processing unit 20 are connected by Ethernet (registered trademark), commands such as measurement start and end are exchanged between the electromagnetic wave device 12 and the processing unit 20, and navigation processing is performed by the electromagnetic wave device 12. Linked with the start and end of measurement. When the analysis of the measurement data is instructed after the measurement is completed, the processing unit 20 executes the analysis process shown in FIG. Hereinafter, each of the navigation process and the analysis process will be described in detail. The navigation process and the analysis process are examples of the buried object measurement method of the present invention.

First, the navigation process will be described. When the measurement start command is received from the electromagnetic wave device 12, the navigation process shown in FIG. 14 starts.

In step S12, the estimation unit 22 acquires the 3D point cloud data output from the laser scanner 16 and measures the buried object on the outside (ground) of the road structure and around the buried object measuring device 10 and the 3D map. The position of the device 10 is estimated. The estimation unit 22 stores the estimated 3D map and self-position information in the 3D map / measurement data storage unit 26, and passes it to the instruction unit 24.

Next, in step S14, the indicating unit 24 measures the buried object in the 3D map based on the movement locus of the self-position of the buried object measuring device 10 estimated by the estimating unit 22 and the measurement width of the buried object measuring device 10. The device 10 identifies the measured area.

Next, in step S16, for example, as shown in FIG. 8, the indicator unit 24 overlaps the end of the measurement width with the measured area from the self-position of the buried object measuring device 10 estimated by the estimation unit 22. The measurement prediction line and the moving direction when the buried object measuring device 10 is moved so that the width is within a predetermined range are specified.

Next, in step S18, the instruction unit 24 acquires a color image from the color camera 18, matches the feature points of the image with the 3D map, and imparts color information of the actual image to each point group. Colorize the 3D map.

Next, in step S20, the instruction unit 24 generates a navigation screen in which the measured area is represented in a different mode from the unmeasured area in the colorized 3D map, and the specified measurement prediction line and movement direction are drawn. , Display on the display device.

Next, in step S22, the estimation unit 22 determines whether or not the measurement has been completed by determining whether or not the measurement end command has been received from the electromagnetic wave device 12. If the measurement is not completed, the process returns to step S12, and if the measurement is completed, the navigation process is terminated.

Next, the analysis process will be described. When the command to start the analysis of the measurement data is input in the processing unit 20, the analysis process shown in FIG. 15 starts.

In step S32, the generation unit 28 reads the measurement data stored in the 3D map / measurement data storage unit 26.

Next, in step S34, the generation unit 28 uses the measurement data, that is, the reflected wave intensity image in each of the horizontal direction, the transverse direction, and the longitudinal direction from the reflection response waveform for each grid measured by the electromagnetic wave device 12. To generate. The generation unit 28 specifies which position each reflected wave intensity image corresponds to in each direction based on the self-position information, and makes the reflected wave intensity image three-dimensional. Then, the generation unit 28 is based on the pipe diameter center specified based on the plurality of reflected wave intensity images in each direction, and the type and pipe diameter information of the buried pipe obtained from the design information of the buried pipe or the ledger information. , The three-dimensional shape of each buried pipe is reproduced, and a three-dimensional underground analysis image color-coded according to the type of the buried pipe is generated.

Next, in step S36, the generation unit 28 reads the 3D map stored in the 3D map / measurement data storage unit 26.

Next, in step S38, the generation unit 28 aligns the 3D map with the underground analysis image by matching the three or more predetermined reference points with the 3D map and the underground analysis image. .. Then, the generation unit 28 corrects the depth of the buried pipe according to the shape of the ground surface based on the ground surface height of the 3D map directly above the change point of the buried pipe obtained from the underground analysis image, and underground. Generate an underground / ground connection screen that combines the analysis image and the 3D map.

Next, in step S40, the generation unit 28 displays the generated three-dimensional underground analysis image and the underground / ground combination image on the display device, and the analysis process ends.

As described above, the buried object measuring device according to the present embodiment estimates the 3D map and the self-position around the own device, identifies the measured area based on the estimation result, and measures the unmeasured area. Instruct the moving direction of. As a result, it is possible to improve the measurement efficiency when measuring the buried object while moving the measurement range.

In Tokyo, the utility pole elimination promotion ordinance came into effect on September 1, 2017, and the trend of utility pole elimination projects in Tokyo is accelerating, and there is no utility pole in the national government or other ordinance-designated cities. The utility pole business is being promoted. According to the buried object measuring device according to the present embodiment, the buried object can be grasped three-dimensionally, for example, the position of the actual buried pipe buried inside the road structure can be specified, and the utility pole-free project can be used. Helps promote.

Further, in the present embodiment, by displaying the navigation screen instructing the moving direction for measuring the unmeasured area, the measurement line setting work becomes unnecessary, and the knowledge and experience related to the on-site measurement of the measurer becomes unnecessary. Is also expected. As a result, the efficiency of the measurement work can be further improved. In particular, when the measurement data is made three-dimensional as in the present embodiment, it is necessary to accurately grasp the position information of the measurement data, and the measurement line setting work on the premise of making the measurement data three-dimensional. Since know-how is required, the local measurer must have this knowledge and experience. However, according to the buried object measuring device according to the present embodiment, by omitting the measurement line setting work, the measurement efficiency can be improved, the measurement target range can be expanded, and the measurement service can be provided to more sites. It becomes.

In the above embodiment, the case where the 3D point cloud data measured by the laser scan is used for estimating the 3D map and the self position around the own device has been described, but the 3D point cloud group is used by using a distance image camera or a stereo camera. Data may be acquired.

Further, in the above embodiment, the case of displaying the navigation screen on which the measured area, the moving direction, the measurement prediction line, etc. are drawn on the 3D map has been described, but the present invention is not limited to this. For example, these drawings may be superimposed on an AR (Augmented Reality) or MR (Mixed Reality) display in the image captured by the camera.

Further, in the above embodiment, the case where the SLAM technology is used for the estimation of the 3D map and the self-position has been described, but this is the case where the GPS position accuracy is unstable in the city or the like, or there are many obstacles and the total station. This is effective when the position information cannot be acquired stably by the automatic tracking function. On the contrary, in the case of a measurement location with good visibility where there are no structures or structures in the vicinity, the effect of SLAM cannot be exhibited, so GNSS (Global Navigation Satellite System) devices such as GPS and the automatic tracking function of the total station are used. You may utilize it.

Further, in the above embodiment, the case of measuring the buried pipe buried inside the road structure has been described, but the present invention is not limited to this, and can be applied to the measurement in the bridge slab and the archaeological site survey. Further, the present invention can be applied not only to buried objects buried in the ground but also to buried objects buried in wall surfaces.

Further, in the above embodiment, the buried object measuring device in which the electromagnetic wave device, the laser scanner, the processing unit, etc. are mounted on the wheelbarrow has been described, but each of these configurations may be mounted on the vehicle, or a worker. May be a handheld and measurable configuration.

Further, in the above embodiment, the case where the estimation unit and the instruction unit for executing the navigation process and the generation unit for executing the analysis process are configured by one computer has been described. The indicator unit and the generator unit may be configured by separate computers.

Further, various processors other than the CPU may execute the parameter identification process executed by the CPU reading the software (program) in the above embodiment. In this case, the processor is a PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing an FPGA (Field-Programmable Gate Array) or the like, and an ASIC (Application Specific Integrated Circuit) or the like in order to execute a specific process. An example is a dedicated electric circuit or the like, which is a processor having a circuit configuration designed exclusively for the purpose. In addition, the buried object measurement process may be executed by one of these various processors, or a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, and a CPU and an FPGA). It may be executed by combination etc.). Further, the hardware structure of these various processors is, more specifically, an electric circuit in which circuit elements such as semiconductor elements are combined.

Further, in the above embodiment, the mode in which the buried object measurement program is stored (installed) in the storage device in advance has been described, but the present invention is not limited to this. The program may be provided in a form recorded on a recording medium such as a CD-ROM, a DVD-ROM (Digital Versatile Disc Read Only Memory), and a USB (Universal Serial Bus) memory. Further, the program may be downloaded from an external device via a network.

10 Buried object measuring device 12 Electromagnetic wave device 16 Laser scanner 18 Color camera 20 Processing unit 22 Estimating unit 24 Indicator unit 26 3D map / measurement data storage unit 28 Generation unit 30 Wheelbarrow 42 CPU
44 Memory 46 Storage device 48 Input device 50 Output device 52 Optical disk drive device 54 Communication I / F
95 measurement range

Claims (11)

A measurement unit that measures buried objects while moving the measurement range,
A three-dimensional map around the measurement unit, an estimation unit that estimates the position of the measurement unit on the three-dimensional map, and an estimation unit.
In the three-dimensional map, the measuring unit identifies a measured area, and the measuring unit indicates a moving direction for measuring an unmeasured area.
Buried object measuring device including. Based on the position of the measurement unit estimated by the estimation unit and the measurement width of the measurement unit, the instruction unit identifies a region measured by the measurement unit in the three-dimensional map, and the measurement unit causes the measurement unit. The buried object measuring device according to claim 1, wherein a screen showing the measured area in a mode different from that of the unmeasured area is displayed on the display device. The indicating unit sets the measuring unit so that the overlap width between the end of the measurement width of the measuring unit and the measured area is within a predetermined range from the position of the measuring unit estimated by the estimating unit. The buried object measuring device according to claim 1 or 2, wherein a screen in which the moving direction when moving is drawn on the three-dimensional map is displayed on the display device. Claims 1 to claim that the indicator gives a warning when the overlap width between the end of the measurement width of the measurement unit and the measured area becomes a predetermined value or less during the measurement by the measurement unit. Item 3. The buried object measuring device according to any one of items 3. The buried object measuring device according to any one of claims 1 to 4, wherein the indicating unit has a function of checking whether or not the unmeasured area remains within a predetermined range. The buried object measuring device according to any one of claims 1 to 5, wherein the measuring unit measures the intensity of the reflected wave of the electromagnetic wave irradiated inward from the measuring surface at each position of the measuring surface. 6. The claim 6 further includes a generation unit that generates a three-dimensional image based on the position of the measurement unit estimated by the estimation unit for the intensity of the reflected wave of the electromagnetic wave measured at each position by the measurement unit. Buried object measuring device described in. The seventh aspect of claim 7, wherein the generation unit aligns the generated three-dimensional image with the three-dimensional map estimated by the estimation unit to generate a three-dimensional image showing the inside and outside of the measurement surface. Buried object measuring device. The buried object measuring device according to claim 8, wherein the generating unit corrects the three-dimensional image according to the height or inclination of the structure surface indicated by the three-dimensional map. The measuring unit measures the buried object while moving the measurement range,
The estimation unit estimates the position of the three-dimensional map around the measurement unit and the measurement unit on the three-dimensional map.
A buried object measurement method in which an instruction unit identifies an area that has been measured by the measurement unit in the three-dimensional map, and the measurement unit instructs a moving direction for measuring an unmeasured area. Computer,
When the measuring unit measures a buried object while moving the measurement range, a three-dimensional map around the measuring unit, an estimating unit that estimates the position of the measuring unit on the three-dimensional map, and an estimation unit.
A buried object measurement program for the measuring unit to specify a measured area in the three-dimensional map and to make the measuring unit function as an indicating unit for instructing a moving direction for measuring an unmeasured area.