JPH0418774B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field]

The present invention includes a detecting device for detecting or searching for a predetermined element underground or on the ground, and a recording device for recording detection data of the predetermined element measured by the detecting device together with its detected position data. This invention relates to a detection data recording system for a self-propelled detector.

[Conventional technology]

Conventionally, for detecting or searching for a predetermined element underground or above ground, that is, detecting the presence or absence of underground buried objects, detecting abnormalities in underground buried objects, or detecting a predetermined element in the atmosphere above ground, etc. Workers can collect data while visually checking the detection reaction meter of the detector while carrying the detector directly to detect these predetermined elements, or by operating a hand-held trolley equipped with the detector. The process is completely dependent on manual operation by the operator. Therefore, not only is it not possible to automatically record detected information together with detection position data indicating the detected position, but there is also the risk of misreading the data, which is a burdensome task for the operator. .

[Problems to be solved by the invention]

As a result of intensive research in view of the above circumstances, the inventors of the present invention have discovered the following: Japanese Patent Application No. 59-263504
In the gas leak detection recording system (No. 172024), we proposed a system that automatically records both gas leak data and travel distance (speed) data. The present inventors further expanded the theme from gas leak detection to detect specific elements underground (for example, searching for buried objects, detecting abnormalities and changes in buried objects, and detecting water leaks from underground water pipes as an example). In addition to targeting a predetermined element in the atmosphere (gas leak detection, exhaust gas measurement on the road, etc.), travel position data is calculated from the travel direction data and travel distance data, and the data is combined with the detection data of the predetermined element of the detection device. We have completed a device that automatically records driving position (trajectory) data. That is, the problem of the first invention of this application is to classify the detection values detected by the detection device into patterns, and change the detection interval of the detection device with respect to the traveling distance accordingly, so that efficient detection can be performed. At the same time, it is an object of the present invention to automatically record detection data of predetermined elements of a self-propelled detector having a detection device and a recording device mounted on a traveling object, together with detection position data thereof. In addition to the problems of the first invention, the problem of the second invention is that when automatic recording is continued after being interrupted,
It is possible to externally input position data of a starting point, which is the basis for calculating position data. In addition to the problems of the second invention, the problem of the third invention is to display the trajectory externally and calculate and obtain the trajectory when the planned travel course (trajectory) for detection is determined in advance. The purpose of the present invention is to automatically correct the position data on the planned travel trajectory data and display it externally.

[Means and actions for solving problems]

In this first invention, in order to achieve the above-mentioned object, as shown in the functional block diagram of FIG. In a detection data recording system for a self-propelled detector, which includes a recording device 3 that records detection data of a predetermined element measured by the detection device 2 together with its detection position data, the detection value detected by the detection device 2 is A pattern determining means determines which of a plurality of detected value patterns classified in advance into predetermined areas is classified into. A detection interval of the detection device with respect to the traveling distance is set in advance for each of the above patterns, and the above determined According to the pattern, the detection interval for the traveling distance is controlled by a control device; A traveling direction detecting means 4 is provided for recording the traveling direction of the traveling object 1. A traveling distance (or speed) is provided to detect or measure the traveling distance of the traveling object 1. ) A detecting means 5 is provided, a traveling position calculating means for calculating traveling position data based on the traveling direction data and traveling distance data obtained from the traveling direction detecting means 4 and the traveling distance (or speed) detecting means 5. 7 is provided, and a calculation function control means 6 is provided which interrupts the calculation processing of the travel position calculation means 7 and continues after the interruption.
We are taking technical measures. In this second invention, in order to achieve the above object, in addition to the configuration shown in FIG. 1, as shown in the functional block diagram of FIG. A technical measure is taken in which a reset position input means 9 is provided for inputting continuation start position data into the recording device when the process is to be continued after being interrupted. In this third invention, in order to achieve the above-mentioned object, in addition to the configuration shown in FIG. 2, as shown in the functional block diagram of FIG. A position correction calculating means 8 is provided for comparing and calculating the traveling position data with the planned traveling trajectory data and correcting the traveling position data to the position data on the planned traveling trajectory data. A technical measure is taken in which a display means 11 is provided.

【Example】

Below, as an example of the detection data recording system of the self-propelled detector of the present invention, an embodiment in which the detection device is a gas leak detection device will be described based on the drawings from FIG. 4 onwards. The detection data recording system of the self-propelled detector 100 shown in FIG. A vehicle speed sensor 50 and a manual switch 60 for controlling arithmetic functions are connected to an I/O port (input port) 70A of a microcomputer 70, and similarly, an external storage device is connected to an I/O port (output port) 70A. An information writing device 30 for writing data into an IC card 35, which is an example, and a control device 120 are connected and mounted on the self-propelled vehicle 10. Here, the configuration of the self-propelled vehicle 10 is not particularly limited, as long as it is equipped with a detection data recording system and automatically travels in an appropriate direction according to instructions from an operator. The direction sensor 40 for detecting the running direction of the self-propelled vehicle 10 may be any sensor that can detect the running direction of the self-propelled vehicle 10, and for example, a gyroscope, a geomagnetic sensor, or the like may be used. Further, as the vehicle speed sensor 50, an encoder that detects the number of rotations of a wheel, a sensor that detects the number of rotations of a final reduction gear, or the like is used. In this way, when the vehicle speed sensor 50 is used as the traveling distance detection means 5, the traveling distance is measured by integrating the vehicle speed data with the traveling time, but of course, it is also possible to use a traveling distance sensor that directly detects the traveling distance. It's okay. Further, the traveling direction detecting means 4 and the traveling distance (or speed) detecting means 5 may use the same sensor. A wheel rotation speed sensor such as an encoder is installed to detect the running direction from the difference in the rotation speed of the left and right running wheels, and the running speed, that is, the distance traveled is detected from the average value of the rotation speed of the left and right running wheels. It may be. When the running direction is detected based on the rotation speed of the left and right wheels, and when using a direction sensor that cannot detect forward and backward movement, the forward and backward movement detection sensor 41 for determining the forward and backward movement of the self-propelled vehicle 10 is used. It is preferable to provide the sensor to supplement the sensing of the direction of travel. As this forward/reverse movement detection sensor 41, a sensor that detects the switching position of a shift lever is used, for example. Next, the manual switch 60, which is in the hand of the worker, outputs an interruption signal to interrupt the traveling position calculation process to be described later when traveling other than the normal traveling, and the unscheduled traveling is completed. When returning to normal running, a continuation (reset) signal is output to continue the running position calculation process again. For example, when the self-propelled detector 100 goes up and down stairs or repeatedly runs at the same place. This is manually input by an operator when the self-propelled detector 100 travels in a direction that was not anticipated when calculating the travel position, such as when the self-propelled detector 100 travels off a planned course. be. Further, the detection device 2 is a gas leak detection device 20 in this embodiment, and has a normal configuration that measures gas concentration based on a detection signal detected from a gas concentration sensor 20a. Then, the direction sensor 40 and the vehicle speed sensor 5
Output signals from the manual switch 60, the gas leak detection device 20, and the gas leak detection device 20 are input to a microcomputer 70 with a normal configuration consisting of an I/O port, a central processing unit (CPU), and a memory. The arithmetic processing of this microcomputer 70 is shown in a functional block diagram in FIG. That is, a direction conversion means 71 converts a detection signal from the direction sensor 40 into running direction data, and a direction conversion means 71 converts a detection signal from the vehicle speed sensor 50 into vehicle speed data, and integrates this vehicle speed data with the running time to obtain the running distance. Distance conversion means 72 for measuring data
and a traveling position calculation means 73 that calculates traveling position data (in the case of the present embodiment, represented by two-dimensional coordinates) from the traveling direction data and the traveling distance data;
When a signal is input from the manual switch 60 to interrupt the arithmetic processing of the travel position data by the travel position calculation means 73, the calculation is interrupted, and when a signal to continue (reset) the calculation after the interruption is input, the above operation is performed. Calculation control means 74 for continuing calculations
and a pattern determining means 21 that determines to which of preset gas leak concentration patterns the gas leak concentration patterns detected by the gas leak detection device 20 belong, based on the gas leak data input from the gas leak detection device 20. The detected gas leak data as is, or the gas leak concentration pattern determined by the pattern determining means 21 is recorded in synchronization with the sampling of the gas leak data, together with the calculated travel position data, and a keyboard, etc. (not shown) is recorded. The work data inputted by the worker through the input means of the microcomputer is recorded together with the time data sampled from the clock function (not shown) of the microcomputer, and these data are recorded on the information writing device 30 and/or the external display device 123. Calculation recording means 7 outputting to
9, it is determined whether the pattern determined by the pattern determination means 21 is the same as the gas leak pattern detected immediately before, and if it is determined that the pattern is different, a predetermined pattern control signal is output to the control device 120. The configuration includes a state determining means 22 for determining the state of the vehicle. Here, the traveling position calculation means 73 assumes that the base point of the detection work is (0, 0), the Y-axis is north-south, and the X-axis is east-west, and the traveling position calculation means 73 is based on two-dimensional coordinates scaled based on the actual survey map. Second, the travel distance data is converted to the same scale and calculated along with the travel direction data using the current travel position as a coordinate point, thereby obtaining travel position data as continuous coordinates, that is, a trajectory. In addition, the control device 120 controls the sampling period and/or vehicle speed predetermined in the pattern by inputting the pattern control signal. That is, regarding the control of the sampling period using the pattern control signal, the sampling period of the gas concentration detection sensor 20a, the direction sensor 40, and the vehicle speed sensor 50 of the gas leakage detection and recording device is changed. In this case, the direction sensor 40 and the vehicle speed sensor 50
The sampling period may be always set to be the same as the sampling period of the gas concentration sensor 20a, or may be a different sampling period, but at least a period synchronized with the sampling period of the gas concentration sensor 20a, in other words. It is preferable that whenever the gas concentration sensor 20a is sampling, the orientation sensor 40 and the vehicle speed sensor 50 are sampling at the same time. Regarding the control of the vehicle speed using the pattern control signal, the accelerator (drive mechanism) 122 is directly driven via the actuator 121 to change the vehicle speed to a predetermined speed, or the external display means 1
23 may be used to instruct the operator about the traveling speed. Next, to explain the operation of the detection data recording system of the self-propelled detector 100, the central processing unit
The CPU processes the input signals according to a gas leak recording program stored in advance in the memory (ROM). That is, when the main switch of the self-propelled detector 100 is turned on, the gas leak recording program is called from the memory and accessed, and the processing is performed as shown in the flowchart shown in FIG. First, in step, the work start date, time and time, and work code are entered using the keyboard to perform initial settings. Next, in step, when the switch for sensor operation is turned on, start information is written in the status code and detection is started. Next, when the input signals are detection signals from the direction sensor 40 and vehicle speed sensor 50, in step, the detection signals from both sensors 40 and 50 are converted into traveling direction data and vehicle speed data, and the vehicle speed data is integrated by the traveling time. The data is processed and converted into mileage data. If a signal to interrupt the calculation is inputted from the manual switch 60 in step, the process does not proceed to the next step until a signal to continue calculation (reset) is inputted from the manual switch 60 in step. If a signal to interrupt the calculation is not inputted from the manual switch 60 in step 60, or if a signal to continue calculation is inputted from the manual switch 60 in step 1, the process advances to step 11, and the azimuth data and distance data are processed. Compute the current running position as two-dimensional coordinates (x, y),
Obtain position data of the self-propelled vehicle 20. Next, if the input data is gas leak data from the gas leak detection device 20, the gas leak data is recorded in a step, and the gas concentration data is changed to a predetermined number of levels (in this embodiment, 3 levels).
It is determined which of the gas leak concentration patterns (step) belongs to. Here, the gas leak concentration pattern is, for example, when the detected gas leak concentration value is less than Appm, it is considered a safe concentration area (area a), and when it is Appm or more Bppm
If it is below, it is considered a caution concentration region (region b)
If the concentration exceeds Bppm, it is classified as a dangerous concentration area (C area). When it is determined which pattern it belongs to, in a step, the detection operation at the time of detecting the data, that is, the state of whether the sampling period and vehicle speed of each sensor match the sampling period and vehicle speed specified in this pattern. If they do not match, the time at which the data was detected is recorded in the memory from the clock section, and the sampling period or vehicle speed is controlled in accordance with each pattern. Here, if it is determined that the area is a, the self-propelled vehicle 10 moves at the normal detection traveling speed (BKm/h).
The gas leak detection device 20 has a normal sampling period (LMHz or L seconds interval), but if it is determined to be in region b, the detection running speed is slow (AKm/h).
Therefore, the gas leak detection device 20 has a rather short sampling period (MMHz or M seconds interval). Furthermore, when it is determined that the vehicle is in region c, the self-propelled vehicle 20 moves at a low detected traveling speed (B
Km/h), the gas leak detection device 20 has an even shorter sampling period (SMHz or S seconds interval). (Here A<B, S<M<L) According to the pattern determined in this way,
The drive mechanism 122 of the self-propelled vehicle 10 is controlled to a predetermined speed via the actuator 121, and the sampling period generating circuit (not shown) of each sensor is changed. Furthermore, gas leak information consisting of each data detected in this way is temporarily stored in the memory of the microcomputer 70 in a step, but at this time, this data is displayed on one of the external display devices 123. The data may be output to a printer in real time and used as backup data. Note that it is preferable to generate a buzzer sound when outputting by printing, since this can attract the attention of the operator. When the sensor drive switch is turned OFF by the operator in step, it is determined that this gas leakage inspection work is complete, and in step step, the gas leakage inspection work is determined to have been completed, and the information stored in the memory is transferred to the IC via the information writing device 30.
It is written to the card 35. This program ends when the main switch of the self-propelled detector 100 is turned OFF in step. This data may be written at any time when a predetermined amount of data is stored in the memory. Further, in the present invention, the gas leakage information may be recorded in a pattern as described above, or the gas leakage concentration value may be recorded as is. Next, the content of the gas leak pattern is not limited to this embodiment, and may be any pattern that controls a predetermined component so as to perform optimal detection according to the characteristics of the detection element. Further, in this embodiment, the gas leak detection device 20 includes:
Within the device, gas leakage (concentration) data is obtained by converting the detection signal sensed by the gas concentration sensor 20a.
The configuration may also be such that the detection signal of the gas concentration sensor 20a is converted. Next, in the gas leak detection recording system shown in FIG. 6, when the calculation function is stopped by turning on the interruption switch of the manual switch 60 in the embodiment shown in FIG. Coordinates (hereinafter referred to as absolute coordinates) indicating the position of a feature that is deviated from the arithmetic function stop position or that is preset as a check point
Reset position input is used to input reset position data, which is the starting point of the calculation, into the microcomputer 70 when continuing the calculation from, that is, when performing subsequent calculation processing based on the data at the check point position (absolute coordinates). It consists of a configuration in which a device 90 is added. This reset position input device 90 is used by an operator to manually input position data, that is, absolute coordinates, of check points set at characteristic positions based on a map of a scheduled inspection area or a planned course using a keyboard or the like. Alternatively, the reset position (coordinates) data may be input by indicating the reset position (point) on the map or the planned course using a digitizer, touch pen, or the like. As a result, errors caused by calculation of position data can be eliminated by manual operation by the operator (see Fig. 5; an explanation of this function can be found in Section 8).
(Omitted as it overlaps with the flowchart in the figure). FIG. 7 further shows that when the detection work is carried out in advance by driving on a certain course or in a certain area, the positions (absolute coordinates) of the check points in the planned course or in the certain area are input into the microcomputer in advance by an appropriate means. This is a detection data recording system for a self-propelled detector that includes a system that automatically corrects position data while checking the calculated position data using absolute coordinate data on the planned course or area. That is, this detection data recording system for a self-propelled detector has the structure of the above-mentioned embodiment except that an external display device 123 such as a display is essential, and the arithmetic processing of the microcomputer 70 is changed from the functional block shown in FIG. As shown in the figure, the configuration is the same except that a travel schedule check point recording means 76 and a position correction means 77 are added, so the same components are given the same numbers and the explanation thereof will be omitted. That is, the travel schedule data inputted to the travel schedule check point recording means 76 via an appropriate external input device (in this embodiment, a keyboard which also serves as the reset position input device 90) and the travel schedule data obtained from the position calculation means 73 are combined. Travel position data (excluding reset position data) is compared and calculated by position correction means 77 and corrected to position data on the planned travel trajectory. This corrected position data is stored in the calculation recording means 79.
Information writing device 30 along with gas leak data via
Output to. Furthermore, if the input absolute position is displayed on an external display device 123 such as a display and the traveling position (coordinates) is continuously displayed on a plot, the operator can visually check whether the current calculated working position is correct or not. You can complete the work while In this example, the planned driving trajectory data is recorded as data that is a collection of consecutive points (two-dimensional coordinates), and the actual planned driving course is replaced with a course with continuous straight lines. The intersection points of straight lines are replaced with two-dimensional coordinates as check points. Absolute coordinates based on actually measured distances and directions are set for the above-mentioned intersections, and distances and directions on the coordinates between the intersections are set in advance as section data between each intersection. Further, the position correction means 77 compares the position data when the position data calculated by the position calculation means 73 satisfies the interval data between each consecutive intersection point with the absolute coordinates of the intersection point, and if the position data is the same, the position data is compared with the absolute coordinates of the intersection point. is determined to be correct, and if different, a correction method such as replacing it with the coordinates of the intersection point can be used. This correction method is not limited to the above method, and the absolute position data to be compared is not limited to the planned travel trajectory data, but may be data of a certain area. For example, if the area of detection work is constant during the day, but the driving course is not constant, set absolute coordinates to the position of a feature in that area, and when you reach that feature, The position data may be compared with the position data calculated by the traveling position calculating means 73, and if they do not match, the position data may be replaced with an absolute position. Next, the gas leak recording program in this embodiment is shown in the flowchart of FIG. This procedure adds a reset position input procedure and a position data automatic correction procedure to the procedure shown in the flowchart of Figure 6, so the same steps will be given the same numbers and their explanation will be omitted. . Therefore, when continuing (resetting) the calculation after the position data calculation is interrupted at the step after completing the procedure from the step, the reset position is
If the operator determines in step 1 that the position data is different from the position data when the calculation was interrupted, in step 2 the operator manually inputs the reset position that will be the calculation starting point. Next, when a reset signal is input in step 1 and position calculation is started, the coordinates of the check point last passed during the planned travel trajectory or the check point input as the reset position are recorded from the planned travel check point recording means in step 1. Recalls section data consisting of distance and direction to the next check point. Then, in step 2, position data is calculated using the check point as a calculation starting point. Next, in step 3, it is determined whether the position data after the calculation satisfies the condition of the interval data between check points, and if it is satisfied, step 4
It is determined whether the position data at the time when the point exceeds the absolute coordinates of the next intersection point (check point) matches the absolute coordinates of the next intersection point (check point). . If these do not match, the position data calculated in step 5 is replaced with the above absolute coordinates. In this way, when correct position data is obtained, it is temporarily recorded in the memory in a step, and thereafter the procedure is completed in the same manner as in the flowchart of FIG. In this way, in the above embodiment, each data is
Since the information is recorded on a portable storage body, such as a card, separately from the main body of the device, subsequent information processing and information management are facilitated, which is preferable. As for this external storage, card-type storage devices such as IC cards and laser cards are preferred for handling purposes, but other storage devices include floppy disks, optical disks, memory packs, MTs, EPROMs, and other semiconductor storage devices. Although the storage device is not limited to these, a portable external storage device is preferable, and any other configuration may be used. Furthermore, since the present invention does not particularly limit the configuration of the storage device itself, it is within its technical scope regardless of whether the storage medium is separable from the storage device or not.

【Effect of the invention】

This invention can automatically record position data when detecting a predetermined element, which can reduce the burden on the operator.Also, during detection, the detected values are divided into patterns, and each pattern is divided into travel distances. Since the detection interval of the detection device is changed, detection can be performed at the optimum detection interval, and detection work can be performed efficiently and accurately. Furthermore, when the vehicle travels unscheduled, the calculation function can be controlled to use correct position data as the basis (starting point) for calculating the travel position, and accurate position data can be obtained. Furthermore, if the position data of the planned travel area and planned course are input in advance, the results of the calculation of the travel position can be fed back and recorded while being automatically corrected.

[Brief explanation of drawings]

1 to 3 are functional block diagrams of the first invention, second invention, and third invention, FIG. 4 is a block diagram of the first invention, FIG. 5 is a flowchart of the same, and FIG.
This figure is a block diagram of the second invention, FIG. 7 is a block diagram of the third invention, and FIG. 8 is a flowchart of the same. 1... Traveling body, 2... Detection device, 3... Recording device, 4
... Traveling direction detection means, 5... Traveling distance (or speed)
Detection means, 6... Arithmetic function control means, 7... Traveling position computing means, 8... Position correction computing means, 9... Reset position input means, 11... External display means.

Claims (1)

[Scope of Claims] 1. A detection device for detecting or searching for a predetermined element underground or on the ground, and a record for recording detection data of the predetermined element measured by the detection device together with its detection position data. In a detection data recording system for a self-propelled detector, the detection data recording system includes a pattern determination method that determines which of a plurality of detection value patterns classified in advance into predetermined areas a detection value detected by the detection device is classified into one of a plurality of detection value patterns. means, a control device that sets the detection interval of the detection device for the traveling distance in advance for each of the patterns and controls the detection interval for the traveling distance according to the determined pattern; and a control device that records the traveling direction of the traveling object. a traveling direction detecting means; a traveling distance (or speed) detecting means for detecting or measuring the traveling distance of the traveling object; and a traveling distance (or speed) detecting means for detecting or measuring the traveling distance of the traveling object;
a traveling position calculating means for calculating traveling position data based on the traveling direction data and traveling distance data obtained from the detecting means; and a calculating function that interrupts the calculation processing of the traveling position calculating means and continues after the interruption. A detection data recording system for a self-propelled detector, characterized by comprising a control means. 2. The self-propelled device according to claim 1, wherein the recording device is provided with information writing means for writing detection data, detection position data, and other detection work data into a portable external storage body. Detection data recording system for type detector. 3. A mobile vehicle equipped with a detection device for detecting or searching for a predetermined element underground or on the ground, and a recording device for recording the detection data of the predetermined element measured by the detection device together with the detected position data. In a detection data recording system for a running type detector, a pattern determining means determines which of a plurality of detection value patterns classified in advance into predetermined areas a detection value detected by the detection device is classified into, and a control device that sets a detection interval of the detection device with respect to the traveling distance in advance and controls the detection interval with respect to the traveling distance according to the determined pattern; a traveling direction detecting means that records the traveling direction of the traveling body; a traveling distance (or speed) detection means for detecting or measuring the traveling distance of the traveling object; and the traveling direction detecting means and the traveling distance (or speed).
a traveling position calculating means for calculating traveling position data based on the traveling direction data and traveling distance data obtained from the detecting means; and a calculating function that interrupts the calculation processing of the traveling position calculating means and continues after the interruption. and a reset position input means for inputting continuation start position data into the recording device when the arithmetic function control means interrupts the arithmetic processing of the traveling position arithmetic means and then continues the arithmetic processing. A detection data recording system for a self-propelled detector. 4. The self-propelled device according to claim 3, wherein the recording device is provided with information writing means for writing detection data, detection position data, and other detection work data into a portable external storage body. Detection data recording system for type detector. 5. A mobile vehicle equipped with a detection device for detecting or searching for a predetermined element underground or on the ground, and a recording device for recording the detection data of the predetermined element measured by the detection device together with the detected position data. In a detection data recording system for a running type detector, a pattern determining means determines which of a plurality of detection value patterns classified in advance into predetermined areas a detection value detected by the detection device is classified into, and a control device that sets a detection interval of the detection device with respect to the traveling distance in advance and controls the detection interval with respect to the traveling distance according to the determined pattern; a traveling direction detecting means that records the traveling direction of the traveling body; a traveling distance (or speed) detection means for detecting or measuring the traveling distance of the traveling object; and the traveling direction detecting means and the traveling distance (or speed).
a travel position calculation means for calculating travel position data based on the travel direction data and travel distance data obtained from the travel position calculation means; a position correction calculation means for performing a comparison operation with the planned trajectory data and correcting the traveling position data to the position data on the planned traveling trajectory data; and a calculation function control for interrupting the calculation processing of the traveling position calculation means and continuing after the interruption. means, reset position input means for inputting continuation start position data into a recording device when the arithmetic function control means continues the arithmetic processing of the travel position calculation means after it has been interrupted; and the planned travel trajectory. 1. A detection data recording system for a self-propelled detector, comprising an external display means for externally displaying data and position data of a traveling object. 6. The self-propelled device according to claim 5, wherein the recording device is provided with information writing means for writing detection data, detection position data, and other detection work data into a portable external storage body. Detection data recording system for type detector.