JP2022014642A - Underground facility line shape extraction device, method and program - Google Patents

Abstract

To provide an underground facility line shape extraction device, a method and a program capable of improving measurement efficiency of an underground facility, on the basis of three-dimensional data of the underground facility, since, when performing construction of an underground pipe, it is desirable to correctly grasp an underground position in advance, however, if the number of the underground facility is large or a shape of the underground facility is complicated, much time is required for analysis, therefore measurement efficiency is reduced.SOLUTION: An underground facility line shape extraction device comprises: a start point extraction part 60 for extracting a start point for tracking a line shape of an underground facility, on the basis of three-dimensional data obtained by making reflection wave intensity of an electromagnetic wave three-dimensional; and a tracking processing part 62 for tracking a line shape of the underground facility from the start point.SELECTED DRAWING: Figure 6

Description

The present invention relates to a buried object linear extraction device, a method, and a program.

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 one. .. 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, the transmission / reception process of radiating wave signals from electromagnetic waves into the ground and receiving reflected signals from buried objects existing in the ground, and the position and reflection time on the ground with respect to the received signal strength. A three-dimensional exploration method has been proposed in which a three-dimensional boxel data generation step of generating three-dimensional boxel data as coordinates is sequentially executed to search for the position of a buried object existing in the ground.

Japanese Unexamined Patent Publication No. 2000-22167

In order to analyze the presence or absence of the final buried object and grasp the linear shape, it is necessary for a skilled analyst to make a judgment by image diagnosis and manually detect the shape based on the three-dimensional data. When the number of measured buried objects is large, the shape is complicated, or the measured range is wide, it takes time for analysis, which causes a decrease in measurement efficiency.

The present invention has been made in view of the above points, and is a buried object linear extraction device, a method, and a program capable of improving the measurement efficiency of the buried object based on the three-dimensional data of the buried object. The purpose is to provide.

In order to achieve the above object, the buried object linear extraction device according to the present invention is a starting point extraction unit that extracts a starting point for tracking the linearity of an embedded object based on three-dimensional data obtained by making the reflected wave intensity of electromagnetic waves three-dimensional. And a tracking processing unit that tracks the alignment of the buried object from the starting point.

Further, the start point extraction unit according to the present invention compares with a measurement point in the vicinity of the three-dimensional data, and extracts a point having a strong reflected wave intensity as a candidate for the start point.

Further, the start point extraction unit according to the present invention takes an average value in the horizontal direction in which a point having a strong reflected wave intensity exists among the candidates for the start point, and selects a candidate having an intensity exceeding a predetermined threshold value from the average value. Extract as the starting point.

Further, the tracking according to the present invention is based on whether or not the waveforms of the reflected wave intensities at a predetermined number of points shifted by a predetermined distance in a direction tilted by a predetermined angle in a predetermined range from the start point are aligned. Determine the angle.

Further, whether or not the waveforms according to the present invention are aligned is determined by calculating the coherent energy based on the waveform of the reflected wave intensity at each point.

Further, in the tracking according to the present invention, when the tracking angle is determined from the starting point after tracking from the starting point to the point, the predetermined angle is limited as compared with the case where the tracking angle is determined at the starting point. And do it.

Further, the buried object linear extraction device according to the present invention includes a sorting processing unit that performs sorting processing for removing the tracking result by the tracking processing unit based on a predetermined standard.

Further, the predetermined standard according to the present invention is that at least the tracking result by the tracking processing unit is bent at a predetermined angle or more, or the length does not exceed the predetermined length. If so, include.

Further, the buried object linear extraction device according to the present invention includes a simplified processing unit that collects tracking results adjacent to each other as one group among the tracking results selected by the sorting processing unit.

In addition, the simplification processing unit according to the present invention performs leveling processing on the tracking results collected as one group to make one linear.

Further, in the buried object linear extraction method according to the present invention, the starting point extraction unit extracts the starting point for tracking the linearity of the buried object based on the three-dimensional data obtained by converting the reflected wave intensity of the electromagnetic wave into three dimensions, and the tracking processing unit. Is a method of tracing the alignment of the buried object from the starting point.

Further, the buried object linear extraction program according to the present invention is a program for making a computer function as each part constituting the above-mentioned buried object linear extraction device.

According to the buried object linear extraction device, method, and program according to the present invention, the measurement efficiency of the buried object can be improved based on the three-dimensional data of the buried object.
In addition, it is possible to improve the accuracy of extracting candidates for buried objects from the three-dimensional data of buried objects.

It is a block diagram which shows the hardware composition of the buried object measuring apparatus. It is a block diagram which shows the example of the functional structure of the processing part of the buried object measuring apparatus. It is a figure which shows an example of the reflection response waveform detected per one grid. 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 block diagram which shows the hardware composition of the buried object linear extraction apparatus. It is a block diagram which shows the example of the functional structure of the buried object linear extraction apparatus. It is explanatory drawing for demonstrating the surrounding measurement points to be compared in order to extract the candidate of a start point. It is a figure which shows an example which projected the extracted start point. It is a formula for calculating coherent energy. It is explanatory drawing for demonstrating the concrete image of the calculation of coherent energy. It is explanatory drawing for demonstrating the concrete image of the calculation of coherent energy. It is a figure which shows an example of the result when the calculation of the coherent energy was calculated for θ360 degree and φ100 degree (-50 degree to +50 degree), respectively. It is a figure which shows the example which projected the result of the tracking process which is the linear of the tracked buried object in the horizontal direction. It is explanatory drawing for demonstrating the condition of a sorting process. It is a figure which shows an example of the result of a sorting process. It is explanatory drawing for demonstrating the simplification process. It is explanatory drawing for demonstrating a mobile median filter. It is a figure which shows an example of the result of the simplification process. It is a flowchart which shows an example of the buried object linear extraction process.

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

In this embodiment, a case of extracting the alignment of the buried pipe buried in the road structure will be described.

First, an example of the buried object measuring device 10 will be described. As shown in FIGS. 1 and 2, the buried object measuring device 10 includes an electromagnetic wave device 12 and a processing unit 20, each of these configurations is mounted on a wheelbarrow, and the entire buried object measuring device 10 can be moved. It is configured in.

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. The electromagnetic wave device 12 irradiates an electromagnetic wave from the road surface to the ground (depth direction) while scanning in the measurement range 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. The reflected wave intensity according to the depth is detected in the form of a reflection response waveform as shown in FIG. 3 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 reflected response waveform as shown in FIG. 3, the reflected wave intensity for each depth of the road structure can be obtained. That is, a 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 are obtained in the depth direction from the detected reflection response waveform, whereby the measurement range is measured. In, a three-dimensional reflected wave intensity can be obtained.

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

The processing unit 20 is an information processing device such as a personal computer or a tablet terminal. Although not shown, the processing unit 20 has a CPU (Central Processing Unit), a memory, a storage device, an input device, an output device, an optical disk drive device, and a communication I / F (Interface) as a hardware configuration. Each configuration is communicably connected to each other via a bus.

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

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

The input device is a device for performing various inputs such as a keyboard and a mouse. The output device is a device for outputting various information such as a display and a printer. By adopting a touch panel display as an output device, it may function as an input device. The optical disk drive device 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 is an interface for communicating with other devices, and for example, a standard such as Ethernet (registered trademark), FDDI or Wi-Fi (registered trademark) is used.

FIG. 2 is a block diagram showing an example of the functional configuration of the buried object measuring device 10. As shown in FIG. 2, the buried object measuring device 10 includes 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 measurement data storage unit 26. Each functional configuration is realized by the CPU reading the buried object measurement program stored in the storage device, expanding it into the memory, and executing the program.

The 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 generation unit 28 generates underground analysis data in which the measurement data stored in the measurement data storage unit 26 is three-dimensionalized based on the self-position information. Specifically, the generation unit 28 extracts the reflected wave intensity at a desired depth from the measurement data, that is, the reflection response waveform for each grid measured by the electromagnetic wave device 12, and uses the reflected wave intensity as a pixel value. A reflected wave intensity image is generated by converting and performing plane coupling processing on 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 in the horizontal direction (depth direction) ( Multiple reflected wave intensity images in the XY plane), multiple reflected wave intensity images in the transverse direction (moving direction of the buried object measuring device 10) (YY plane), and longitudinal direction (width direction of the measurement range) ( A plurality of reflected wave intensity images can be generated on the XX plane). The generation unit 28 specifies which position each reflected wave intensity image corresponds to in each direction based on the self-position information. FIG. 4 shows an example of the reflected wave intensity image in each direction.

The generation unit 28 stores the generated three-dimensional underground analysis data in the measurement data storage unit 26.
The buried object measuring device 10 may not be provided with the generating unit 28, but the buried object linear extraction device 30 and other devices may be provided with the generating unit 28.

Next, an example of the buried object linear extraction device 30 will be described. The buried object linear extraction device 30 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 buried object linear extraction device 30. As shown in FIG. 5, the buried object linear extraction device 30 includes a CPU 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 54. Each configuration is communicably connected to each other via a bus. Further, the buried object linear extraction device 30 receives the three-dimensional underground analysis data generated by the generation unit 28 of the buried object measuring device 10 from the buried object measuring device 10 and stores it in the storage device 46.

The storage device 46 stores a buried object linear extraction program for executing a buried object linear extraction including a start point extraction process, a tracking process, a sorting process, and a simplification process, which will be 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 RAM and temporarily stores programs and data as a work area. The storage device 46 is composed of a ROM and an HDD or SSD, 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 or a Blu-ray disc, writes data to the recording medium, and the like.

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

FIG. 6 is a block diagram showing an example of the functional configuration of the buried object linear extraction device 30. As shown in FIG. 6, the buried object linear extraction device 30 includes a start point extraction unit 60, a tracking processing unit 62, a sorting processing unit 64, and a simplification processing unit 66 as functional configurations. Each functional configuration is realized by the CPU 42 reading the buried object linear extraction program stored in the storage device 46, expanding it in the memory 44, and executing the program.

The start point extraction unit 60 compares with a measurement point in the vicinity and extracts a point having a strong reflected wave intensity as a candidate for the start point.
Specifically, as shown in FIG. 7, the peak amplitude is detected by comparing the amplitudes of the front-back, left-right, top-bottom 6 points and the diagonal 12 points of the three-dimensional data of each grid. Then, the average value of all the peak amplitudes in the horizontal direction (XY plane) where the peak amplitude that is the candidate of the detected start point exists is taken, and the intensity is higher than that with N times as the threshold value from the average value. Extract the measurement point as the starting point. FIG. 8A is an example of the result of projecting N at 5.0, that is, a starting point having an intensity of 5.0 times or more from the average value on the XY plane. Further, FIG. 8B is an example of the result of projecting N at 3.0, that is, a starting point having an intensity of 3.0 times or more from the average value on the XY plane. As can be seen from FIGS. 8A and 8B, the number of measurement points (grids) that are candidates for the starting point increases or decreases depending on whether the threshold value is multiplied by N from the average value.

Here, when the threshold value is N times the average value, if the value of "N" is too small, there are too many measurement points (grids) that are candidates for the starting point, and it takes too much time for the tracking process described later. On the contrary, if it is too large, the buried object will leak. Therefore, the value of N is set according to the accuracy required according to the purpose of linear extraction of the buried object. Further, the upper limit number of measurement points (grids) that are candidates for the starting point may be set, and the numerical value of "N" may be set so as to be within the upper limit number.

It should be noted that it is not excluded that all the detected peak amplitudes are treated as starting points and the tracking process described later is performed without taking all the average values on the XY plane. That is, the process of taking the average value and the process of multiplying the average value by N to set the threshold value are the processes performed when there are too many observation points that are candidates for the starting point. Therefore, it is not necessary to perform the tracking process when there is time to be spent on the tracking process or when the detected peak amplitude is small.

Further, the neighborhood for amplitude comparison is not limited to 6 points before and after, left and right, and above and below and 12 diagonal points of the three-dimensional data of each grid, and may be less or more than this.

The tracking processing unit 62 tracks the alignment of the buried object from the starting point extracted by the starting point extraction unit 60.
Specifically, in the tracking, is the waveform of the reflected wave intensity at a predetermined number, for example, 6 points (hereinafter, also referred to as “tracking point”) shifted by a predetermined distance in a direction inclined by a predetermined angle from the start point? The tracking angle is determined based on whether or not. Then, whether or not the waveforms of the reflected wave intensity are aligned is determined by calculating the coherent energy based on the waveform of the reflected wave intensity at each point. When the tracking angle is determined, the predetermined number of points, for example, 6 points described above, are shifted again by a predetermined distance in the direction tilted by the predetermined angle, starting from the farthest point where the tracking angle is determined. Whether or not the waveforms of the reflected wave intensities at a predetermined number, for example, 6 points are aligned is determined by calculating the coherent energy, and the tracking angle is determined. By repeating this process, the alignment of the buried object is tracked.

FIG. 9 is a formula for calculating coherent energy. Here, M is the number of waveforms in the tracking length, Z _w is the window width, st is the z coordinate of the start point, _wininterp is the interpolated multi-array waveform array, dr is the waveform sampling process, and φ is the start point. The angle in the depth direction from.

10 and 11 show a concrete image of the calculation of coherent energy.

As shown in FIG. 10A, it is assumed that there is a starting point (point "0") in the middle of a pipe extending horizontally in the y-axis direction. First, as shown in FIG. 10B, M points (“1”) shifted by the sampling distance dr in the direction inclined by θ from the y-axis on the plane with respect to the start point (point “0”). The waveform of (point "6") is interpolated from the point of. Then, the coherent energy is calculated according to the formula shown in FIG. 9 based on the interpolated waveform.

FIG. 11 shows the waveforms of the four cases. 11 (A) is (θ = 0 deg, φ = 0 deg), FIG. 11 (B) is (θ = 0 deg, φ = 40 deg), and FIG. 11 (C) is (θ = 90 deg, φ = 0 deg). , FIG. 11 (D) is a case of (θ = 90 deg, φ = 40 deg). In this case, when (θ = 0deg, φ = 0deg) shown in FIG. 11A, the phases of the waveforms are aligned within the window width, so that the coherent energy is relative to that of the other three cases. It turns out that it becomes high.

In this way, FIG. 12 shows the results when the coherent energy was calculated for θ360 degrees and φ100 degrees (-50 degrees to +50 degrees), respectively. In FIG. 12, the portion where the coherent energy is high is displayed in white, and the portion where the coherent energy is low is displayed in black. When the starting point is in the middle of the tube, it can be seen that two coherent energy peaks appear in the direction in which the tube extends (in this case, θ = 0 deg, φ = 0 deg and θ = 180 deg, φ = 0 deg). "X" mark in 12). The angle at which this peak appears is the tracking angle from this starting point. When two tracking angles are determined, they move to the end point of the interpolated waveform in the direction of the tracking angle, the point "6" in FIGS. 10 and 11, respectively, and the point "6" at the end. Start similar tracking from.

Here, while θ calculates coherent energy for 360 degrees, φ performs only 100 degrees (-50 degrees to +50 degrees) because φ is an angle in the depth direction, which is ± 50 degrees. It is unlikely that the pipe is buried at an angle that exceeds the range, and this is to improve the efficiency of coherent energy calculation. Therefore, in the calculation of coherent energy, the calculation range is set as appropriate, such as calculating a narrower angle or a wider angle, not limited to the case where φ is calculated only for 100 degrees (-50 degrees to +50 degrees). It is possible.

Further, since the tracking angle is determined, the movement is moved to the end point of the interpolated waveform in the direction of the tracking angle, the point "6" in FIGS. 10 and 11, and the same is true from the point "6" at the end. When starting the second and subsequent tracking of, the angle at which the coherent energy of θ is calculated is narrowed, and the tracking angle is limited to one. This is because if the angle of θ is set to 360 degrees as in the first time, the angle of returning to the starting point where the first tracking angle is determined is included, and the backtracking is prevented.

The tracking by the tracking processing unit 62 ends when a predetermined condition is satisfied. The termination conditions for terminating tracking include:
(1) When the point to be tracked reaches outside the 3D data, (2) the set maximum value of the tracking loop that repeats the tracking is set, and when the set maximum value is reached, (3) the coherent energy is from the starting point. When the tracking angle changes suddenly, such as when it becomes significantly weaker than the one, (4) when it suddenly turns in the opposite direction, etc., (5) Every time the tracking angle is determined in the tracking loop that repeats tracking. For example, when the angles are different and it is determined that the line is bent too much, or when the dispersion value of the tracking angle exceeds a predetermined threshold value.

The conditions for ending the tracking are not limited to those described above, and even if any one of the above is satisfied, the tracking may not be terminated and may be continued. This is because, except for the end conditions of (1) and (3) described above, the purpose is mainly to reduce the burden of the tracking process, and the tracking is not impossible.

In addition, the tracking process is completed by tracking at all the starting points. Here, FIG. 13 shows an example in which the result of the tracking process, which is linear of the tracked buried object, is projected in the horizontal direction (XY plane). The shade of color indicates the typical depth (Z direction) of each linear.

The sorting processing unit 64 performs sorting processing for removing the alignment of the buried object tracked by the tracking processing unit 62 based on a predetermined standard. The tracking process is a process of tracking the alignment from all the extracted starting points, and the results of the tracking process include those that are unlikely to be candidates for buried pipes. Therefore, the accuracy of the buried object linear extraction is improved by removing the linearity that is not suitable for the buried pipe from the result of the tracking process.

FIG. 14 shows a predetermined standard for the sorting process. FIG. 14A shows whether the tracking result by the tracking processing unit 62 bends at a predetermined angle or more, and the dispersion value of the tracking angle exceeds a predetermined threshold value. FIG. 14B shows whether the length of the tracking result by the tracking processing unit 62 does not exceed a predetermined length. FIG. 14C shows whether the degree of dispersion of energy orthogonal to the tracking direction exceeds a predetermined threshold value. FIG. 14 (D) shows whether the difference in the initial tracking angle from the starting point exceeds a predetermined threshold value. FIG. 14 (E) shows whether the width of the median tracking angle exceeds a predetermined threshold value. The sorting conditions are not limited to those described above, and it is not necessary to satisfy all the sorting conditions described above.

Here, the conditions of FIGS. 14 (A), 14 (C), and 14 (E) will be additionally described.

FIG. 14 (A) is the same as the end condition (5) for ending the tracking described above, but it is desirable that the threshold value is set to be stricter than that of the end condition (5). This is because the tracking process can be performed as much as possible with a threshold value that is loose to some extent so that there is no omission when the items are sorted by the subsequent sorting process.

FIG. 14C shows a buried pipe because when the reflected wave intensity in the direction orthogonal to the tracking direction is higher than the threshold value and the reflected wave intensity is dispersed, it is often affected by soil or the like. It's unlikely. Therefore, it is decided to sort in the sorting process.

FIG. 14 (E) takes, for example, the median tracking angle when the tracking loop is performed eight times, and selects a linear line that deviates from the median tracking angle by exceeding a predetermined threshold value.

FIG. 15 (A) shows the tracking result before the same sorting process as in FIG. 13, and FIG. 15 (B) shows the result of executing the sorting process from FIG. 15 (A).

The simplification processing unit 66 puts together the alignments of the buried objects showing the tracking results selected by the sorting processing unit 64, which are adjacent to each other, as one group. Since the tracking process is executed from all the starting points extracted by the starting point extraction unit 60, the tracking results are output as different linearities even for the same buried object. Therefore, it is decided to summarize the tracking results that are judged to be the same buried object.
It should be noted that the tracking results before being sorted by the sorting processing unit 64 may be combined into one group.

FIG. 16 is an explanatory diagram for explaining the simplification process. As shown in FIG. 16, it can be seen that the four alignments are close to each other in the XY plane and the XY plane. A simplification process is performed to combine these four linear lines into one group.

Specifically, the simplification processing unit 66 selects one alignment and detects other tracking points on that alignment near all tracking points on that line (see FIG. 10B). If a candidate tracking point is found, (1) is the median tracking angle sufficiently close to each other, that is, oriented in the same direction, for the line containing the candidate tracking point? (2) Evaluate whether the distance is too far from all the tracking points on the line. If such an evaluation meets the criteria for grouping, then an alignment containing candidate tracking points is added to the group. When a new alignment is added to a group, it evaluates whether the tracking points on that alignment are similarly searched for other candidate alignment points and put into the group. Repeat the process until there are no candidate tracking points in one group, and if there are no candidate tracking points, determine the group, select a linear that has not been grouped yet, and perform the same processing. Perform a new grouping. Processing continues until all alignments are classified into one of the groups.

Further, the simplification processing unit 66 performs leveling processing on the tracking results collected as one group by the sorting processing unit 64 to make one linear.

Specifically, as shown in FIG. 17, the longitudinal direction is determined from the grouped linearity shown in FIG. 17 (A) based on the tracking points in the group as shown in FIG. 17 (B), and grouped. List all the tracking points on the linear line. Then, according to the sampling distance set in the longitudinal direction base, for example, a mobile median filter or the like is applied as shown in FIG. 17 (C) to approximate one group to one line. ..

FIG. 18A shows the tracking result before the simple processing similar to that of FIG. 15B, and FIG. 18B shows the result of executing the simplification processing.

Next, the operation of the buried object linear extraction device 30 according to the present embodiment will be described with reference to FIG.

In step S12, the start point extraction unit 60 acquires three-dimensional data from the buried object measuring device 10. Then, the process proceeds to the next step S14.

In step S14, the start point extraction unit 60 executes a start point extraction process for extracting a start point for tracking the alignment of the buried object based on the three-dimensional data acquired in step S12. Then, the process proceeds to the next step S16.

In step S16, the tracking process unit 62 executes a tracking process for tracking the alignment of the buried object from all the starting points extracted in step S14. Then, the process proceeds to the next step S18.

In step S18, the sorting process unit 64 executes a sorting process of sorting the tracking results tracked in step S16 based on a predetermined criterion. Then, the process proceeds to the next step S20.

In step S20, the simplification processing unit 66 executes a simplification process of collecting the tracking results selected in step S18 as one group. Then, the process proceeds to the next step S22.

In step S22, the buried object linear extraction device 30 outputs the buried object linear extraction result, and the buried object linear extraction result is used by various other software or the like, or is used in construction or the like. Then, the process is terminated.

It should be noted that not only the buried object linear extraction result output in step S22 but also the result of the tracking process performed in step S16 is output so that it can be used by various other software or used in construction work. May be. Further, the result of the sorting process performed in step S18 may be output and made usable by various other software or the like, or may be made usable in construction or the like.

As described above, according to the buried object linear extraction device 30, the buried object linear extraction method, and the buried object linear extraction program according to the present embodiment, the buried object is based on the three-dimensional data of the buried object. The measurement efficiency can be improved.
In addition, it is possible to improve the accuracy of extracting candidates for buried objects from the three-dimensional data of buried objects.

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 deck and the archaeological site survey. Further, the present invention can be applied not only to the buried objects buried in the ground but also to the buried objects buried in the wall surface.

Further, in the above embodiment, a case where the start point extraction unit 60, the tracking processing unit 62, the sorting processing unit 64, and the simplification processing unit 66 for executing the buried object linear extraction processing are configured by one computer will be described. However, each part may be configured by a separate computer.

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. As a processor in this case, in order to execute specific processing such as PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing FPGA (Field-Programmable Gate Array) and ASIC (Application Specific Integrated Circuit). 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-like 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 embodiment in which the buried object linear extraction 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 20 Processing unit 26 Measurement data storage unit 28 Generation unit 30 Buried object linear extraction device 42 CPU
44 Memory 46 Storage device 48 Input device 50 Output device 52 Optical disk drive device 54 Communication I / F
60 Start point extraction unit 62 Tracking processing unit 64 Sorting processing unit 66 Simplification processing unit

Claims (12)

A start point extraction unit that extracts the start point that traces the alignment of the buried object based on the three-dimensional data obtained by converting the reflected wave intensity of the electromagnetic wave into three dimensions.
A tracking processing unit that tracks the alignment of the buried object from the starting point,
A buried object linear extractor equipped with. The buried object linear extraction device according to claim 1, wherein the start point extraction unit extracts a point having a strong reflected wave intensity as a candidate for the start point by comparing with a measurement point in the vicinity of the three-dimensional data. The start point extraction unit takes an average value in the horizontal direction in which a point having a strong reflected wave intensity exists among the candidates for the start point, and extracts an intensity exceeding a predetermined threshold value from the average value as the start point. The buried object linear extraction device according to claim 2. Claimed to determine the tracking angle based on whether or not the waveforms of the reflected wave intensities at a predetermined number of points shifted by a predetermined distance in a predetermined angle tilting direction from the starting point are aligned. The buried object linear extraction device according to any one of 1 to 3. The buried object linear extraction device according to claim 4, wherein whether or not the waveforms are aligned is determined by calculating coherent energy based on the waveform of the reflected wave intensity at each point. 4. The tracking is performed by limiting the predetermined angle when the tracking angle is determined from the starting point after tracking from the starting point to the point, as compared with the case where the tracking angle is determined at the starting point. Or the buried object linear extraction device according to 5. The buried object linear extraction device according to any one of claims 1 to 6, further comprising a sorting processing unit that performs sorting processing for removing tracking results by the tracking processing unit based on a predetermined standard. The predetermined standard includes at least a case where the tracking result by the tracking processing unit is bent by a predetermined angle or more, or a case where the length does not exceed a predetermined length. Item 7. The buried object linear extraction device according to Item 7. The buried object linear extraction device according to claim 7 or 8, further comprising a simplified processing unit for collecting tracking results adjacent to each other as one group among the tracking results selected by the sorting processing unit. The buried object linear extraction device according to claim 9, wherein the simplification processing unit performs leveling processing on the tracking results collected as one group to make one linear. The start point extraction unit extracts the start point that traces the alignment of the buried object based on the three-dimensional data obtained by making the reflected wave intensity of the electromagnetic wave three-dimensional.
The tracking processing unit tracks the alignment of the buried object from the starting point.
Buried material linear extraction method. A buried object linear extraction program for making a computer function as each part constituting the buried object linear extraction apparatus according to any one of claims 1 to 10.

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