JPH09288188A - Method and apparatus for detecting object buried underground - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily detect the position of a tube buried under ground without requiring skills. SOLUTION: Drawing information of the plane of a ground surface including roads are read by an image scanner 26. Information such as the position of an object buried under ground or obtained through observations by way of trial digging of the neighborhood of the spot, etc., are input by an input means such as a keyboard or the like. Three-dimensional data of underground data are formed. A first sectional image of a required preset position is sliced and formed from the data. Apart from this, the ground surface at the preset position is scanned by a radar locator 29 with electromagnetic waves, thereby searching and obtaining a second sectional image of underground. The first and second sectional images are overlapped and an image overlapping with any of the images is detected as an image of the tube buried underground.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting an underground buried object such as an underground buried pipe, and further to a method and an apparatus for correcting a sectional view represented by three-dimensional data in the ground. .

[0002]

2. Description of the Related Art An apparatus for exploring a buried underground pipe that has been conventionally used emits an electromagnetic wave from the ground surface and receives its reflected wave, and based on the time difference between the emitted electromagnetic wave and the received reflected wave. A cross-sectional image of the ground surface is obtained. In this prior art, it is difficult to obtain a cross-sectional image by selecting only the reflected wave of the underground buried pipe due to the adverse effect of reflected waves from objects other than the underground buried pipe, such as rocks and water. It is difficult to detect the buried pipe.

In order to solve this problem, the operator grasps the information of the plane of the ground surface around the site where the underground pipe is buried, and the like while looking at the cross-sectional image obtained by the exploration. , Guess the image of underground pipe.

In this prior art, the operator needs a lot of knowledge, and only an expert can accurately detect the underground buried pipe.

Conventionally, a plane map of the ground surface including roads has existed, and the position of the underground buried pipe is described in the map. However, due to maintenance of the underground buried pipe, etc. Often out of position, such maps are often inaccurate.

[0006]

DISCLOSURE OF THE INVENTION An object of the present invention is to provide a method and apparatus for detecting an underground buried object which can accurately detect the position of the underground buried object such as a underground buried pipe in the ground. That is.

Another object of the present invention is to provide a method and apparatus for correcting an underground cross-sectional view that can be obtained by accurately correcting three-dimensional data in the ground where an underground buried object exists. Is.

[0008]

The present invention is based on the information of the plane of the ground surface including roads, the information indicating the position of the underground buried object, and the information obtained by observing the surroundings of the site.
Dimensional data is created, a first cross-sectional image of a predetermined position is created by this three-dimensional data, electromagnetic waves are radiated from the ground surface while moving to the predetermined position, and reflected waves from the underground buried object are received. Then, based on the time difference between the radiated electromagnetic wave and the received reflected wave, the second cross-section image in the ground is searched and obtained, the first cross-section image and the second cross-section image are overlapped, and the first and second cross-section images are superimposed. It is a method of detecting an underground buried object, which is characterized by detecting an image displayed on any of the images. Further, the present invention, for each of a plurality of exploration positions spaced apart in the pipe axis direction of the pipe, while moving in a direction transverse to the pipe axis, radiate electromagnetic waves from the ground surface, the reflected wave by the underground pipe. Based on the time difference between the received and radiated electromagnetic waves and the received reflected waves, the second cross-sectional image in the ground is searched for and obtained, and the second cross-sectional images for each search position are overlapped to form a plurality of second cross-sectional images. The above-mentioned detection is performed by superimposing the images displayed in an overlapping manner on the first sectional image. Further, the present invention uses the second cross-sectional image to represent a predetermined portion of the underground buried object by a dot-shaped image by a migration method for returning the apparent buried position to the true position. It is characterized in that the second cross-sectional image including the shaped image is superimposed. Further, the present invention, an image scanner for reading a plan view of the ground surface including a road, information indicating the position of the underground buried object,
In response to the output of the three-dimensional data creating means and the means for inputting information obtained by observing the vicinity of the site, the means for creating three-dimensional data in the ground based on the output of the image scanner and the input means, First cross-sectional image creating means for creating a first cross-sectional image at a predetermined position, means for radiating an electromagnetic wave into the ground while moving at the predetermined position, and receiving means for receiving a reflected wave of the electromagnetic wave from an underground buried object. A second cross-section image creating unit that creates a second cross-section image of the ground based on the time difference between the radiated electromagnetic wave and the reflected wave in response to the output of the receiving unit; A display control means for responding to each output of the cross-sectional image creating means and the second cross-sectional image creating means and displaying the first cross-sectional image and the second cross-sectional image in a superimposed manner by the display means. With a device for detecting buried objects That. Further, the invention is characterized in that the second cross-section image creating means gives the display control means a cross-section image including only images overlapping in the second cross-section images for each of the plurality of exploration positions and causes the display means to display the cross-section image. . Further, according to the present invention, by using the second cross-sectional image obtained by the second cross-sectional image creating means, a predetermined part of the underground buried object is converted into a dot-like image by a migration method for returning the part to the true position from the apparent position. A second cross-sectional image including the represented migration processing means and the dot-shaped image by the migration processing means is given to the display control means, and the display control means causes the image of the first cross-sectional image and the dot-shaped image of the second cross-sectional image. It is characterized by detecting an image overlapping with. Further, the present invention radiates electromagnetic waves from the ground surface while moving in a direction traversing the pipe axis for each of a plurality of exploration positions spaced apart in the pipe axis direction of the underground pipe, and Based on the time difference between the reflected wave received and the radiated electromagnetic wave and the received reflected wave, the second cross-section image in the ground is searched for and obtained, and the image displayed on the plurality of second cross-section images is displayed. This is a method of detecting an underground buried pipe, which is detected as an image of the underground buried pipe. The present invention also provides a means for radiating an electromagnetic wave into the ground at an exploration position, a receiving means for receiving a reflected wave of the electromagnetic wave due to an underground buried object, and an electromagnetic wave and a reflected wave radiated in response to the output of the receiving means. Based on the time difference, a section image creating means for creating a section image in the ground and a section image for creating a section image including only images that overlap in the section images at each of a plurality of exploration positions as an image of the section underground pipe An underground buried pipe detecting device comprising: a pipe cross-sectional image creating means; and a display means for displaying a cross-sectional image obtained by the underground buried pipe cross-sectional image creating means on a screen. In addition, the present invention creates three-dimensional data of the ground based on the information of the plane of the ground surface including the road, the information indicating the position of the underground buried pipe, and the information obtained by observing the surroundings of the site.
A first cross-sectional image of a predetermined position is created by the dimensional data, an electromagnetic wave is radiated from the ground surface while moving the predetermined position, a reflected wave from the underground buried pipe is received, and the radiated electromagnetic wave is received. Based on the time difference from the reflected wave,
A method for correcting an underground cross-sectional view, characterized in that the second cross-sectional image in the ground is searched for and obtained, and the first cross-sectional image is corrected based on the position of the underground buried pipe searched by the second cross-sectional image. is there. Further, the present invention, an image scanner for reading a plan view of the ground surface including a road, information representing the position of the underground buried object,
A means for inputting information obtained by observing the vicinity of the site, a means for creating three-dimensional data in the ground based on outputs from the image scanner and the input means, and a predetermined value in response to the output from the three-dimensional data creating means First cross-sectional image creating means for creating a first cross-sectional image of a position, means for radiating an electromagnetic wave in the ground while moving at the predetermined position, and receiving means for receiving a reflected wave of the electromagnetic wave reflected by a buried object. A correction device for an underground cross-sectional view, comprising: a correction device that corrects the first cross-sectional image based on the position of the underground buried pipe searched by the second cross-sectional image creation device.

According to the present invention, a drawing such as an existing map on the plane of the ground surface including roads is read by an image scanner, and the position of an underground buried pipe or the like is input by an input means such as a keyboard or a mouse. Information indicating, for example, the attribute information of the underground buried pipe such as the distance from the gutter at the end of the width direction of the road and the depth from the ground surface is input, and information obtained by observing the surroundings of the site,
For example, the attribute information of the underground buried pipe obtained by actually excavating the soil and making a trial excavation is input, and thereby three-dimensional data of the underground is created. Based on the three-dimensional data in the ground thus obtained, the first cross-sectional image at one or a plurality of predetermined positions is displayed by the display means of the screen such as a cathode ray tube or liquid crystal. Further, using electromagnetic waves, the second cross-section image in the ground at a predetermined position is searched and obtained and displayed on the display means. First
By superimposing and displaying the cross-sectional image and the second cross-sectional image on the display means, it becomes possible to easily detect an underground buried object such as a pipe. According to the present invention, it is possible to obtain the second cross-sectional images for each of a plurality of exploration positions and detect only the overlapping images in all of these second cross-sectional images as the image of the underground buried pipe extending linearly. it can. This makes it easy to distinguish the pipe from the shorter rock mass. Each search position may be shifted by, for example, 20 to 50 cm in the tube axis direction of the tube. According to the present invention, migration processing is performed using at least a part of the second cross-sectional image obtained by exploring the underground cross-section, and, for example, the apex of the pipe that is horizontally extended and buried below the horizontal ground surface. The image of a predetermined part such as is dot-shaped, and the second cross-sectional image including the dot-shaped image thus obtained is superimposed on the image of the first cross-sectional image to detect the underground buried pipe, etc. It is possible to easily detect while observing the image of the display means, and it is possible to automatically perform the identification and detection of the underground buried pipe by the arithmetic processing by the display control means. Further, according to the present invention, the first cross-sectional image is corrected based on the position of the underground buried pipe obtained by exploring using electromagnetic waves, and thereby the three-dimensional data of the underground is corrected to Accurate three-dimensional data in the underground of the buried pipe can be obtained.

[0010]

FIG. 1 is a simplified block diagram showing the configuration of an embodiment of the present invention. The worker's office 25 is provided with an image scanner 26 for reading a drawing on the surface and a device body 27 detachably connected to the image scanner 26. In the field 28, the pipes 2a and 2b (generally omitting the subscripts a and b and sometimes omitting only the numeral 2) buried below the road 89 (see FIG. 14 described later) are installed in the radar locator. 29 is used to obtain a cross-sectional image of the ground.

FIG. 2 is a block diagram showing a simplified structure of the apparatus main body 27. In the memory 31 such as a card,
The processing circuit 32, which is realized by a microcomputer or the like, writes and stores the sectional image of the ground by the function of the writing unit 33. The sectional image of the ground obtained by the radar locator 29 is stored in the memory 34 such as a card, read by the reading means 35, and given to the processing circuit 32. These memories 31 and 34 are used for the device main body 2
The processing circuit 9 of the radar locator 29 is removable
(See FIG. 5 described later) is detachably connected.

FIG. 3 is a flow chart for explaining the operation of the processing circuit 32 provided in the processing apparatus main body 27 and the operation with the processing circuit 9 provided in the radar locator 29 (see FIG. 5 described later). is there. In step a1, the image scanner 26 is used to read a map which is a plan view of the ground surface including roads.

A display control means 36 is connected to the processing circuit 32 in the apparatus main body 27, and the display control means 36 displays an image of an underground cross section on the screen of the display means 37. The display means 37 may be configured to include, for example, a cathode ray tube and a liquid crystal. A memory 38 is connected to the display control means 36, and an image to be displayed on the display means 37 and other data can be stored. A memory 39 is connected to the processing circuit 32, and an image processed by the arithmetic operation or the like is stored therein.

FIG. 4 is a diagram of FIG.
It is a figure for demonstrating each operation | movement of steps a1-a5 of FIG. The drawing of the plane to be read by the image scanner 26 is designated by the reference numeral 40 in FIG. A road 89 is shown in this drawing 40, and the pipe 2 is buried immediately below the road 89. The correction of the plan view read by the scanner 26 is performed by the input means 41 such as a keyboard and a mouse provided in the apparatus main body 27 in step a2.
Done in. This correction deletes, for example, point noises generated at the time of reading, and deletes unnecessary characters and figures.

At step a3, the input means 41 is scanned to input information indicating the position of the tube 2. For this purpose, first, the two base points 42 required for inputting the attribute information of the pipe on the plan view 40 are input as shown in FIG. 4, and the road width and the scale or the scale of enlargement are also keyed. Further, the pipe 2 is input so as to be a straight line as shown in the screen 40a of FIG. 4, and is also input with a broken line or a curve, and further with a branch pipe. Attribute information for tube 2 is also keyed in. This attribute information may be the offset distance from the gutter of the road 89, the depth, the pipeline length, the pipeline type such as the diameter, and the like. Thus, as indicated by reference numeral 40b in FIG. 4, after the key input, various information input by the scanner 26 and the input means 41 is confirmed.

At step a4, the image scanner 26
Based on the above-mentioned information input by the key input means 41, three-dimensional data of the underground on the road 89 is created. The three-dimensional data thus obtained is stored in the memory 39 in the processing circuit 32, and the stored three-dimensional data is transferred to and stored in the memory 31 realized by a card or the like by the writing means 33.

The input means 41 may also input and correct information obtained by excavating soil such as the road 89 at the site 28, for example, accurate values such as the deviation of the pipe 2 and the depth. it can. Information obtained by observing the vicinity of the site such as the trial digging information is also input by the input means 17 of the radar locator 29 shown in FIG. 5, and the processing circuit 9 corrects the three-dimensional data in the ground stored in the memory 31. can do. Further, the information obtained by observing the vicinity of the site includes the positions of manholes, marking pins, water stopcocks, and the like. Thus, the processing circuit 32 and the processing circuit 9 of the radar locator 29 are arranged so that the first position at any desired predetermined position along the road 89.
A cross-sectional image can be created in step a5 based on the three-dimensional underground data.

In the office 25, the memory 3 in which the above-mentioned three-dimensional underground data obtained by the apparatus main body 27 is stored.
1 is detached from the apparatus main body 27 and mounted on the radar locator 29 at the site and used for arithmetic processing.

In step a6 of FIG. 3, the radar locator 29 is used to move on the road 89 of the site 28 in the pipe axis direction of the pipe 2 (for example, the direction 10 intersecting at a right angle) and scan to scan the second underground. The sectional image is stored in the original image memory 11 by the processing circuit 9.

FIG. 5 is a block diagram showing a simplified overall structure of the radar locator 29. In order to search the pipe 2 buried in the soil 1 on the ground, the radar locator 29
Is used.

A single rectangular wave pulse is applied to the transmitting antenna 3 from the transmitting means 4, whereby the transmitting antenna 3 radiates the impulse-shaped electromagnetic wave shown in FIG. 6 (1). This electromagnetic wave travels in the soil 1 as indicated by reference numeral 5 in FIG. 5 and is reflected by the tube 2, and this reflected wave proceeds as indicated by reference numeral 6 and is received by the receiving antenna 7 provided on the ground. And is given to the receiving means 8. The waveform of the reflected wave received by the antenna 7 is as shown in FIG. 6 (2). The time difference ΔT between the electromagnetic wave radiated from the transmitting antenna 3 and the reflected wave received by the receiving antenna 7 corresponds to the depth of the tube 2.

The receiving means 8 is synchronized with the rectangular wave pulse output from the transmitting means 4, detects the time difference ΔT, and supplies it to the processing circuit 9 realized by a microcomputer or the like. The transmission antenna 3 and the reception antenna 7 are integrally fixed, and the above-described operation is repeated every time the tube 2 is moved at equal intervals in the direction indicated by the arrow 10 which is the x direction in FIG. The waveform is stored in the original image memory 11.

The original image stored in the original image memory 11 is displayed by the visual display means 12 such as a cathode ray tube.
It is obtained as shown in FIG. The waveform shown in FIG. 6 (2) is stored in the original image memory 11 in a plurality of gradations. In this embodiment, the middle gradation between white and black is set to zero level. It is assumed that a single pipe 2 is buried in the soil 1. The image 13 corresponding to the tube 2 stored in the original image memory 11 is an image having a large radius of curvature spread in the left-right direction of FIG. 8A, that is, the x direction.

FIG. 7 is a flow chart for explaining a part of the operation of the processing circuit 9. The data of the original image stored in the memory 11 moves to step b2, where the pipeline adjustment, that is, the gradation correction, is performed, and at the next step b3, the two-dimensional FFT (fast Fourier transform) processing is performed. Horizontal stripes that are noise are removed.

In step b3, the original image shown in FIG. 8 (1) is divided into a plurality of blocks in the depth direction y, and the relative permittivity ε is set for each block in the depth direction y. Modify the original image. Generally speaking, the image 1 has different relative permittivities in the depth direction. According to the present invention, an appropriate relative permittivity is set in step b4 to correct the original image, A clear image of the tube 2 can be obtained.

In step b5, the original image is corrected by the one-dimensional matched filter, and the image of each block is made continuous by setting a large relative dielectric constant at a deep position in the depth direction. The relative permittivity is estimated and set.

At step b7, migration processing is performed using the corrected original image. This migration processing uses the entire surface of the corrected original image or only a part of the original image including a predetermined portion to be converged such as the top portion 2a1 of the tube 2 and the like.
This is a calculation process in which the apparent position of is returned to the true position.

FIG. 8 shows a processed image in which the average relative permittivity of the soil 1 from the transmitting / receiving antennas 3 and 7 to the pipe 2 is set to be slightly larger than the actual relative permittivity, and the arithmetic processing by the migration method is performed. As shown in (2),
Compared to the image 13 stored in the original image memory 11 of the tube 2, it is possible to obtain an image 14 which is compressed in the x direction and converged. An image obtained by setting the relative permittivity of the soil 1 to a value substantially equal to the actual relative permittivity and performing arithmetic processing by the migration method is as shown in FIG. 8C. The image 15 corresponding to the tube 2 has a high degree of convergence,
Represented as a single black dot. In this way, by the migration method, a portion of the apex 2a1 of the tube 2 can be made into a dot-like image. Thus, it becomes possible to easily and automatically detect the accurate image of the tube 2 by correcting the original image called the second cross-sectional image with the dot-shaped image and superimposing it on the first cross-sectional image.

A calculation process by the migration method will be described. The original image observed by the transmitting / receiving antennas 3 and 7 and stored in the original image memory 11 does not show the same pattern as the underground structure. As shown in FIG. 9, a reflected wave indicated by a true reflection surface reference numeral 19 which is the top portion 2a of the tube 2 is traced from the observation point where the transmission / reception antennas 3 and 7 are provided, and the reference numeral 20 directly below the traced wave. This is because the apparent reflecting surface 2b is spotted as if it came. The migration method is an arithmetic processing operation for returning the position of the apparent reflecting surface 2b to the position 2a of the true reflecting surface. This migration method can be formulated and operated.

FIG. 10 is a diagram showing a simplified operation of the processing circuit 9 of the radar locator 29. Step a4 obtained by the processing device 32 of the device body 27 in the office 25
The first cross-sectional image based on the three-dimensional data and the second cross-sectional image obtained in step a6 after being searched and migrated by the radar locator 29 are superimposed in step a7 in FIG. It is displayed on the screen of the display means 12 of 29.
On this screen 40b, the images 2a and 2b are images of the tube 2 in the first cross-sectional image, and the images 43a and 43b subjected to the migration process are images subjected to the migration process in the second cross-sectional image. At the time of superimposing the first and second cross-sectional images as described above, it is necessary to make the scales of both images the same, and therefore, the stored contents of the memories 31 and 11 are reduced and enlarged.

FIG. 11 individually shows an image 40b in which the first sectional image 44 and the second sectional image 45 are superimposed.
In the first cross-sectional image, the images 2a to 2c of the tube 2 are displayed, and in the second cross-sectional image 45 obtained by exploration, the migrated images 43a to 43c are shown, respectively, and these scales are shown. Together with each image 4
The input means 17 of the radar locator 29 is operated so that the vertical and horizontal positions of 4, 45 are moved in parallel and the search start position of the second slice image and the ground surface position of the first slice image corresponding to the position coincide. And stack them. The superimposed images are stored in another storage area of the memory 11 of the radar locator 29. The operator removes images such as rock mass and noise from the second cross-sectional image by the operator. The input means 17 and the above-mentioned input means 41 may be realized by not only a key switch but also a mouse or the like.

Prior to superposition, in the first cross sectional image, as indicated by reference numeral 46 or 47 in FIG.
A predetermined position for obtaining the first cross-sectional image is set, and the first cross-sectional image at the position 46 or 47 is obtained. Further, the radar locator 29 is scanned at each of the positions 46 and 47 to obtain the second cross-sectional image, and the migration process is performed.

In this way, the first sectional image 4 of FIG.
By superimposing 4 and the second cross-sectional image 45,
It is possible to detect that the image in which the images 2a to 2c and the images 43a to 43c are overlapped is the position where the embedded pipe 2 exists. In another embodiment of the present invention, the second cross-sectional image obtained by the scanning of the radar locator 29 may be superimposed and displayed on the display unit 12 in step a7 without being subjected to the migration process.

In step a71, when the first cross-sectional image and the second cross-sectional image that has not been subjected to the migration processing or that has been subjected to the migration processing are overlapped with each other, the underground buried object such as the pipe 2 of the underground buried pipe 2 is superposed. When it is judged that it is difficult to superimpose the respective images of the original image and it is difficult to detect the presence or the position of the tube 2, in the next step a72, the floor of the original image stored in the memory 11 is determined. Key sensitivity correction, or
Migration processing is performed by resetting the relative permittivity, etc., and then, in step a7, the first and second cross-sectional images are superimposed.

In another embodiment of the present invention, the radar locator 29 is moved and scanned at each of a plurality of predetermined scanning positions spaced in the pipe axis direction of the underground buried pipe 2.
The second cross-sectional images are obtained and stored in the memory 11, and the respective second cross-sectional images are subjected to migration processing to obtain the second cross-sectional images 48, 49, 50 of FIG. Next, the images 48a- of the second cross-section images 48-50 after the migration processing are performed.
Triangular, quadrangular and circular marks are input to the vertices of 48d, 49a to 49e and 50a to 50c by operating the input means 17 to obtain images 51, 52 and 53. After that, images 54, 55, 56 of only these marks are obtained. Cross-sectional images 54, 55 with only such markings,
56 are individually stored in the other storage areas of the memory 11.

Next, these sectional images 54, 55 and 56 are overlapped to obtain a sectional image 57. When the buried object is buried horizontally with the pipe axis parallel to the ground surface, the second cross-sectional image 4 obtained by scanning by the radar locator 29.
Images of the tube 2 are obtained at 8, 49, and 50, so that the marks are overlapped to obtain the display positions 57a to 57c. On the other hand, when the underground buried object is an object that is not elongated such as a rock mass, the images are not displayed on all the secondary cross-section images 48, 49, 50, and therefore, for example, the cross-sections are not displayed. Marks 57d and 57e are obtained in the image 57. In this way, the image 48 not detected in all of the plurality of cross-sectional images 48, 49, 50
It can be judged that d and 48e are not tubes.

FIG. 13 shows the operation of each of the above-described embodiments of the present invention in a simplified manner. The cross-sectional image 44 is obtained based on the three-dimensional data of the plan view image 40b, and the second cross-sectional image 58 is obtained by the radar locator 29. This second
The cross-sectional image 58 is subjected to migration processing to obtain the above-mentioned cross-sectional image 48, and marking is performed, and the cross-sectional image 51 is obtained.
Get. Such an operation is performed for each of the plurality of operation positions to achieve the embodiment shown in FIG.

Furthermore, it is also possible to construct an image 59 which is a perspective view of the ground based on the three-dimensional data of the ground and display it by the display means 12.

After detecting the three-dimensional position of the pipe 2 buried in the ground in this way, in step a8 of FIG. 3, the positions of the images 2a, 2b and 2c of the first sectional image 44 of FIG. Images 43a, 43b, 4 of the second cross-sectional image 48 explored in
Correct according to 3c. In step a9, the input means 17 inputs information obtained by observing the vicinity of the site. This information is, for example, the positions of manholes, water shutoffs, gas meters, water catchers, marking pins, utility poles, and the like.

In step a10, position correction is performed in the image 40 of the plan view of the three-dimensional data of the ground, and, for example, the deviation, which is the distance from the side ditch on the side of the road 89 of the pipe 2, is actually measured. It is input by the input means 17 and the data in the plan view is corrected. Step a1
In 1, the trial excavation information obtained when the road 89 is actually excavated is input by the input means 17. This trial digging information may be, for example, the deviation of the pipe 2, the depth, the pipe type, and the diameter.

In step a12, such a plan view,
Furthermore, the deviation and depth of the tube 2 in the cross-sectional view are further corrected. The contents stored in the memory 11 obtained in this way are stored in the removable memory 3 by the operation of the processing circuit 9.
1, 34 are stored and stored in the office 25, and are read by the reading means 35 of the apparatus main body in the office 25.

In step a13, a cross-sectional view, a plan view and a three-dimensional view are displayed based on the corrected three-dimensional data in the ground, and a dimension line is displayed on the plan view and the cross-sectional view.

At step a14, layout is performed,
A printer 61 prints a sectional view, a plan view, and a three-dimensional view based on the three-dimensional data in the ground. In step a15, the three-dimensional underground data of each site is registered and stored in a file that is a memory, keywords for retrieval are set, and a database is created. Make the data available.

Referring again to FIG. 10, the above step a
In 5, the predetermined scanning positions 46 and 47 are set based on the three-dimensional data of the ground through the image 62 from the plan view.

As shown in step a9 of FIG. 3, information obtained by observing the vicinity of the site is displayed on the screen 6 of FIG.
3 is input by the input means 17. This information is, for example, a manhole indicated by reference numeral 64, which has been described above. A corrected cross-sectional image 65 at a predetermined position 46 can be obtained, and further, by operating the input means 41, within one screen 66 of the display means 37,
A plan view 67 and cross-sections 68, 69 at each position 46, 47 are displayed and the layout is set, and in step a14,
Printing is performed by the printer 61 as described above.

14 to 20 are diagrams showing the results of experiments conducted by the present inventor. FIG. 14 shows steps a1 to a of FIG.
It is a top view of the ground surface after inputting the three-dimensional data in the ground obtained by No. 3. The cross section at the position of reference numeral 70 corresponding to FIG. 14 is as shown in FIG.

FIG. 16 shows a display in which the first and second sectional images are superimposed in step a7 of FIG. FIG.
6 (1), FIG. 16 (2) and FIG. 16 (3) are shown in FIG.
Corresponding to positions 47, 70, and 46, respectively. From the superimposed images shown in FIGS. 16 (1), 16 (2) and 16 (3) thus obtained, the operator looks at the screen of the display means 12 and operates the input means 17 to change the FIG. 17 corresponding to positions 47, 70 and 46, respectively.
(1), a triangle on the top of the tube after the migration processing in the cross-sectional images of FIGS. 17 (2) and 17 (3),
Enter square and circular marks. The image to which this mark is input may be the second cross-sectional image that has not been subjected to the migration process. Then, as shown in FIG. 18, as shown in FIG. 17 (1), FIG. 17 (2) and FIG.
The second cross-sectional images marked with (3) are overlaid,
An image 57 corresponding to the above-mentioned FIG. 12 is obtained.

From the sectional image having the marking information shown in FIG. 18, from FIG. 17 (1), FIG. 17 (2) and FIG.
When only the portion where the three marks 7 (3) in total overlap is extracted, the result is as shown in FIG. The image shown in FIG. 19 obtained by arithmetically processing the second slice image obtained by the search by the radar locator 29 in this way is converted into the image shown in FIG. 20 in the first slice image obtained as shown in FIG. As a result of the search by the radar locator 29, the result of the search by the radar locator 29 is 3
The good agreement with the dimensional data was confirmed by the experiments of the present inventors as described above.

[0049]

According to the present invention, it is based on the information of the plane of the ground surface including the road, the information showing the position of the underground buried object such as the underground buried pipe, and the information obtained by the observation such as the trial excavation around the site. Then, three-dimensional data in the ground is created and the first cross-sectional image at a predetermined position is cut out and created, and the predetermined position is scanned using electromagnetic waves, and the second cross-sectional image in the ground is searched and obtained. By superimposing the first and second cross-sectional images obtained in this way, the images that are displayed overlapping each other are detected as images of the underground buried object.
Even if the operator is not skilled, the underground buried object can be detected easily and accurately.

According to the present invention, the second cross-sectional image is searched for by scanning while moving in a direction transverse to the pipe axis of the underground buried pipe, for example, and the second cross-sectional image is obtained. Obtaining each of the plurality of exploration positions at intervals in the axial direction, and superimposing the plurality of second cross-sectional images thus obtained, in other words, for example, at the same position of the underground cross section for each of the plurality of exploration positions. When the image is obtained, it is detected as an image of the underground pipe. By superposing the extraction results of the plurality of exploration images and picking up the portion where the plurality of extraction results overlap, rock blocks and other noises can be removed and only the underground buried pipe can be detected.

Further, according to the present invention, at least a part of the second cross-sectional image obtained by the exploration is used to calculate the dot-shaped image by the migration method, and the dot-shaped image is obtained. It is possible to accurately detect the underground buried object by superimposing the second sectional image including the above with the first sectional image as described above, and the underground buried pipe can be automatically detected without depending on the judgment of the operator. It becomes possible to detect underground buried objects such as.

According to the present invention, the first cross-sectional image is corrected based on the second cross-sectional image actually obtained by exploring using the electromagnetic wave so that the first cross-sectional image in the first cross-sectional image such as an underground buried pipe is corrected. It is possible to correct the position at and thereby correct the three-dimensional data in the ground to obtain accurate three-dimensional data.

Therefore, even if the information on the plane of the ground surface and the information indicating the position of the underground pipe are incorrect due to the maintenance of the underground pipe, the three-dimensional data in the ground can be corrected to be accurate. This can be useful for future maintenance of underground pipes and the like and road excavation work.

[Brief description of drawings]

FIG. 1 is a block diagram showing a simplified configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing a simplified configuration of a processing device body 27.

FIG. 3 is a processing circuit 3 provided in a processing device main body 27.
6 is a flowchart for explaining the operation of No. 2 and the operation with the processing circuit 9 provided in the radar locator 29.

FIG. 4 Step a of FIG. 3 performed in the office 25
It is a figure for demonstrating each operation of 1-a5.

FIG. 5 is a block diagram showing a simplified overall configuration of a radar locator 29.

6 is a waveform diagram for explaining each operation of the electromagnetic wave transmission and the reflected wave reception shown in FIG.

FIG. 7 is a flowchart for explaining a part of the operation of the processing circuit 9.

FIG. 8 is a diagram showing a second cross-sectional image for explaining a migration process.

FIG. 9 is a simplified diagram for explaining a migration process.

FIG. 10 is a diagram showing each operation of the apparatus main body 27 and the radar locator 29 in a simplified manner.

FIG. 11 is a diagram individually showing an image 40b in which a first sectional image 44 and a second sectional image 45 are superimposed.

FIG. 12 is a diagram for explaining the operation for detecting the position of the tube 2 by superimposing the first cross-sectional images 48, 49, 50.

13 is a plan view of the ground surface and first and second cross-sectional images 44, 59; 48, 5 after inputting three-dimensional data of the ground obtained by steps a1 to a3 of FIG.
It is a figure which shows 1 and 58, respectively.

FIG. 14 is a diagram showing a plan view of the vicinity of the site including a road 89 showing the results of experiments by the present inventor.

15 is a diagram showing a simplified first cross-sectional image of positions 46, 47, and 70 to be searched using the radar locator 29 in FIG.

16 is a diagram illustrating a first and second step a7 in FIG.
It is a figure which shows the display which piled up sectional images.

FIG. 17 is a diagram showing a display showing a state in which marks are written while the first and second sectional images are superimposed.

FIG. 18 is a diagram showing a display for detecting the pipe 2 based on the marking information.

19 is a sectional image in the ground showing only a portion where a total of three marks overlap, out of the sectional image including the marking information shown in FIG.

20 is a diagram showing an image in which the first slice image of FIG. 15 and the second slice image including the mark of FIG. 19 are superimposed.

[Explanation of symbols]

1 Soil 2, 2a, 2b Pipe 3 Transmission Antenna 4 Transmission Means 7 Reception Antenna 8 Reception Means 9 Processing Circuit 11 Original Image Memory 17,41 Input Means 25 Office 26 Image Scanner 27 Device Main Body 28 Site 29 Radar Locator 31, 34, 34, 38, 39 memory 32 processing circuit 33 writing means 35 reading means 36 display control means 37 display means 40a, 40b, 44, 59, 65, 68, 69
Section image 41 Input means 45, 48, 49, 50, 58 Second section image 89 Road

Claims (10)

[Claims] 1. Three-dimensional underground data is created on the basis of information about the plane of the ground surface including roads, information indicating the position of underground buried objects, and information obtained by observing the surroundings of the site. A first cross-sectional image of a predetermined position is created by the dimensional data, an electromagnetic wave is radiated from the ground surface while moving the predetermined position, a reflected wave from the underground buried object is received, and the radiated electromagnetic wave is received. Based on the time difference from the reflected wave, the second cross-section image in the ground is searched for and obtained, the first cross-section image and the second cross-section image are overlapped, and displayed on both the first and second cross-section images. A method for detecting an underground buried object, which is characterized by detecting an image. 2. The electromagnetic wave is radiated from the ground surface while moving in a direction traversing the pipe axis at each of a plurality of exploration positions spaced apart in the pipe axis direction of the pipe, and a reflected wave by the underground buried pipe is generated. Based on the time difference between the received and radiated electromagnetic waves and the received reflected waves, the second cross-sectional image in the ground is searched for and obtained, and the second cross-sectional images for each search position are overlapped to obtain a plurality of second cross-sectional images.
2. The method for detecting an underground buried object according to claim 1, wherein an image displayed so as to overlap the cross-sectional image is superimposed on the first cross-sectional image to perform the detection. 3. The second cross-sectional image is used to represent a predetermined portion of the underground buried object by a dot-like image by a migration method for returning from an apparent position to a true position, and the first cross-sectional image and the point are shown. The method for detecting an underground buried object according to claim 1 or 2, wherein the second cross-sectional image including the imaged image is superimposed. 4. An image scanner for reading a plan view of a ground surface including a road, a means for inputting information indicating the position of an underground buried object, and information obtained by observing the periphery of the site, an image scanner and an input means. Means for creating three-dimensional data in the ground based on the output of, and a first cross-sectional image creating means for creating a first cross-sectional image at a predetermined position in response to the output of the three-dimensional data creating means, A means for radiating electromagnetic waves into the ground while moving at a predetermined position, a receiving means for receiving the reflected waves of underground electromagnetic waves of the electromagnetic waves, and a time difference between the radiated electromagnetic waves and the reflected waves in response to the output of the receiving means. Second to create a second cross-section image in the ground based on
The first cross-sectional image and the second cross-sectional image are superposed by the display means in response to the outputs of the cross-sectional image creating means, the means for displaying the image, the first cross-sectional image creating means and the second cross-sectional image creating means. And a display control means for displaying. 5. The second cross-section image creating means is characterized in that the cross-section image including only the overlapping images in the second cross-section images for each of the plurality of search positions is given to the display control means and displayed by the display means. The underground buried object detection device according to claim 4. 6. An image in which a predetermined portion of an underground buried object is made into a dot-like image by a migration method for returning from a apparent position to a true position by using the second sectional image obtained by the second sectional image creating means. A second cross-sectional image including a migration processing unit representing the image and a dot-shaped image formed by the migration processing unit is provided to the display control unit, and the display control unit includes a dot-shaped image of the first cross-sectional image and the second cross-sectional image. 6. A device for detecting an underground buried object according to claim 4 or 5, wherein an image overlapping with is detected. 7. The underground buried pipe radiates electromagnetic waves while moving in a direction traversing the pipe axis at each of a plurality of exploration positions spaced apart in the pipe axis direction of the underground buried pipe. Based on the time difference between the reflected wave received and the radiated electromagnetic wave and the received reflected wave, the second cross-section image in the ground is searched and obtained, and the image displayed on the plurality of second cross-section images is displayed. A method for detecting an underground buried pipe, which is detected as an image of the underground buried pipe. 8. A means for radiating an electromagnetic wave into the ground at an exploration position, a receiving means for receiving a reflected wave of the electromagnetic wave from an underground buried object, and a radiated electromagnetic wave and a reflected wave in response to the output of the receiving means. Based on the time difference, a section image creating means for creating a section image in the ground, and a section image for creating a section image including only the images that overlap in the section images at each of a plurality of exploration positions as an image of the section tube An underground buried pipe detecting device comprising: a pipe cross sectional image creating means; and a display means for displaying a cross sectional image obtained by the underground buried pipe cross sectional image creating means on a screen. 9. Three-dimensional underground data is created on the basis of information on the ground plane including roads, information indicating the position of underground pipes, and information obtained by observing the vicinity of the site. A first cross-sectional image of a predetermined position is created by the dimensional data, an electromagnetic wave is radiated from the ground surface while moving the predetermined position, a reflected wave from the underground buried pipe is received, and the radiated electromagnetic wave is received. Based on the time difference from the reflected wave, the second cross-sectional image in the ground is searched and obtained, and the first cross-sectional image is corrected based on the position of the underground buried pipe searched by the second cross-sectional image. How to correct an underground cross section. 10. An image scanner for reading a plan view of a ground surface including a road, a means for inputting information indicating the position of an underground buried object, and information obtained by observing the vicinity of the site, an image scanner and an input means. Means for creating three-dimensional data in the ground based on the output of, and first cross-sectional image creating means for creating a first cross-sectional image at a predetermined position in response to the output of the three-dimensional data creating means; Based on the means for radiating an electromagnetic wave in the ground while moving at a predetermined position, the receiving means for receiving the reflected wave of the electromagnetic wave by the underground buried object, and the position of the underground buried pipe searched by the second sectional image creating means. And a correcting unit that corrects the first cross-sectional image.