JP2021060361A - Buried object survey system and buried object survey method - Google Patents

Abstract

To detect with good accuracy the buried states such as the buried position and shape of a survey object that is buried in an excavation area.SOLUTION: A buried object survey system 1 comprises: a position detection unit 20 for detecting survey position information that includes the movement direction and movement distance of a buried object detection unit 10 in an excavation area E on the basis of a scanning trajectory in the excavation area; a buried object determination unit 32 for outputting, as survey object information, the buried object detection information and survey position information on a buried object having been determined as a survey object on the basis of buried object information, survey position information and preset information for determination; a scanning trajectory creation unit 31 for creating, as scanning trajectory information, the scanning trajectory of the buried object detection unit 10 in the excavation area E on the basis of the survey position information; a buried state information creation unit 33 for creating, while reflecting the buried object detection information and survey object information in excavation area data, buried state information for visualizing the buried state of a survey object which is buried in the excavation area E; and a storage unit 40 for storing, as survey history information, the scanning trajectory information and buried state information.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a buried object exploration system and a buried object exploration method for exploring buried objects such as water pipes, and the burial position, shape, and depth of the exploration object in the excavation area, especially before and during excavation. It relates to a buried object exploration system and a buried object exploration method in which the buried state can be specified.

When excavating a road using construction equipment for excavation such as a backhoe, buried objects such as gas pipes, water pipes, and conduits are often buried under the excavation area. It is essential to accurately grasp the position of the buried object in order to prevent damage and destruction. Therefore, in general, the construction is being carried out while checking the buried drawings provided by the management company that manages the buried objects in advance (the figure showing the buried state of the buried objects near the construction site). ..

However, the buried drawings provided may not correctly reflect the buried state of the buried object. Therefore, unexpected buried objects may be found during the excavation work, or the buried objects may be buried at a position different from the drawing, and there is a risk that the buried objects will be damaged or damaged during the excavation work. there were.

Therefore, as a method of preventing such an accident, a method of searching for the position of the buried object by using the inventions disclosed in the following Patent Documents 1 and 2 is adopted while utilizing the buried drawing as a preliminary investigation. ..

Japanese Unexamined Patent Publication No. 9-288187 Japanese Unexamined Patent Publication No. 2014-238350

However, in the invention of Patent Document 1, it is possible to search for a buried object in the excavated area before or during excavation, but the excavated area is made of metal, which is an object to be explored as a buried object. It was difficult to accurately identify the position and shape of the buried object because it contained foreign substances such as scrap iron in addition to the piping.

Further, in the invention of Patent Document 2, although it is easy to specify the position and shape of the buried object, it is necessary to read the image data obtained from the reflected wave to identify the buried object, which requires skillful skill. .. Furthermore, since the mainstream of this type of exploration device is a cart type with wheels provided in the housing so as to scan the excavation area before excavation, the ground is leveled each time to explore the buried object at any time during excavation. It is not easy to use because it requires work.

At least one embodiment of the present invention has been made in view of the above circumstances, and specifically, the buried state such as the buried position and shape of the exploration object to be buried in the excavation area is accurately detected. It is to provide a buried object exploration system and a buried object exploration method which can be performed.

The buried object exploration system of the present invention uses an exploration device provided with a buried object detection unit that detects a magnetic field emitted from a buried object including an exploration object existing in the excavated area to perform buried object exploration work in the excavated area. In the buried object exploration system to be performed, the position detection unit that detects the exploration position information including the moving direction and the moving distance of the buried object detecting unit in the excavated area based on the scanning locus in the excavated area, and the buried object. Based on the buried object detection information based on the detection signal detected by the detection unit, the exploration position information, and the preset determination information, it is determined whether or not the buried object is the exploration target, and the above-mentioned When the buried object is the exploration object, it is created based on the buried object determination unit that outputs the buried object detection information and the exploration position information as the exploration object information, and the area setting information related to the excavation area that is set in advance. Buried state information that reflects the exploration object information in the excavated area data and creates burial state information that is image data for visualizing the burial state of the exploration object buried in the excavation area. It has a creation department.

Preferably, in the buried object exploration system, the determination information may include at least one determination element of the number of detections of the detection signal detected by the buried object detection unit and the amplitude intensity of the detection signal. ..

Preferably, in the buried object exploration system, a storage unit that stores the buried state information as exploration history information and whether or not the buried object exploration work is executed in the excavation area based on the exploration history information is determined. It may be configured to include an execution determination unit.

Preferably, in the buried object exploration system, a scanning locus creating unit that creates a scanning locus of the buried object detecting unit in the excavated region as scanning locus information and stores it in the storage unit based on the exploration position information. The execution determination unit may be configured to determine whether or not the buried object exploration work is correctly executed based on the scanning locus information and the preset exploration rule information.

Preferably, in the buried object exploration system, the exploration rule information is the scanning pitch in the width direction of the excavated area set according to the size of the excavated area or the movement of the buried object detection unit within the excavated area. The configuration may include information that defines at least one element of speed.

Preferably, in the buried object exploration system, the exploration device may be configured to include a display unit that displays the buried state information and the scanning locus information.

Preferably, in the buried object exploration system, when it is determined as the determination result of the execution determination unit that the buried object exploration work for the excavation area is not executed, or the buried object exploration work is correctly performed. When it is determined that the system is not installed, a notification unit may be provided to notify the notification destination to that effect.

The buried object exploration method according to the present invention is a buried object exploration operation in an excavated area using an exploration device provided with a buried object detecting unit that detects a magnetic field emitted from a buried object including an exploration object existing in the excavated area. In the buried object exploration method, the process of detecting the exploration position information including the moving direction and the moving distance of the buried object detection unit in the excavated area based on the scanning locus in the excavated area, and the buried object detection. Based on the buried object detection information based on the detection signal detected by the unit, the exploration position information, and the preset determination information, it is determined whether or not the buried object is the exploration target, and the buried object is buried. When the object is the exploration object, the excavation area created based on the process of outputting the buried object detection information and the exploration position information as the exploration object information and the area setting information regarding the excavation area set in advance. The data includes a process of reflecting the exploration target information and creating buried state information as image data for visualizing the buried state of the exploration object buried in the excavation area.

According to at least one embodiment of the present invention, it is possible to accurately detect the buried state such as the buried position and shape of the exploration object to be buried in the excavation area.

It is a figure for demonstrating the buried object exploration system which concerns on this embodiment. It is a block diagram which shows the functional configuration example of this system. It is a figure which showed an example of the scanning path in this system. It is a figure which showed the judgment example by the buried object judgment part in this system. It is a figure which showed the other judgment example by the buried object judgment part in this system. It is a flowchart which shows a series of processing operations in this system. It is a flowchart which shows the processing operation of the buried object determination process in this system. It is a flowchart which shows the processing operation of the exploration execution judgment processing in this system.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
The embodiments shown here are examples for embodying the technical idea of the present invention, and do not limit the present invention. In addition, all other feasible forms, examples, operational techniques, etc. that can be considered by those skilled in the art without departing from the gist of the present invention are included in the scope and gist of the present invention, and are described in the claims. It is included in the invention and its equivalent range.

Further, the drawings attached to the present specification may be represented schematically by changing the scale, aspect ratio, shape, etc. from the actual ones for convenience of illustration and comprehension. However, it does not limit the interpretation of the present invention.

As shown in FIG. 1, the buried object exploration system 1 according to an embodiment of the present invention is buried along the road R, for example, when excavating the road R using an excavation construction device C such as a backhoe. Exploration target (for example, water pipe, conduit, optical fiber) that is a buried object existing in the excavation area E where the gas supply pipe that connects the gas main branch pipe and the gas inner pipe buried in the site of the house H is buried. The purpose is to acquire information on buried objects such as the position, shape, and depth of buried pipes, in addition to the presence or absence of buried pipes P) such as conduits, before or during excavation.

The objects to be explored in this system are excavated areas such as water pipes, conduits, and optical fiber conduits made of magnetic materials (for example, iron materials containing iron such as cast iron and steel) generated in the presence of the earth's magnetic field. It is a "buried pipe P" buried so as to cross the inside of E. In the present embodiment, the “water supply pipe P2” will be described as an example of the buried pipe P.

Further, the state in which the buried pipe P to be the exploration object "crosses" the excavation area E means that the excavation area E is buried at a predetermined distance so as to extend from one side forming the excavation area E toward the other side when the excavation area E is viewed in a plan view. Refers to the state of being done. The burial direction of the buried pipe P is not limited to the vertical direction, the horizontal direction, and the diagonal direction when the excavation area E is viewed in a plan view, and when the excavation area E is viewed three-dimensionally, the height is higher than the above direction. Elements in the vertical direction (vertical (vertical) direction) may also be included.

<System configuration>
Hereinafter, the buried object exploration system 1 according to the present embodiment will be described.
As shown in FIG. 2, the buried object exploration system 1 according to the present embodiment includes a buried object detection unit 10, a position detection unit 20, a control unit 30, a storage unit 40, a display unit 50, and an operation setting unit. It is provided in a rod-shaped exploration device 100 which is composed of 60 and a notification unit 70 and can be carried by a worker who has adopted an electromagnetic induction method as a detection method, for example. Further, the exploration device 100 includes a power supply unit 80 realized by, for example, a primary battery or a rechargeable secondary battery in order to supply power to each unit.

It is not necessary that all the parts constituting the buried object exploration system 1 are provided in the exploration device 100. For example, the display unit 50 is a separate display device or a terminal owned by a construction worker (worker, manager, etc.). A device (smartphone, tablet terminal, etc.) may be used as a substitute, and the storage unit 40 may use the memory of the terminal device, an external server, or the like. In this case, the exploration device 100 is wired or wireless with an external device such as a display device, a terminal device, or an external server via a communication unit 90 (communication I / F) for communicating with the outside via a network. The configuration may be such that various information is communicated by communicating.

The buried object detection unit 10 detects the buried object buried in the excavation area E. As an example, the buried object detection unit 10 includes a detection coil as a detection unit, a magnetic field resonance circuit, and a configuration capable of searching for a buried object by an "electromagnetic induction method" such as a power supply. It is provided at the tip. The buried object detection unit 10 generates a high-frequency magnetic field from the detection coil, and when the detection object (buried object) to be searched approaches the magnetic field, an induced current flows through the detection object by electromagnetic induction, and the voltage generated by the induced current. Detects and detects magnetism.
The buried object detection unit 10 is not particularly limited as long as the buried object buried in the excavation area E can be detected. Therefore, in addition to the above-mentioned "electromagnetic induction method" configuration, the buried object detection unit 10 detects a magnetic field from a magnetic material (iron material, magnet, electric field, etc.) generated in the presence of the earth's magnetic field, for example. The "geomagnetic detection method" may be adopted.

When the buried object detection unit 10 detects a buried object, the larger the size of the buried object, the larger the output of the detection signal, and the closer it is to the buried object detection unit 10, the larger the output of the detection signal tends to be. That is, by analyzing the output state of the detection signal detected by the buried object detection unit 10, the presence / absence of the buried object including the magnetic material in the excavation area E, the size of the buried object, and the depth at which the buried object exists can be roughly determined. It becomes possible to grasp.

Further, the buried object detection unit 10 can adjust the detection sensitivity by performing a predetermined operation on the operation setting unit 60, and becomes an exploration target by analyzing the detection signal in the state where the sensitivity is adjusted. Information such as the shape of the buried pipe P and the burial depth can be accurately obtained.

As an example of the scanning method by the buried object detection unit 10, a first scanning path in which the excavation area E is reciprocated at a predetermined scanning pitch along the first direction to scan the excavation area E over the entire area. A second second, in which the exploration apparatus 100 is moved in S1 and reciprocated in the excavation area E at a predetermined scanning pitch along a second direction intersecting the first direction to scan the excavation area E over the entire area. The exploration device 100 is moved along the scanning path S2.

FIG. 3 is a diagram showing an example of a scanning method when the buried object exploration work in the excavation area E is performed. In FIG. 3, the buried pipe P to be explored crosses the excavation area E in the vertical direction in the figure from the water distribution pipe P1 buried in the left-right direction in the figure along the road R toward the house H. It becomes the water supply pipe P2 buried in this way.

When the excavation area E is rectangular as shown in FIG. 3, the first direction is the direction along the long side of the excavation area E (the end of the area along the direction intersecting the water supply pipe P2), and the second direction is the direction. When the direction intersects the first direction (the direction along the short side that is the end of the region parallel to the water supply pipe P2 in the figure), the first scanning path S1 has the short side along the first direction. It becomes a path from the exploration start position to the exploration end position while reciprocating between the two at a predetermined scanning pitch, and the second scanning path S2 reciprocates between the long sides along the second direction at a predetermined scanning pitch. It becomes a route from the exploration start position to the exploration end position while moving.

Therefore, in the buried object exploration system 1, excavation is performed while moving the exploration device 100 along the first scanning path S1 while scanning the excavation area E over the entire area and moving along the second scanning path S2. By scanning the area E over the entire area, the excavation area E can be scanned in a grid pattern. Therefore, it is possible to accurately detect the presence / absence of the buried object existing in the excavation area E, the buried position, the shape, the depth of the buried pipe P which is the exploration target, and the like. The scanning method of the excavation area E by the exploration device 100 is preferably performed a plurality of times in different scanning paths as described above, but only one of the paths may be used.

Further, the scanning pitch of the buried object detection unit 10 in the excavation area E depends on the length in the width direction of the excavation area E (or the size of the excavation area E) and the sensitivity adjustment degree of the buried object detection unit 10, but is accurate. In order to carry out good exploration, it is preferable to carry out the exploration at about 20 to 50 cm.

The buried object detection unit 10 detects a buried object existing in the excavated area E by scanning the ground surface of the excavated area E in a predetermined direction, and controls a detection signal indicating the presence or absence of the buried object as the buried object detection information. Output to unit 30.

The position detection unit 20 detects the search position of the buried object detection unit 10 in the excavation area E over time. The position detection unit 20 can measure, for example, an acceleration sensor (for example, a biaxial acceleration sensor capable of measuring linear acceleration in two directions of the X-axis and the Y-axis, and linear acceleration in the three directions of the X-axis, the Y-axis, and the Z-axis). 3-axis accelerometer), angular velocity sensor (for example, 2-axis gyro sensor capable of measuring rotational angular velocity in two directions of X-axis and Y-axis, and rotational angular velocity in three directions of X-axis, Y-axis and Z-axis can be measured 3 It is a sensor such as an axis gyro sensor) and GPS (Global Positioning System) that can detect search position information including at least the moving distance and moving direction of the buried object detection unit 10. Further, the position detection unit 20 may be equipped with an altimeter and may add a function of detecting the depth of the buried object detection unit 10 from the ground surface before excavation.

The position detection unit 20 detects the search position information of the buried object detection unit 10 when the excavation area E is scanned over time and outputs it to the control unit 30. The detection timing of the position detection unit 20 is always or every predetermined time interval when the buried object exploration work is performed by following a predetermined scanning path from the exploration start position to the exploration end position, and the exploration position information includes the buried object detection. The moving speed of the unit 10 and the time information (detection time information) when the search position information is detected are also added.

The control unit 30 includes various processors such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and performs each process performed by the buried object exploration system 1 based on various information. The control unit 30 includes a scanning locus creation unit 31, a buried object determination unit 32, a buried state information creation unit 33, and an execution determination unit 34 as a configuration of functions realized by executing a predetermined program. There is.

Further, the control unit 30 is provided with a time measuring unit 35 for measuring the current date and time (including the date and time). The time measuring unit 35 is specifically a real-time clock (RTC) or the like, but may have any embodiment.

The scanning locus creation unit 31 is a buried object scanned in the excavation area E based on the exploration position information from the position detection unit 20 and the excavation area data created by the area setting information set by the operation setting unit 60. The movement locus of the detection unit 10 is created as scanning locus information.

The scanning locus information includes movement information (movement distance, movement direction, from the exploration start position arbitrarily set in the excavation area E to the exploration end position, which is included in the exploration position information of the buried object detection unit 10. (Movement speed, etc.) and time information (time for each movement position of the buried object detection unit 10 between the exploration start time and the exploration end time of the buried object, the detection time of the buried object detected during scanning, etc.) are included. ing. By visually recognizing the scanning locus information, the manager can know by what route the worker has executed the buried object exploration work in the excavation area E.

The scanning locus creation unit 31 creates excavation area data from the area setting information for excavation area data set by the operation setting unit 60 as image data to be displayed on the display screen of the display unit 50. The scanning locus information is the scanning locus information in which the scanning locus in the excavation area E is visualized by plotting the exploration position information of the buried object detection unit 10 over time on the created excavation area data. The scanning locus creation unit 31 stores the created scanning locus information in the storage unit 40.

FIG. 3 is a diagram showing a state in which the scanning locus information is reflected in the set excavation area data. As shown in FIG. 3, the scanning locus creation unit 31 plots the exploration position information detected by the position detection unit 20 on the excavation area data set by the operation setting unit 60, so that the worker excavates. The scanning locus when the area E is explored becomes the visualized image data.

The buried object determination unit 32 detects the buried object based on the buried object detection information detected by the buried object detection unit 10, the search position information detected by the position detection unit 20, and preset determination information. It is determined whether the object is a buried pipe P or a foreign substance to be searched. The buried object determination unit 32 searches for buried object detection information and exploration position information corresponding to the detection position of the buried pipe P buried in the excavation area E as a determination result of determining that the buried object is an exploration target. It is output to the buried state information creation unit 33 as object information. Further, when the buried object determination unit 32 determines that the buried pipe P is not buried in the excavation area E as a result of the determination, a notification that the buried pipe P is not buried in the excavation area E is buried. Output to the state information creation unit 33.

The presence or absence of the exploration target object can be determined by the buried object determination unit 32 based on, for example, the "number of detections" and the "amplitude magnitude" of the detection signals detected in the excavation area E, and at least one of these determination elements. Elements are used as judgment information.
When "the number of detections of the detection signal" is set as the determination information, the buried object determination unit 32 traverses the excavation area E based on the scanning locus information, the buried object detection information, and the above determination information. When the buried object detection information is detected a plurality of times, it is determined that the buried object is the “buried pipe P”, and the other buried objects are determined as “foreign matter”.
When "large or small of the amplitude of the detection signal" is set as the determination information, the buried object determination unit 32 has a range of amplitude intensity of the detection signal that can be assumed when the buried pipe P is detected (amplitude range for determination). Is preset, and based on the scanning locus information, the buried object detection information, and the above-mentioned determination information, when the detection signal is within this determination amplitude range, it is determined that the buried object is the “buried pipe P”, and this is determined. Buried objects other than are judged as "foreign matter".

FIG. 4 is an output example of the detection signal when the determination element of the buried object determination unit 32 is “the number of detections of the detection signal”, and shows the state of the detection signal when scanning along the first scanning path S1. There is.
As shown in FIG. 4, the worker moves the upper left corner of the figure in the excavation area E from the exploration start position to the lower right corner in a substantially Z shape (sinusoidal shape) from the exploration end position. Suppose you did. At this time, the worker passes over the water supply pipe P2 three times and once over the foreign matter in the excavation area E. That is, in the example of FIG. 4, the number of detection signals of the water supply pipe P2 detected by the exploration device 100 and the foreign matter is different.
In order to determine whether or not the buried object is buried in the excavation area E, the buried object determination unit 32 sets the buried object detection information, the exploration position information, and the “number of detection signal detections” as determination elements. It is determined whether the buried object is a buried pipe P or a foreign substance based on the determination information, and when the buried object is determined as the buried pipe P, the exploration target information according to the position where the buried pipe P is detected is stored in the buried state information creation unit. Output to 33

FIG. 5 is an output example of the detection signal when the determination element of the buried object determination unit 32 is “large or small of the amplitude of the detection signal”, and shows the state of the detection signal when scanned by the first scanning path S1. ing.
As shown in FIG. 5, the worker moves the upper left corner of the figure in the excavation area E from the exploration start position to the lower right corner in a substantially Z shape (sinusoidal shape) from the exploration end position. Suppose you did. At this time, the worker passes over the water supply pipe P2 three times, and passes over the relatively large foreign matter three times in the same manner as the water supply pipe P2, but the water supply pipe P2 detected by the exploration device 100 The amplitude of the detection signal is different between that and the foreign matter.
In order to determine whether or not the buried object is buried in the excavation area E, the buried object determination unit 32 sets the buried object detection information, the exploration position information, and "the magnitude of the amplitude of the detection signal" as the determination element. It is determined whether the buried object is the buried pipe P or a foreign substance based on the determined determination information, and when the buried object is determined as the buried pipe P, the exploration target information according to the position where the buried pipe P is detected is created as the buried state information. Output to unit 33

The buried pipe P can be specified more accurately by combining the above-mentioned two elements of "the number of detections of the detection signal" and "the magnitude of the amplitude of the detection signal" as the determination elements of the buried object determination unit 32. For example, when a long steel frame is buried so as to cross the excavation area E, the number of detections of the detection signal is satisfied, but when the diameter of the buried pipe P and the width size of the steel frame are different, the amplitude of the detection signal is satisfied. It is possible to judge whether it is a buried pipe P or a steel frame based on the size of.

The buried state information creation unit 33 is buried in the excavation area E based on the exploration target information from the buried object determination unit 32 and the excavation area data created by the area setting information set by the operation setting unit 60. Create buried state information as image data for visualizing the buried state of the buried pipe P.

When the buried state information is created as two-dimensional data, at least the buried state of the buried pipe P (buried direction, shape of the buried pipe P, thickness of the buried pipe P, etc.) in the excavation area E in a plan view is the two-dimensional data. It is reflected in the excavation area data created as. Further, when the buried state information is created as three-dimensional data, the buried depth information of the buried pipe P is further added as the buried state of the buried pipe P, so this information is added to the excavation area data created as the three-dimensional data. By reflecting this, it is possible to obtain a three-dimensional bird's-eye view of the buried state of the buried pipe P, and it is possible to obtain more detailed information.

Regarding the shape of the buried pipe P reflected in the buried state information, the buried state information creating unit 33 analyzes the signal strength of the detection signal which is the buried object detection information, so that the cross-sectional shape of the buried pipe P is circular (elliptical). It is possible to specify whether it is a rectangle or a polygon.

Further, the buried depth information reflected in the buried state information is acquired by the buried state information creating unit 33 analyzing the signal strength of the detection signal, which is the buried object detection information, based on a predetermined analysis process. That is, before excavation, the burial depth information obtained based on the exploration target information after scanning the excavation area E can be used. If the burial depth information is being excavated, in addition to the method of obtaining the burial depth information based on the signal analysis processing of the burial state information creating unit 33 as described above, the actual measurement value obtained by measuring the burial depth from the ground surface at the start of excavation. May be input from the operation setting unit 60.

Further, when the buried object determination unit 32 notifies that the buried pipe P is not buried in the excavation area E, the buried state information creating unit 33 reflects this in the buried state information. That is, the buried pipe P is not displayed in the buried state information created when this notification is received.

The execution determination unit 34 determines whether or not the search for the buried object has been performed correctly based on the scanning trajectory information stored in the storage unit 40 and the search rule information. When the execution determination unit 34 determines that the buried object exploration work is not performed correctly, the execution determination unit 34 outputs a notification instruction for notifying the determination result to the notification unit 70.

As the scanning locus of the worker, for example, when the scanning locus shown in FIG. 4 is the correct locus, it is assumed that the worker advances linearly from the exploration start position to the exploration end position. At this time, the execution determination unit 34 determines that the scanning locus information is not searched at the correct scanning pitch when collating the scanning locus information with the search rule information, and gives a notification instruction for notifying that the scanning locus information is not searched correctly. The signal is output to the notification unit 70.
This makes it possible to determine whether or not the worker is performing the buried object exploration work correctly, and if the exploration is not correct, prompts the worker to search correctly and re-explores, so that accurate buried state information can be obtained. Since it can be acquired, it is possible to prevent damage to the buried pipe P during excavation work.

Further, the execution determination unit 34 is in the excavation area E based on the presence or absence of the exploration history information indicating that the buried object exploration work has been executed, such as the scanning locus information and the buried state information stored in the storage unit 40. It is determined whether or not the buried object exploration work has been performed. When the execution determination unit 34 determines that the buried object exploration work has not been performed, the execution determination unit 34 outputs a notification instruction for notifying the determination result to the notification unit 70. As a result, even if the worker forgets to perform the buried object exploration work, the administrator can urge the worker to perform the buried object exploration work based on the content of the notification from the notification unit 70.

The execution determination unit 34 does not necessarily have to be notified via the notification unit 70. For example, the display unit 50 may output display information for notifying the notification content and display it on the display unit 50, or the communication unit. Notification may be made to an external device (management server, terminal device owned by a person involved in construction, etc.) to be notified via 90.

In addition, the execution determination unit 34 also determines whether or not all the various processes performed after the buried object exploration work have been completed, and if it is determined that all the processes have not been completed, the unfinished process is performed. Identify and have the corresponding parts execute the process.

The storage unit 40 is composed of a storage device such as a flash memory, an HDD (Hard Disk Drive), and an SSD (Solid State Drive), and stores a predetermined program or the like used in the buried object exploration system 1. Further, the storage unit 40 has various information obtained in the buried object exploration work (for example, the buried object detection information detected by the buried object detection unit 10, the exploration position information detected by the position detection unit 20, and the scanning locus creation unit). Scanning locus information created by 31, search target information acquired by the buried object determination unit 32, buried state information created by the buried state information creation unit 33, determination result determined by the execution determination unit 34, etc.) Remember. The scanning locus information and the buried state information stored in the storage unit 40 are used as exploration history information indicating that the inside of the excavation area E has been scanned during the excavation work.

Further, the storage unit 40 stores exploration rule information that serves as a determination criterion for determining whether or not the buried object has been correctly explored.

The exploration rule information includes, for example, a scanning pitch set according to the area of the excavation area E (or the length in the width direction of the excavation area E), and the inside of the excavation area E of the worker who possesses the exploration device 100 during the buried object exploration work. This is a set value (threshold value) that serves as a reference for correctly performing the buried object exploration work, such as the moving speed of the buried object (that is, the moving speed of the buried object detecting unit 10 during the buried object exploration work).
When the "scanning pitch" is set as the exploration rule information, the target excavation area E is set so that the scanning locus is such that the excavation area E reciprocates a predetermined number of times (one and a half reciprocations in the examples of FIGS. 4 and 5). The scanning pitch is set according to.
In addition, when setting "moving speed during exploration" as exploration rule information, it is preferable that the worker explores the excavation area E at the average walking speed of an adult (for example, about 60 to 80 m / min). Based on this speed, an appropriate range of moving speed during exploration is set.

In the exploration rule information, set values are automatically set so that appropriate buried object exploration work is performed based on information on the detection sensitivity of the buried object detecting unit 10, excavation area data set by the operation setting unit 60, and the like. You may. For example, when the short side of the excavation area E shown in FIG. 4 is 60 cm and the long side is 3 m, the setting value of the scanning pitch set as the exploration rule information is set to “20 cm”.

Further, the storage unit 40 stores determination information set in the buried object determination unit 32 for determining whether or not the buried object buried in the excavation area E is the buried pipe P.

The determination information is information for determining that the buried object detected by the buried object detection unit 10 is an exploration target (buried pipe P), and as an example, the detection signal detected in the excavation area E. "Number of detections", "large and small amplitude", etc. are set. When the determination information is "the number of detections of the detection signal", it can be determined that the buried object buried so as to cross the excavation area E is the buried pipe P based on the scanning locus information and the buried object detection information. The number of detections is set. When the determination information is "large or small of the amplitude of the detection signal", a predetermined amplitude intensity is set within the range of the amplitude intensity that can be assumed for the buried pipe P.

The display unit 50 is composed of a display device such as an LCD (Liquid Crystal Display) or an EL (Electro Luminescence) display that utilizes the effect of passing a voltage through an organic or inorganic illuminant to emit light. In addition to the scanning locus information and the buried state information, the display unit 50 displays various displays related to the setting and operation of the exploration device 100 in a format that can be visually recognized by the operator according to the data type. Further, the display unit 50 can also be configured by a display device having a touch input function such as a touch panel. In this case, the operation setting unit 60 can be provided on the touch panel, and the hardware configuration such as the switch mechanism can be omitted.

The operation setting unit 60 is an input device such as an operation key, a switch mechanism such as a numeric keypad, and a position input device of a touch panel, and an operation signal when a worker performs a predetermined operation is output to the control unit 30. The operation setting unit 60 is predetermined when the buried object exploration work is started from the exploration start position, and is predetermined when the worker moves while scanning the excavation area E and the buried object exploration work is completed at the exploration end position. Be manipulated. This defines the exploration start time and exploration end time in the buried object exploration work.

Further, the operation setting unit 60 is subjected to a predetermined operation when adjusting the sensitivity of the buried object detection unit 10. For example, when the buried object exploration work is performed with the sensitivity of the buried object detecting unit 10 kept at the default value, the buried object P may not be detected depending on the depth of the buried object P. Therefore, by appropriately adjusting the sensitivity of the buried object detection unit 10, the buried pipe P can be detected accurately, and by analyzing the degree of signal strength obtained by the sensitivity adjustment, the buried pipe P is buried. You can know the depth.

Further, the operation setting unit 60 is operated when performing the buried object exploration work, and various information (excavation area E) for creating excavation area data which is two-dimensional or three-dimensional image data that can be displayed on the display unit 50. Information such as the shape of the area, the length of the area edge, the exploration start position, and the exploration end position) are set.

As an example of the excavation area data, when the excavation area E has a rectangular shape as shown in FIG. 3, the area setting information to be set is the long side (perpendicular to the burial direction of the water supply pipe P2) which is the area end of the excavation area E. The length of the side) and the length of the short side (the side parallel to the burial direction of the water supply pipe P2), the position information of the exploration start position and the exploration end position in the excavation area E can be mentioned. The scanning locus creation unit 31 creates excavation area data that can be displayed on the display unit 50 based on these area setting information set by the operation setting unit 60. Since the shape of the excavation area E and the length of the area edge are different for each work site, the excavation area data according to the site is set before the excavation work.

The notification unit 70 is configured by individually or in combination of a display device such as an LED device, a ringing device that outputs a warning sound such as a buzzer sound, and a vibration device having a vibration function. For example, when the buried object exploration work is not performed, the notification unit 70 performs a predetermined notification based on the notification instruction from the execution determination unit 34. As a notification form by the notification unit 70, for example, in the case of an LED display device, lighting / blinking and color-coded display are performed. Accurately notify the contents.

<System processing operation>
Next, the processing operation of the buried object exploration system 1 according to the present embodiment will be described with reference to FIGS. 6 to 8.
The operations described below are presented with step elements in an exemplary order, and are not limited to the specific order in which they are presented. Therefore, the order of the flowcharts shown in FIGS. 6 to 8 may be changed as long as there is no contradiction in the processing results.

As shown in FIG. 6, first, the power of the exploration device 100 is turned on (ST1), the operation setting unit 60 is operated, and the area setting information corresponding to the excavation area E is input and set (ST2). Then, when the input of the area setting information is completed, the worker starts the buried object exploration work (ST3). In the buried object exploration work, the entire area in the excavation area E is scanned by the exploration device 100 from the exploration start position to the exploration end position.

Next, the control unit 30 determines whether or not the buried object exploration work has been completed (ST4), and if it determines that the buried object exploration work has been completed (ST4-Yes), the set area setting information is used. Based on the excavation area data (ST5), a process of creating the movement locus of the buried object detection unit 10 scanned in the excavation area E based on the exploration position information detected by the position detection unit 20 as scanning locus information. (ST6).
On the other hand, when the control unit 30 determines that the buried object exploration work has not been completed (ST4-No), the control unit 30 loops the process of ST4 and repeats the process until the buried object exploration work is completed.

When the scanning locus information is created in ST6, the control unit 30 then sets in advance the buried object detection information detected by the buried object detecting unit 10 and the exploration position information detected by the position detecting unit 20. Based on the determined determination information, a buried object determination process for determining whether or not the detected buried object is the buried pipe P is performed (ST7). The details of the buried object determination process will be described later with reference to FIG. 7.

Next, the control unit 30 visualizes the buried state of the buried pipe P buried in the excavation area E based on the search target information acquired in the buried object determination process of ST7 and the created scanning locus information. The buried state information creation process for creating the buried state information is performed (ST8).
In the burial state information creation process, burial state information that is two-dimensional or three-dimensional data that reflects the burial state of the burial pipe P is created in the excavation area data based on the exploration object information and the excavation area data.

Next, the control unit 30 determines whether or not the search for the buried object has been performed on the correct trajectory based on the scanning locus information stored in the storage unit 40 and the search rule information, and is stored in the storage unit 40. An exploration execution determination process for determining whether or not a buried object exploration work in the excavation area E has been performed is performed based on the presence or absence of the exploration history information (ST9). The details of the exploration execution determination process will be described later with reference to FIG.

After that, the control unit 30 determines whether or not all the predetermined processes based on the various information acquired in the buried object exploration work have been completed (ST10).

In ST10, when the control unit 30 determines that all the predetermined processes have been completed (ST10-Yes), the control unit 30 ends the processes.
On the other hand, when the control unit 30 determines that all the predetermined processes have not been completed (ST10-No), the control unit 30 identifies the processes that have not been completed (ST11), and again in order to execute the specified processes. Return to ST5 and execute only the processing that has not been completed.

Next, the buried object determination process will be described with reference to FIG. 7. The buried object determination process is mainly executed by the buried object determination unit 32 included in the control unit 30.

As shown in FIG. 7, the buried object determination unit 32 includes buried object detection information detected by the buried object detection unit 10, search position information detected by the position detection unit 20, and preset determination information. Based on the above, it is determined whether or not the detected buried object is the buried pipe P (ST71).

When the buried object determination unit 32 determines in ST71 that the buried pipe P is buried in the excavation area E (ST71-Yes), it depends on the detection position of the buried pipe P buried in the excavation area E. The buried object detection information and the exploration position information are output to the buried state information creation unit 33 (ST72) as the exploration target information, the buried object determination process is completed, and the process shifts to ST8.
On the other hand, when the buried object determination unit 32 determines that the detection signal corresponding to the buried object is not detected in the excavation area E and the buried pipe P is not buried (ST71-No), it is buried in the excavation area E. A notification that the pipe P is not buried is output to the notification destination (ST73), the buried object determination process is completed, and the process shifts to ST8.

Next, the exploration execution determination process will be described with reference to FIG. The exploration execution determination process is mainly executed by the execution determination unit 34 included in the control unit 30.

As shown in FIG. 8, the execution determination unit 34 performs the buried object exploration work in the excavation area E based on the presence or absence of the exploration history information such as the scanning locus information and the buried state information stored in the storage unit 40. It is determined whether or not it has been damaged (ST91).

In ST91, when the execution determination unit 34 determines that the buried object exploration work is being performed (ST91-Yes), then, based on the scanning locus information stored in the storage unit 40 and the exploration rule information, It is determined whether or not the exploration of the buried object was scanned with the correct trajectory (ST92).
On the other hand, when the execution determination unit 34 determines that the buried object exploration work has not been performed (ST91-No), the execution determination unit 34 outputs a notification instruction for notifying the determination result to the notification unit 70 to perform a predetermined notification. It is executed (ST93), the exploration execution determination process is completed, and the process proceeds to ST10.

In ST92, when the execution determination unit 34 determines that the buried object exploration work is being performed correctly (ST92-Yes), the execution determination unit 34 ends the process and proceeds to ST10.
On the other hand, when the execution determination unit 34 determines that the buried object exploration work is not performed correctly (ST92-No), the execution determination unit 34 outputs a notification instruction for notifying the determination result to the notification unit 70 to perform a predetermined notification. It is executed (ST94), the exploration execution determination process is completed, and the process proceeds to ST10.

<Effect>
As described above, the buried object exploration system 1 according to the present embodiment includes an exploration device 100 including a buried object detecting unit 10 that detects a magnetic field emitted from a buried object including an exploration object existing in the excavation area E. It is a system that uses it to search for buried objects in the excavation area E, and obtains exploration position information including the movement direction and movement distance of the buried object detection unit 10 in the excavation area E based on the scanning locus in the excavation area E. The buried object is an exploration target based on the position detection unit 20 to be detected, the buried object detection information based on the detection signal detected by the buried object detection unit 10, the exploration position information, and the preset determination information. When it is determined whether or not the buried object is an exploration object, the buried object determination unit 32 which outputs the buried object detection information and the exploration position information as the exploration object information, and the area setting related to the preset excavation area E are set. The excavation area data created based on the information reflects the buried object detection information and the exploration object information, and the image data for visualizing the buried state of the exploration object buried in the excavation area E. It is provided with a buried state information creating unit 33 for creating buried state information.

As a result, the position and shape of the buried pipe P, which is an object to be explored buried in the excavation area E, can be grasped before and during excavation, so that the buried pipe P is damaged or damaged during excavation. Can be prevented.

Further, in the buried object exploration system 1 according to the present embodiment, the determination information used by the buried object determination unit 32 is at least the number of detections of the detection signal detected by the buried object detection unit 10 and the amplitude intensity of the detection signal. It contains one of the judgment elements.

As a result, among the buried objects existing in the excavation area E, the buried pipe P to be the exploration target and other foreign substances can be easily distinguished.

Further, in the buried object exploration system 1 according to the present embodiment, the buried object exploration work is executed in the excavation area E based on the storage unit 40 that stores the scanning locus information and the buried state information as the exploration history information. An execution determination unit 34 for determining whether or not the information has been executed is provided.

As a result, it is possible to determine whether or not the buried object exploration work in the excavation area E has been executed. Therefore, when the buried object exploration work is not executed, the worker is requested to execute the buried object exploration work. Can be urged to.

Further, the buried object exploration system 1 according to the present embodiment further includes a scanning locus creating unit 31 that creates a scanning locus of the buried object detecting unit 10 in the excavation area E as scanning locus information based on the exploration position information. The determination execution unit 34 determines whether or not the buried object exploration work is correctly executed based on the scanning locus information and the preset exploration rule information.

As a result, it is possible to determine whether or not the buried object exploration work has been executed according to the exploration rule information set in advance in the excavation area E. Therefore, when the buried object exploration work is not performed correctly, the work is performed. It is possible to urge personnel to re-execute the buried object exploration work in accordance with the exploration rule information.

Further, in the buried object exploration system 1 according to the present embodiment, the exploration rule information includes the scanning pitch in the width direction of the excavated area E set according to the size of the excavated area E or the buried object detection unit in the excavated area E. It contains information that defines at least one element of the movement speed of 10.

As a result, since the exploration rule information is set for each excavation area E, it is possible to execute an appropriate buried object exploration work according to the excavation area E.

Further, in the buried object exploration system 1 according to the present embodiment, the exploration device 100 includes a display unit 50 that displays scanning locus information and buried state information.

As a result, it becomes possible to confirm how the excavation area E is scanned by visually recognizing the scanning locus information displayed on the display unit 50, and it exists in the excavation area E by visually recognizing the buried state information. The buried state of the buried pipe P, which is the object to be explored, can be confirmed before and during excavation. Therefore, it is possible to prevent damage or damage to the buried pipe P during excavation by proceeding with the work while visually recognizing the buried state information or the like during the excavation work.

Further, in the buried object exploration system 1 according to the present embodiment, when it is determined as the determination result of the execution determination unit 34 that the buried object exploration work for the excavation area E is not executed, or the buried object exploration work is correctly performed. When it is determined that the notification has not been made, the notification unit 70 is provided to notify the notification destination to that effect.

As a result, the notification unit 70 notifies that the buried object exploration work has not been executed, so that the buried object exploration work in the excavation area E can be reliably executed. In addition, since the notification unit 70 notifies that the buried object exploration work is not performed correctly, it is possible to prompt the user to re-execute the buried object exploration work in accordance with the exploration rule information.

Further, the buried object exploration method according to the present embodiment uses an exploration device 100 provided with a buried object detecting unit 10 for detecting a magnetic field emitted from a buried object including an exploration object existing in the excavated area E. This is a method of exploring buried objects in E, and is a process of detecting exploration position information including the moving direction and moving distance of the buried object detecting unit 10 in the excavation area E based on the scanning locus in the excavation area E. Based on the buried object detection information based on the detection signal detected by the buried object detection unit 10, the exploration position information, and the preset determination information, it is determined whether or not the buried object is an exploration target. When the buried object is an exploration object, the process of outputting the buried object detection information and the exploration position information as the exploration object information, and the excavation area data created based on the area setting information related to the excavation area E set in advance. , The process of creating the buried state information which becomes the image data for visualizing the buried state of the explored object buried in the excavation area E by reflecting the exploration object information.

As a result, the position and shape of the buried pipe P, which is an object to be explored buried in the excavation area E, can be grasped before and during excavation, so that damage to the buried pipe P during excavation can be prevented. it can.

1 Buried object exploration system 10 Buried object detection unit 20 Position detection unit 30 Control unit 31 Scanning locus creation unit 32 Buried object judgment unit 33 Buried condition information creation unit 34 Execution judgment unit 35 Time measurement unit 40 Storage unit 50 Display unit 60 Operation setting unit 70 Notification unit 80 Power supply unit 90 Communication unit C Excavation construction equipment E Excavation area H Residential P1 Water pipe P2 Water supply pipe R Road S1 First scanning route S2 Second scanning route

Claims (8)

In a buried object exploration system that performs buried object exploration work in an excavated area using an exploration device equipped with a buried object detection unit that detects a magnetic field emitted from a buried object including an exploration object existing in the excavated area.
A position detection unit that detects exploration position information including the movement direction and movement distance of the buried object detection unit in the excavation area based on a scanning locus in the excavation area.
It is determined whether or not the buried object is the exploration target based on the buried object detection information based on the detection signal detected by the buried object detection unit, the exploration position information, and preset determination information. Then, when the buried object is the exploration object, the buried object determination unit that outputs the buried object detection information and the exploration position information as the exploration object information, and the buried object determination unit.
The exploration target information is reflected in the excavation area data created based on the area setting information related to the excavation area set in advance, and the buried state of the exploration object buried in the excavation area is visualized. Buried state information creation unit that creates buried state information that serves as image data for
To prepare
Buried exploration system. The determination information includes at least one determination element of the number of detections of the detection signal detected by the buried object detection unit and the amplitude intensity of the detection signal.
The buried object exploration system according to claim 1. A storage unit that stores the buried state information as exploration history information,
An execution determination unit for determining whether or not the buried object exploration work has been executed in the excavation area based on the exploration history information is provided.
The buried object exploration system according to claim 1 or 2. Further, a scanning locus creating unit is further provided, which creates a scanning locus of the buried object detection unit in the excavation area as scanning locus information based on the exploration position information and stores it in the storage unit.
The execution determination unit determines whether or not the buried object exploration work is correctly executed based on the scanning locus information and the preset exploration rule information.
The buried object exploration system according to claim 3. The exploration rule information defines at least one element of the scanning pitch in the width direction of the excavation area or the moving speed of the buried object detection unit in the excavation area, which is set according to the size of the excavation area. Including,
The buried object exploration system according to claim 4. The exploration device includes a display unit that displays the buried state information and the scanning locus information.
The buried object exploration system according to claim 4. As a result of the determination of the execution determination unit, when it is determined that the buried object exploration work for the excavation area is not executed, or when it is determined that the buried object exploration work is not correctly performed, that effect. Equipped with a notification unit that notifies the notification destination,
The buried object exploration system according to claim 3 or 4. In a buried object exploration method in which a buried object exploration work in an excavated area is performed using an exploration device equipped with a buried object detecting unit that detects a magnetic field emitted from a buried object including an exploration object existing in the excavated area.
A process of detecting exploration position information including a moving direction and a moving distance of the buried object detection unit in the excavation area based on a scanning locus in the excavation area.
It is determined whether or not the buried object is the exploration target based on the buried object detection information based on the detection signal detected by the buried object detection unit, the exploration position information, and preset determination information. Then, when the buried object is the exploration object, the process of outputting the buried object detection information and the exploration position information as the exploration object information, and
The exploration target information is reflected in the excavation area data created based on the area setting information related to the excavation area set in advance, and the buried state of the exploration object buried in the excavation area is visualized. The process of creating buried state information that serves as image data for
including,
Buried object exploration method.

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