JP7146271B2 - Buried object measuring device, method, and program - Google Patents

Description

The present invention relates to an embedded object measuring device, method, and program.

For example, when working on a buried pipe buried underground, a ledger that records information such as the location of the buried pipe is referenced, but the location of the buried pipe may differ between the record in the ledger and the actual location. . 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, there have been proposed, for example, pipe type discriminating devices for non-destructively discriminating the pipe type of a pipe member. This device comprises a transmitting antenna for transmitting electromagnetic waves toward an underground pipe, a receiving antenna for receiving reflected electromagnetic waves from the buried pipe, signal processing means for processing signals received by the receiving antenna as required, and signal processing. and a pipe type determining means for non-destructively determining the pipe type of the buried pipe using the processed signal of the processing means. The signal arithmetic processing means processes the electromagnetic wave reflected from the bottom surface of the buried pipe, calculates the propagation time from transmission from the transmitting antenna to reception by the receiving antenna, and the pipe type determining means processes the electromagnetic wave. Non-destructive determination of tube type based on propagation time.

JP-A-2002-228599

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

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

In order to achieve the above object, a buried object measuring apparatus according to the present invention comprises a measuring unit that measures an buried object while moving in a measurement range, a three-dimensional map around the measuring unit, and the measurement on the three-dimensional map. an estimating unit for estimating the position of a part; an instruction unit for specifying a region that has been measured by the measuring unit in the three-dimensional map and indicating a moving direction for measuring a region that has not been measured by the measuring unit; is composed of

According to the buried object measuring apparatus of the present invention, when the measuring unit measures the buried object while moving in the measurement range, the estimating unit generates a three-dimensional map around the measuring unit and a map of the measuring unit on the three-dimensional map. The position is estimated, and the instruction unit identifies the area already measured by the measurement unit on the three-dimensional map, and instructs the direction of movement for measuring the area not yet measured by the measurement unit. As a result, it is possible to improve the measurement efficiency when measuring the buried object while moving the measurement range without requiring work such as setting a measurement line on the surface of the structure with a marker or the like as a pre-measurement process. .

Further, the instruction unit specifies an area already measured by the measurement unit in the three-dimensional map based on the position of the measurement unit estimated by the estimation unit and the measurement width of the measurement unit, and It is possible to display on the display device a screen that shows the area where the part has been measured in a manner different from that of the area that has not been measured. Explicitly displaying the measured area makes it easier to grasp the moving direction for measuring the unmeasured area.

Further, the instruction unit measures the position of the measuring unit estimated by the estimating unit so that the overlapping width between the end portion of the measured width of the measuring unit and the measured area is within a predetermined range. A display device can display a screen in which the direction of movement of the part is drawn on the three-dimensional map. Further, the instruction unit can issue a warning when an overlapping width between an end portion of the measurement width of the measurement unit and the measured area becomes equal to or less than a predetermined value during measurement by the measurement unit. . Also, the instruction unit can check whether the unmeasured area remains within a predetermined range. As a result, measurement can be performed efficiently without omission.

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

Further, in the buried object measuring apparatus according to the present invention, the intensity of the reflected wave of the electromagnetic wave measured at each position by the measuring unit is three-dimensionalized based on the position of the measuring unit estimated by the estimating unit. A generator for generating the image can also be included. Thereby, the information inside the structure can be reproduced three-dimensionally.

Further, the generating unit can align the generated 3D image with the 3D map estimated by the estimating unit to generate a 3D image showing the inside and outside of the measurement plane. As a result, for example, when working on a buried object whose buried position is specified, it is possible to grasp the ease of work and obstacles from the surrounding conditions.

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

Further, in the buried object measuring method according to the present invention, the measuring unit measures the buried object while moving in a measurement range, and the estimating unit measures a three-dimensional map around the measuring unit and the measuring unit in the three-dimensional map. position is estimated, and the instruction unit identifies the area already measured by the measurement unit in the three-dimensional map and instructs the direction of movement for measuring the area not yet measured by the measurement unit.

Further, the buried object measurement program according to the present invention provides a computer with a three-dimensional map around the measurement unit and the measurement unit in the three-dimensional map when measuring the buried object while the measurement unit moves in a measurement range. an estimating unit for estimating the position of the , and an instruction unit for specifying a region that has been measured by the measuring unit in the three-dimensional map and indicating a moving direction for measuring a region that has not been measured by the measuring unit. It is a program for

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

1 is an external perspective view of an embedded object measuring device; FIG. 1A and 1B are a front view and a side view of an embedded object measuring device; FIG. FIG. 4 is a diagram for explaining detection of a reflected response waveform; FIG. 4 is a diagram showing an example of reflected response waveforms detected per grid; It is a block diagram which shows the hardware constitutions of a process part. 3 is a block diagram showing an example of the functional configuration of a processing unit; FIG. It is a figure which shows an example of a 3D map. FIG. 10 is a diagram for explaining the identification of a measured area, a predicted measurement line, and a moving direction; It is a figure which shows an example of a navigation screen. FIG. 4 is a diagram for explaining reflected wave intensity images in the horizontal direction, the transverse direction, and the longitudinal direction; It is a figure which shows an example of the reflected wave intensity|strength image of a horizontal direction, a cross direction, and a longitudinal direction. It is a figure which shows an example of an underground analysis image. It is a figure which shows an example of an underground and ground combined image. 4 is a flowchart showing an example of navigation processing; 6 is a flowchart showing an example of analysis processing;

An example of an embodiment of the present invention will be described below with reference to the drawings.

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

FIG. 1 is an external perspective view of an embedded object measuring device 10 according to this embodiment, and FIG. 2 is a front view and a side view. As shown in FIGS. 1 and 2, the buried object measuring apparatus 10 includes an electromagnetic wave device 12, a laser scanner 16, a color camera 18, and a processing section 20, each of which is mounted on a wheelbarrow 30. , and the entire buried object measuring apparatus 10 is configured to be movable.

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

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

The electromagnetic wave device 12 outputs the obtained information of the reflected response waveform (reflected wave intensity according to depth) for each grid to the processing unit 20 as measurement data. It should be noted that the electromagnetic wave device 12 is an example of the measuring section of the present invention.

The laser scanner 16 irradiates a laser while scanning in the horizontal and vertical directions, measures the time it takes for the laser to be reflected back at each point of the object surrounding the buried object measuring device 10, and measures the time of flight (TOF). ) method, the time from laser irradiation to return is converted into distance. The laser scanner 16 calculates three-dimensional coordinate values (X, Y, Z) of each point based on the irradiation angle of the laser and the distance to each point, and outputs three-dimensional (3D) point cloud data to the processing unit 20. Output to

The color camera 18 is a camera capable of photographing color images, preferably a camera such as a 360° camera capable of photographing the surroundings of the buried object measuring apparatus 10 with a wide angle of view. The color camera 18 outputs the photographed color image to the processing section 20 .

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

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

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

The input device 48 is, for example, a device for performing various inputs such as a keyboard and a mouse. The output device 50 is, for example, a device for outputting various information, such as a display and a printer. A touch panel display may be used as the output device 50 to function as the input device 48 . The optical disk drive device 52 reads data stored in various recording media such as CD-ROMs (Compact Disc Read Only Memory) and Blu-ray discs, and writes data to the recording media.

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

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

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

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

In the 3D map received from the estimating unit 22, the instruction unit 24 identifies an area that has been measured by the buried object measuring device 10, and specifies a movement direction for measuring an unmeasured area by the buried object measuring device 10. instruct.

Specifically, the instruction unit 24 generates a 3D image as shown in FIG. The buried object measuring device 10 specifies a measured area on the map, that is, a measured area. In addition, in FIG. 8, the periphery of the buried object measuring device 10 indicated by the 3D map is represented by a two-dimensional plane for the sake of simplicity of explanation.

For example, as shown in FIG. 8, the instruction unit 24 determines that the overlapping width between the end of the measurement width and the measured area is within a predetermined range from the self-position of the buried object measuring device 10 estimated by the estimation unit 22. The predicted measurement line and moving direction are specified when the buried object measuring apparatus 10 is moved as follows.

The instruction unit 24 acquires a color image from the color camera 18, matches the feature points of the image with the 3D map, adds color information of the actual image to each point group, and colors the 3D map. . This improves the reproducibility of the 3D map. Then, the instruction unit 24 displays a navigation screen (hereinafter, abbreviated as "navigation screen ”) and displayed on the display device, which is the output device 50 . FIG. 9 shows an example of the navigation screen. In the example of FIG. 9, by filling out the measured area, it is displayed in a manner distinguishable from the unmeasured area. Further, the example of FIG. 9 shows an example in which an illustration imitating a worker who moves the buried object measuring device 10 is also drawn.

By moving the buried object measuring device 10 along the predicted measurement line in the direction of movement indicated on the navigation screen, the operator can detect leaks in the measurement range 95 without the need to set the survey line. Efficient measurement can be performed without

In place of the display of the navigation screen, or in conjunction with the display of the navigation screen, the instruction unit 24 sets the overlapping width between the end of the measurement width and the measured area during the measurement by the buried object measuring device 10. When the value becomes equal to or less than the value, a warning may be output by voice message, beep sound, or the like. Further, when receiving an instruction to confirm an unmeasured area or an instruction to end measurement, the instruction unit 24 checks whether or not an unmeasured area remains within the measurement range 95, and if so, may issue a warning to that effect.

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

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

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

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

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

The generation unit 28 also aligns and combines the underground analysis image and the 3D map to generate a three-dimensional underground/ground combined image showing the inside and outside of the road structure. Specifically, at least three points are determined using fixed structures such as manholes, which are commonly obtained from the measurement site, the measurement data, and the 3D map, as reference points. The generating unit 28 aligns the 3D map and the underground analysis image by matching the reference points between the 3D map and the underground analysis image.

The generation unit 28 also corrects the underground analysis image according to the height or inclination of the road surface indicated by the 3D map. Since the 3D map has height information such as terrain, the slope and height of the ground surface are expressed. On the other hand, if the underground analysis image generated from the measurement data of the electromagnetic wave device 12 does not have information on the inclination and height of the ground surface, the terrain of the ground surface cannot be reproduced. When combining, it is necessary to match the inclination and height of the ground surface. For example, after aligning the horizontal positions of the 3D map and the underground analysis image, the generation unit 28 uses the ground surface height of the 3D map directly above the change point of the buried pipe obtained from the 3D underground analysis image as a reference. , correct the depth of the buried pipe according to the shape of the ground surface.

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

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

At the measurement site, the measurement data measured by the electromagnetic wave device 12 is acquired while the buried object measurement device 10 is being moved, and is sequentially stored in the 3D map/measurement data storage unit 26 . Then, in conjunction with the measurement of the measurement data, the navigation processing shown in FIG. 14 is executed in the processing section 20 . The electromagnetic wave device 12 and the processing unit 20 are connected by Ethernet (registered trademark), commands such as measurement start and end are exchanged between the electromagnetic wave device 12 and the processing unit 20, and navigation processing is performed by the electromagnetic wave device 12. Synchronize with the start and end of measurement. After the measurement is finished, when the analysis of the measurement data is instructed, the analysis processing shown in FIG. 15 is executed in the processing section 20 . Each of the navigation processing and analysis processing will be described in detail below. The navigation processing and analysis processing are examples of the buried object measurement method of the present invention.

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

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

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

Next, in step S16, the instructing unit 24, for example, as shown in FIG. A measurement prediction line and a moving direction are specified when the buried object measuring apparatus 10 is moved so that the width is within a predetermined range.

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

Next, in step S20, the instruction unit 24 displays the measured area in a different manner from the unmeasured area on the colored 3D map, and generates a navigation screen on which the specified predicted measurement line and movement direction are drawn. , displayed on the display device.

Next, in step S<b>22 , the estimating unit 22 determines whether or not the measurement end command has been received from the electromagnetic wave device 12 , thereby determining whether or not the measurement has ended. If the measurement has not ended, the process returns to step S12, and if the measurement has ended, the navigation processing ends.

Next, analysis processing will be described. In the processing unit 20, when a command for starting analysis of measurement data is input, the analysis processing shown in FIG. 15 is started.

In step S<b>32 , the generation unit 28 reads the measurement data stored in the 3D map/measurement data storage unit 26 .

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

Next, in step S<b>36 , the generation unit 28 reads the 3D map stored in the 3D map/measurement data storage unit 26 .

Next, in step S38, the generation unit 28 aligns three or more predetermined reference points between the 3D map and the underground analysis image, thereby aligning the 3D map and the underground analysis image. . Then, the generation unit 28 corrects the depth of the buried pipe according to the shape of the ground surface based on the ground surface height of the 3D map immediately above the change point of the buried pipe obtained from the underground analysis image, and A ground-to-ground combined view is generated by combining the analysis image and the 3D map.

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

As described above, the buried object measuring device according to the present embodiment estimates a 3D map of the surroundings of the device and its own position, identifies measured areas based on the estimation results, and measures unmeasured areas. direction of movement. As a result, it is possible to improve the measurement efficiency when measuring the buried object while moving in the measurement range.

In Tokyo, the ordinance to promote the removal of utility poles came into effect on September 1, 2017, accelerating the trend toward removal of utility poles in Tokyo. Efforts are being made to promote the installation of utility poles. According to the buried object measuring device according to the present embodiment, the buried object can be grasped three-dimensionally, for example, the position of the actual buried pipe buried inside the road structure can be specified, and the utility pole removal project can be performed. It helps to promote

In addition, in this embodiment, by displaying the navigation screen for instructing the movement direction for measuring the unmeasured area, the measurement line setting work is unnecessary, and the knowledge and experience of the on-site measurement of the measurer are unnecessary. is also expected. This makes it possible to further improve the efficiency of the measurement work. In particular, when the measurement data is converted to three dimensions as in the present embodiment, it is necessary to accurately grasp the position information of the measurement data, and the measurement line setting work on the assumption that the measurement data is converted to three dimensions. Since know-how is required, local measurers must have this knowledge and experience. However, according to the buried object measuring device according to the present embodiment, by omitting the survey line setting work, the measurement efficiency can be improved, the measurement target range can be expanded, and the measurement service can be provided to more sites. becomes.

In the above embodiment, the 3D point cloud data measured by laser scanning is used to estimate the 3D map of the surroundings of the device and the self position. data may be obtained.

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

Further, in the above embodiment, the case of using SLAM technology for 3D map and self-position estimation has been described. This is effective when position information cannot be obtained stably with the automatic tracking function. Conversely, in the case of a measurement location with good visibility without structures or buildings in the vicinity, SLAM cannot be effective. You can make use of it.

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

Further, in the above-described embodiment, the embedded object measuring device in which the electromagnetic wave device, the laser scanner, the processing unit, etc. are mounted on the wheelbarrow has been described. may be hand-held and measurable.

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

Moreover, various processors other than the CPU may execute the parameter identification processing executed by the CPU by reading the software (program) in the above embodiment. In this case, the processor is a PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing such as an FPGA (Field-Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit) for executing specific processing. A dedicated electric circuit or the like, which is a processor having a specially designed circuit configuration, is exemplified. Also, the embedded object measurement processing may be executed by one of these various processors, or a combination of two or more processors of the same or different type (for example, multiple FPGAs and a combination of a CPU and an FPGA). combination, etc.). More specifically, the hardware structure of these various processors is an electric circuit in which circuit elements such as semiconductor elements are combined.

Moreover, in the above-described embodiment, the embedded object measurement program has been pre-stored (installed) in the storage device, 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. Also, the program may be downloaded from an external device via a network.

10 buried object measurement device 12 electromagnetic wave device 16 laser scanner 18 color camera 20 processing unit 22 estimation unit 24 instruction unit 26 3D map/measurement data storage unit 28 generation unit 30 wheelbarrow 42 CPU
44 memory 46 storage device 48 input device 50 output device 52 optical disk drive device 54 communication I/F
95 measurement range

Claims (11)

a measurement unit that measures the buried object while moving within the measurement range;
a three-dimensional map around the measuring unit and an estimating unit that estimates the position of the measuring unit in the three-dimensional map;
an instruction unit that specifies an area that has been measured by the measurement unit in the three-dimensional map and that instructs a moving direction for measuring an area that has not been measured by the measurement unit;
Buried object measurement device including. Based on the position of the measuring unit estimated by the estimating unit and the measurement width of the measuring unit, the instructing unit specifies an area already measured by the measuring unit in the three-dimensional map, and the measuring unit specifies 2. The buried object measuring apparatus according to claim 1, wherein a screen showing the measured area in a manner different from that of the unmeasured area is displayed on the display device. The instruction unit moves the measurement unit so that the overlapping width between the end portion of the measurement width of the measurement unit and the measured area is within a predetermined range from the position of the measurement unit estimated by the estimation unit. 3. The buried object measuring apparatus according to claim 1, wherein a screen in which the direction of movement is drawn on the three-dimensional map is displayed on the display device. Claims 1 to 4, wherein the instruction unit issues a warning when an overlapping width between an end portion of the measurement width of the measurement unit and the measured area becomes equal to or less than a predetermined value during measurement by the measurement unit. Item 4. The buried object measuring device according to any one of items 3. The buried object measuring apparatus according to any one of claims 1 to 4, wherein the indicator has a function of checking whether the unmeasured area remains within a predetermined range. The buried object measuring apparatus according to any one of claims 1 to 5, wherein the measuring unit measures the intensity of the reflected wave of the electromagnetic wave irradiated inward from the measuring surface at each position on the measuring surface. 7. A generating unit that generates a three-dimensional image of the intensity of the reflected wave of the electromagnetic wave measured at each position by the measuring unit based on the position of the measuring unit estimated by the estimating unit. The buried object measuring device according to . 8. The generating unit according to claim 7, wherein the generated 3D image and the 3D map estimated by the estimating unit are aligned to generate a 3D image showing the inside and outside of the measurement plane. Buried object measurement device. The buried object measuring apparatus according to claim 8, wherein the generation unit corrects the three-dimensional image according to the height or inclination of the surface of the structure indicated by the three-dimensional map. The measurement unit measures the buried object while moving within the measurement range,
an estimating unit estimating a three-dimensional map around the measuring unit and a position of the measuring unit on the three-dimensional map;
A method for measuring an buried object, wherein an instruction unit identifies an area that has been measured by the measurement unit in the three-dimensional map, and instructs a moving direction for measuring an area that has not been measured by the measurement unit. the computer,
a three-dimensional map around the measuring unit and an estimating unit for estimating the position of the measuring unit on the three-dimensional map when the measuring unit measures an embedded object while moving in a measurement range;
A buried object measurement program for functioning as an instruction unit that specifies a region that has been measured by the measurement unit in the three-dimensional map and indicates a movement direction for measuring an area that has not been measured by the measurement unit.

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