Information processing method and information processing device

Abstract

To efficiency generate design information of a buried object.SOLUTION: An information processing device executes: coordinate information collaboration processing (S4) for generating buried object detection position information that is shown by a site coordinate system by converting buried object detection position information as information regarding a detection position of a buried object based on buried object survey information as a survey result of the buried object by a buried object survey section to the site coordinate system used in three-dimensional measurement information by a three-dimensional measurement section and is information regarding a detection position of the buried object; buried object estimation processing (S5) for grouping buried object detection position information on the basis of the buried object survey information converted to the site coordinate system by the coordinate information collaboration processing, and generating an approximate straight line for the grouped buried object detection position information; and CAD collaboration information processing (S6) for converting the approximate straight line to a CAD coordinate system.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a technique for an information processing method and an information processing device. [Background technology]

[0002] When repairing existing concrete buildings, it is necessary to carry out the work without affecting existing buried objects. For example, work such as post-cast anchor installation into concrete walls and core drilling must be carried out while avoiding rebars in order to not weaken the building. For this reason, buried object surveys are carried out prior to construction, and if the results require design changes, CAD (Computer Aided Design) drawings are used to make the changes.

[0003] However, in conventional buried object exploration, the state of the buried object is recorded by drawing a marking line while looking at the exploration results on-site, and the designer must manually reflect the buried object exploration state in the CAD. In order to efficiently reflect the buried object exploration results in the CAD, it is necessary to link the exploration results with the position information with high accuracy. In addition, in order to improve the efficiency of design work, it is necessary to process multiple buried object exploration results and estimate the position and posture of the buried object.

[0004] Patent Document 1 discloses a construction survey device and a construction survey method that are characterized by having "an autonomous driving control unit that causes the vehicle body to autonomously drive in a predetermined construction target area; an exploration and investigation unit that has an antenna unit that radiates waves to the ground along which the vehicle autonomously drives and receives reflected waves of the radiated waves, and that explores buried objects or geological boundaries based on the reflected waves of the received waves; a construction feasibility determination unit that determines whether a predetermined construction location within the construction target area is a location suitable for construction based on the investigation results of the exploration and investigation unit and stores the determination result in a memory unit; and a marking unit that marks the construction location on the ground when the construction feasibility determination unit determines that the location is suitable for construction" (see claim 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 5507779 A Summary of the Invention [Problem to be solved by the invention]

[0006] The technology described in Patent Document 1 is intended for outdoor underground exploration, and needs to be improved in that it is difficult to explore buried objects inside concrete, including indoor environments. In particular, the technology described in Patent Document 1 uses a Global Positioning System (GPS) as a coordinate acquisition means. Therefore, the accuracy of coordinate acquisition is low, and it is difficult to reflect the results of buried object exploration in CAD for design work, so improvement is needed.

[0007] The present invention has been made in view of the above background, and an object of the present invention is to efficiently generate design information for buried objects. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the present invention executes a coordinate information linking processing step in which an information processing device converts first buried object detection position information, which is information regarding the detection position of a buried object based on buried object exploration information, which is the exploration result of a buried object by a buried object exploration unit, into a site coordinate system used in three-dimensional measurement information by a three-dimensional measurement unit, to generate second buried object detection position information, which is information regarding the detection position of the buried object, which is shown in the site coordinate system; a buried object inference processing step in which, based on the buried object exploration information converted into the site coordinate system in the coordinate information linking processing step, the second buried object detection position information is grouped and an approximate straight line is generated for the grouped second buried object detection position information; and a CAD linking information processing step in which the approximate straight line is converted into a CAD coordinate system. Other solutions will be described in the embodiments as appropriate. Effect of the Invention

[0009] According to the present invention, design information for a buried object can be generated efficiently. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of the configuration of a buried object exploration system according to an embodiment of the present invention; [Diagram 2] 1 is a diagram showing details of a buried object exploration system according to an embodiment of the present invention; [Diagram 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information processing device. [Figure 4] 4 is a flowchart showing the overall process of an information processing method according to the present embodiment. [Diagram 5] FIG. 1 is a diagram showing a coordinate system of a buried object detection device; [Figure 6] FIG. 2 is a diagram showing a site coordinate system. [Figure 7] FIG. 1 is a diagram showing a CAD coordinate system. [Figure 8] 1A to 1C are diagrams illustrating preparations for three-dimensional measurement performed in this embodiment. [Figure 9] FIG. 2 is a diagram showing an example of a surface to be explored; [Figure 10] FIG. 2 is a diagram showing a movement trajectory of a moving device. [Figure 11] FIG. 11 is an explanatory diagram of a process for adding information about buried objects to buried object exploration data. [Figure 12] FIG. 13 is a diagram illustrating an overview of coordinate information linking processing. [Figure 13] FIG. 13 is a diagram showing an outline of a buried object inference process. [Figure 14] FIG. 11 is a diagram illustrating CAD linkage information processing. [Figure 15] FIG. 2 is a schematic diagram of three-dimensional measurement data transmitted from a three-dimensional measuring device. [Figure 16] FIG. 1 is a diagram (part 1) showing the definition of the coordinate relationship within the mobile device. [Figure 17] FIG. 2 is a diagram (part 2) showing the definition of the coordinate relationship within the mobile device. [Figure 18] FIG. 11 is a diagram showing a procedure for calculating position information of a buried object. [Figure 19] 11 is a diagram showing a method of coordinate conversion of a buried object detection position existing on the U axis. FIG. [Figure 20] 13 is a flowchart showing a procedure for coordinate linking processing. [Figure 21] FIG. 13 is a diagram showing an overview of data used in the buried object inference process. [Figure 22] FIG. 1 is a diagram showing the arrangement of reinforcing bars, which are typical buried objects. [Figure 23] 13 is a flowchart showing a procedure for buried object inference processing. [Figure 24] FIG. 13 is a diagram illustrating a grouping process of trajectories. [Diagram 25] 13 is a flowchart showing a detailed procedure for grouping trajectories. [Figure 26] FIG. 13 is a diagram showing an overview of grouping of buried object detection positions. [Figure 27A] 1 is a flowchart (part 1) showing the procedure of a process for grouping buried object detection positions performed in this embodiment. [Figure 27B] 1 is a flowchart (part 1) showing the procedure of a process for grouping buried object detection positions performed in this embodiment. [Figure 28] FIG. 13 is a diagram showing an example of a detection position group (part 1). [Figure 29] FIG. 2 is a diagram showing an example of a detection position group (part 2). [Diagram 30] FIG. 3 is a diagram showing an example of a detection position group (part 3). [Diagram 31] FIG. 13 is a diagram showing a process of estimating the arrangement of buried objects. [Diagram 32] FIG. 13 is a diagram showing a modified example of the buried object exploration system according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Next, a mode for carrying out the present invention (referred to as an "embodiment") will be described in detail with reference to the drawings as appropriate.

[0012] (Buried Object Exploration System Z) FIG. 1 is a diagram showing an example of the configuration of a buried object exploration system Z according to this embodiment. The buried object exploration system Z includes an information processing device 100 , a mobile device 200 , a three-dimensional measuring device 300 which is a three-dimensional measuring unit, a display device 401 , and an input device 402 . The mobile device 200 is equipped with wheels and is moved manually by the user. The size of the mobile device 200 is such that the user can lift it and move it. The user can not only move the mobile device 200 on a floor surface, but also move it on a wall surface by lifting the mobile device 200 and moving it so that the bottom surface of the mobile device 200 faces the wall.

[0013] The mobile device 200 includes a buried object exploration device 201 which is a buried object exploration section, and a three-dimensional measurement device 202 which is a three-dimensional measurement section. The three-dimensional measuring device 202 reflects the light emitted from the three-dimensional measuring machine 300, and is constituted by, for example, a prism. The buried object exploration device 201 is a device that explores buried objects 601 (see FIG. 7) buried in a predetermined object, and is composed of an electromagnetic wave exploration device, an ultrasonic exploration device, etc. In this embodiment, the buried object exploration device 201 explores reinforcing bars buried in concrete.

[0014] The three-dimensional measuring machine 300 performs three-dimensional measurement by irradiating light onto a three-dimensional measuring device 202 provided on the moving device 200 and measuring the light reflected by the three-dimensional measuring device 202. In this way, the three-dimensional measuring machine 300 measures the three-dimensional position of the three-dimensional measuring device 202. A total station or the like is used as the three-dimensional measuring machine 300.

[0015] The three-dimensional measuring machine 300 indicates the three-dimensional position of the three-dimensional measuring device 202 that performed the measurement, and transmits three-dimensional measurement data 520, which is three-dimensional measurement information, to the information processing device 100. In addition, the buried object exploration device 201 transmits buried object exploration data 510, which is the exploration result and is buried object exploration information, to the information processing device 100. The three-dimensional measurement data 520 and the buried object exploration data 510 will be described in detail later.

[0016] The information processing device 100 is composed of a PC (Personal Computer) or the like, and performs coordinate information linking processing to link three-dimensional measurement data 520 with buried object exploration data 510. Furthermore, the information processing device 100 performs buried object estimation processing to estimate the buried state of a buried object 601 (reinforcing bar in this embodiment) using the result of the coordinate information linking processing. Then, the information processing device 100 performs CAD linking information processing to convert the result of the buried object estimation processing into CAD data 530.

[0017] The display device 401 is configured with a display or the like, and displays the results of processing by the information processing device 100. The input device 402 is composed of a keyboard, a mouse, etc., and is used to input information to the information processing device 100 .

[0018] (Details of Buried Object Detection System Z) Fig. 2 is a diagram showing details of the buried object exploration system Z according to this embodiment. Fig. 1 will be referred to as appropriate, and in Fig. 2, the same components as those in Fig. 1 will be given the same reference numerals and the description thereof will be omitted. The information processing device 100 includes an exploration information processing unit 110 , a buried object estimation unit 120 , a design processing unit 130 , and a storage unit 140 . The search information processing unit 110 performs the above-mentioned coordinate information linking process. The search information processing unit 110 includes an information attachment processing unit 111 and a coordinate information linking processing unit 112. Based on the information input from the input device 402, the information addition processing unit 111 adds a buried object detection position 512 (see FIG. 11) which is first buried object detection position information to the buried object exploration data 510. The coordinate information linking processing unit 112 performs coordinate information linking processing to link the result by the information attachment processing unit 111 to the three-dimensional measurement data 520 .

[0019] The buried object estimation unit 120 performs the buried object estimation process described above. The buried object estimation unit 120 includes a buried object estimation processing unit 121 and a CAD linkage information processing unit 122. The buried object estimation processing unit 121 performs a buried object estimation process for estimating the buried state of the buried object 601 based on the result from the coordinate information link processing unit 112 . The CAD-linked information processing unit 122 performs CAD-linked information processing for converting the result of the buried object estimation processing unit 121 into CAD (Computer Aided Design) data 530 (see FIG. 7).

[0020] The design processing unit 130 is configured by a CAD system. The design processing unit 130 edits the CAD data 530 based on information input via an input device.

[0021] 2, the information assignment processing unit 111, the coordinate information linkage processing unit 112, the buried object estimation processing unit 121, the CAD linkage information processing unit 122, and the design processing unit 130 are mounted on one information processing device 100. However, this is not limiting, and any of the information assignment processing unit 111, the coordinate information linkage processing unit 112, the buried object estimation processing unit 121, the CAD linkage information processing unit 122, and the design processing unit 130 may be executed on a different device.

[0022] The storage unit 140 stores three-dimensional measurement data 520 transmitted from the three-dimensional measuring device 300 (three-dimensional measurement data 520 by the three-dimensional measuring device 300), buried object exploration data 510 transmitted from the buried object exploration device 201 (buried object exploration data 510 by the buried object exploration device 201), etc. The storage unit 140 also stores results by the exploration information processing unit 110, results by the buried object estimation unit 120, CAD data 530, etc.

[0023] (Hardware configuration) FIG. 3 is a diagram illustrating an example of a hardware configuration of the information processing device 100. As shown in FIG. The information processing device 100 includes a memory 151, a calculation device 152, a storage device 153, a communication device 154, and the like. The memory 151 is composed of a RAM (Random Access Memory) and the like. The arithmetic device 152 is composed of a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and the like. The storage device 153 is composed of a HD (Hard Disk), a SSD (Solid State Drive), and the like. The communication device 154 is composed of a NIC (Network Interface Card), and the like, and communicates with the three-dimensional shorthand and buried object exploration device 201 shown in FIG. 1 and FIG. 2. The memory unit 140 in FIG. 2 corresponds to the storage device 153 in FIG. 3.

[0024] Then, the program stored in the storage device 153 is loaded into the memory 151 and executed by the calculation device 152. As a result, the information assignment processing unit 111, the coordinate information linkage processing unit 112, the buried object estimation processing unit 121, the CAD linkage information processing unit 122, and the design processing unit 130 shown in FIG.

[0025] (Overall processing) 4 is a flowchart showing the overall process of the information processing method according to this embodiment. Each step in FIG. 4 will be described in detail later. First, preparations are made (S1) for three-dimensional measurement using the three-dimensional measuring device 300. In step S1, the user sets an instrument point M1 (see FIG. 8) and the like. Next, buried object exploration is performed on the exploration target surface 532a (see FIG. 7) while performing three-dimensional measurement (S2). The exploration target surface 532a is a wall surface or a floor surface. In step S2, the user manually moves the mobile device 200. Then, the three-dimensional measuring machine 300 performs three-dimensional measurement by the three-dimensional measuring device 202 provided in the mobile device 200. At the same time, the buried object exploration device 201 mounted on the mobile device 200 explores the buried object 601. The processing from step S3 onwards is performed after all three-dimensional measurements and buried object explorations are completed.

[0026] Then, when the buried object exploration is completed, the user performs a buried object information assignment process for the buried object exploration data 510 via the information processing device 100 (S3). The user specifies the position of the buried object 601 in the buried object exploration data 510 displayed on the display device 401, and registers it as a buried object detection position 512 (see FIG. 11).

[0027] Next, the coordinate information linking processor 112 performs a coordinate information linking process to link (link) the buried object detection position 512 with the three-dimensional measurement data 520 obtained by the three-dimensional measuring device 300 (S4: coordinate information linking process step). In step S4, the coordinate information linking processor 112 links the buried object exploration data 510 with the on-site coordinate system C2 (see FIG. 6). The on-site coordinate system C2 will be described later.

[0028] Then, the buried object estimation processing unit 121 performs a buried object estimation process for estimating the location of the buried object 601 using the result of the coordinate information linking process (S5: buried object estimation processing step). Next, the CAD linked information processing unit 122 performs CAD linked information processing to write the location information of the buried object 601 estimated in the buried object inference processing to the CAD data 530 (S6: CAD linked information processing step). That is, the CAD linked information processing unit 122 converts the location information of the estimated buried object 601 into a CAD coordinate system C3 (see FIG. 7) described later.

[0029] (Outline of the coordinate system used in this embodiment) Figures 5 to 7 are diagrams showing an overview of the coordinate systems used in this embodiment, with Figure 5 showing a buried object exploration device coordinate system C1, Figure 6 showing a site coordinate system C2, and Figure 7 showing a CAD coordinate system C3. (Buried object detection device coordinate system C1) As shown in Fig. 5, the buried object exploration device coordinate system C1, which is the buried object exploration unit coordinate system, uses the UV coordinate system. In the UV coordinate system, the V axis indicates the normal direction of the exploration target surface 532a (see Fig. 7), i.e., the depth direction. And the U axis indicates the movement direction of the moving device 200 (three-dimensional measuring device 202). Buried object exploration data 510 by the buried object exploration device 201 is acquired as a signal indicated by the exploration waveform 511 in Fig. 5.

[0030] (Site coordinate system C2) As shown in Fig. 6, the on-site coordinate system C2 uses the RST coordinate system. The RST coordinate system is a coordinate system used for three-dimensional measurement data 520 (see Fig. 1) by the three-dimensional measuring device 300, and is a coordinate system defined based on the three-dimensional measuring device 300. The traveling direction of the mobile device 200, the position of the three-dimensional measuring device 202, etc. are defined on the on-site coordinate system C2. Incidentally, the outline arrow indicates the traveling direction of the mobile device 200.

[0031] (CAD coordinate system C3) As shown in FIG. 7, the CAD coordinate system C3 uses the XYZ coordinate system. In the CAD data 530, the position of the buried object 601, the object to be surveyed 532, and CAD information of the surface to be surveyed 532a are stored in the XYZ coordinate system. Since the on-site coordinate system C2 (RST coordinate system) is a coordinate system defined based on the three-dimensional measuring device 300, the on-site coordinate system C2 and the CAD coordinate system C3 generally do not match. The technology in this embodiment aims to add the buried object 601 buried in the object to be surveyed 532 to the CAD data 530. Therefore, the example shown in FIG. 7 shows the CAD data 530 after the survey of the buried object 601 has been performed, and the CAD information of the buried object 601 is not described in the CAD data 530 before the survey of the buried object 601 is performed.

[0032] In the following description, a buried object exploration device coordinate system C1, a site coordinate system C2, and a CAD coordinate system C3 shown in Figs. 5 to 7 will be referred to as appropriate.

[0033] The buried object exploration system Z in this embodiment (see Figs. 1 and 2) aims to link the buried object exploration device coordinate system C1 shown in Fig. 5 with the on-site coordinate system C2 shown in Fig. 6 and convert them into the CAD coordinate system C3 shown in Fig. 7. In other words, the objective of this embodiment is to convert the buried object exploration device coordinate system C1 in Fig. 5 into the CAD coordinate system C3 in Fig. 7. In particular, the buried object exploration device coordinate system C1 shown in Fig. 5 and the on-site coordinate system C2 shown in Fig. 6 are linked with high accuracy, which is a characteristic feature of this embodiment.

[0034] (Preparation for 3D measurement) 8 is a diagram showing preparation for three-dimensional measurement performed in this embodiment, which explains the process of step S1 in FIG. The user prepares to measure the position of the three-dimensional measuring device 202 using a three-dimensional measuring device 300 such as a total station. At this time, the user installs the three-dimensional measuring device 300 (total station) at the instrument point M1 and determines an arbitrary backview point M2. The three-dimensional measuring device 300 then measures the position (horizontal position) of the three-dimensional measuring device 202 from the instrument point M1 and the backview point M2. At this time, it is desirable for the user to set easy-to-understand locations as the instrument point M1 and the backview point M2, taking into consideration linkage with the CAD coordinate system C3 to be performed later. In this way, by using a total station as the three-dimensional measuring device 300, three-dimensional measurement in millimeter units becomes possible.

[0035] (surface to be probed 532a) FIG. 9 is a diagram showing an example of the probe target surface 532a. Hereinafter, the object to be detected 532 will be referred to as concrete, the surface to be detected 532a as a concrete surface, and the buried object 601 as a reinforcing bar. In this embodiment, a case where reinforcing bars arranged in a lattice pattern inside concrete are detected will be described. In Fig. 9, it is assumed that the user moves the mobile device 200 on the near side of the inspection target surface 532a shown in Fig. 9. Furthermore, the reinforcing bars, which are the buried object 601, are installed in a lattice pattern in the concrete, which is the inspection target 532 (see Fig. 7). Incidentally, the symbol H indicates the height direction. The mobile device 200 moves on the inspection target surface 532a where the symbol H is located.

[0036] (Movement trajectory 611 of the moving device 200) FIG. 10 is a diagram showing a movement trajectory 611 of the moving device 200. As shown in FIG. The user searches for the buried object 601 by moving the mobile device 200 so as to intersect perpendicularly (so as to intersect at a right angle or approximately a right angle) with the buried object 601 (rebar) to be searched on the search target surface 532a. This results in a movement trajectory 611 of the mobile device 200 as shown in FIG. 10. As shown in FIG. 10, the user moves the mobile device 200 in the same direction multiple times (at least two times or more). Note that the buried object search device coordinate system C1 may have the starting point of the mobile device 200 as the origin for each movement trajectory 611.

[0037] The three-dimensional measuring machine 300 and the buried object exploration device 201 can be operated simultaneously with one switch. This allows the three-dimensional measuring machine 300 and the buried object exploration device 201 to start measurement and exploration simultaneously, and to end measurement and exploration simultaneously.

[0038] (Adding information on buried object 601 to buried object exploration data 510) Fig. 11 is an explanatory diagram of the process of adding information on the buried object 601 to the buried object exploration data 510. Fig. 11 is an explanatory diagram of the process of step S3 in Fig. 4. Note that a specific description of step S2 in Fig. 4 will be omitted. Figs. 1 and 9 will be referred to as appropriate. As described above in FIG. 5, the buried object 601 exploration result (buried object exploration data 510) is expressed by two axes, the V axis (exploration depth direction) and the U axis (movement direction of the moving device 200) in the buried object exploration device coordinate system C1 (UV coordinate system). The exploration waveform 511 by the buried object exploration device 201 is obtained as a quadratic curve as shown in FIG. 11. The buried object 601 (reinforcing bar) exists at the apex of such a quadratic curve. In FIG. 11, the longitudinal direction of the reinforcing bar is assumed to be perpendicular to the paper surface. The exploration waveform 511 is displayed on the display device 401 or the like. The user reads the apex of the exploration waveform 511 displayed on the display device 401, and registers the buried object detection position 512 (first buried object detection position information) as the position information of the buried object 601. In this manner, the buried object detection position 512 is added to the buried object exploration data 510. The buried object detection position 512 is registered as a coordinate in the buried object exploration device coordinate system C1 such as (u, v). In this manner, the buried object detection position 512 is a first buried object detection position information that is information on the detection position of the buried object based on the buried object exploration data 510 that is the exploration result of the buried object 601 and is transmitted from the buried object exploration device 201.

[0039] (Outline of coordinate information linking process) Fig. 12 is a diagram showing an outline of the coordinate information linking process, and more specifically, Fig. 12 is an explanatory diagram of step S4 in Fig. 4 and shows a movement trajectory. In the coordinate information linking process, the buried object detection position 512 registered in the process of FIG.

[0040] In FIG. 12, a moving trajectory 611 moving on the inspection target surface 532a is a moving trajectory 611 of the moving device 200. The moving trajectory 611 shown in FIG. 12 corresponds to one of the multiple moving trajectories 611 shown in FIG. 10. In the example shown in FIG. 12, the moving trajectory 611 is in a wavy state, but in reality, it is a substantially straight line. The moving trajectory 611 is expressed by the on-site coordinate system C2 as described above. The U-axis direction of the buried object inspection device coordinate system C1 (UV coordinate system) is the tangent direction of the moving trajectory 611. Incidentally, the V-axis direction is the vertical downward direction of the moving trajectory 611, that is, the downward direction of the paper surface.

[0041] Measurement by the three-dimensional measuring device 300 is performed discretely. That is, measurement by the three-dimensional measuring device 300 is performed at predetermined intervals on the movement trajectory 611. In contrast, measurement by the buried object exploration device 201 is performed approximately continuously. Therefore, the measurement point 613 by the three-dimensional measuring device 300 and the buried object detection position 512 by the buried object exploration device 201 do not necessarily coincide. For this reason, it is generally difficult to link the measurement point 613 by the three-dimensional measuring device 300 and the buried object detection position 512 by the buried object exploration device 201, which becomes an obstacle.

[0042] In the coordinate information linking process, a process is performed to link the measurement point 613 by the three-dimensional measuring device 300 with the buried object detection position 512 by the buried object exploration device 201. Details of the coordinate information linking process will be described later. As a result, the buried object detection position 612 shown in the on-site coordinate system C2 is generated. The buried object detection position 612 is second buried object detection position information, which is information on the detection position of the buried object 601. By the coordinate information linking process, the buried object detection position 512 (shown in the buried object exploration device coordinate system C1(u,v)) given in the process shown in FIG. 11 is converted into coordinates (r,s,t) in the on-site coordinate system C2.

[0043] (Outline of buried object estimation processing) 13 is a diagram showing an outline of the buried object inference process, and is an explanatory diagram of step S5 in FIG. In FIG. 13, buried object detection positions 612 linked by the coordinate information linking process shown in FIG. 12 are shown on a plurality of movement trajectories 611 (on-site coordinate system C2) on the surface 532a to be inspected. The buried object estimation processing unit 121 generates a detection position group BG, which is grouped buried object detection position information, by grouping the buried object detection positions 612. Then, the buried object estimation processing unit 121 estimates the shape of the buried object 601 (reinforcing bar) by drawing an approximation line 621 to the buried object detection positions 612 in the generated detection position group BG. In this way, the buried object estimation processing unit 121 estimates the shape of the buried object 601 (reinforcing bar) buried in the inspection target (concrete) from the plurality of buried object detection positions 612. In this way, the buried object estimation processing unit 121 can display the arrangement information of the buried object 601 as a straight line in the on-site coordinate system C2.

[0044] (CAD-linked information processing) Fig. 14 is a diagram for explaining the CAD linked information processing, and Fig. 14 is an explanatory diagram of step S6 in Fig. 4. In Fig. 14, the same components as those in Fig. 7 and Fig. 13 are given the same reference numerals and the description thereof will be omitted. The CAD linkage information processing unit 122 links the shape and position (arrangement) of the buried object 601 estimated as the approximate straight line 621 in FIG. 13 to the CAD data 530. For this linkage, the CAD linkage information processing unit 122 converts the on-site coordinate system C2 into the CAD coordinate system C3. After the coordinate conversion, the CAD linkage information processing unit 122 adds the arrangement information of the buried object 601 to the CAD data 530 created in advance, using the converted CAD coordinate system C3. In the CAD data 530 created in advance, data of the object to be searched 532 (concrete) is created by a designer. In this way, the CAD linkage information processing unit 122 converts the approximate straight line 621 into the CAD coordinate system C3.

[0045] Alternatively, the CAD linkage information processing unit 122 presents the layout information of the buried object 601 in the converted CAD coordinate system C3 to the designer by displaying it on the display device 401. Then, the designer may create CAD data 530 of the buried object 601 by inputting the layout information of the buried object 601 displayed on the display device 401 to the design processing unit 130 while checking the layout information.

[0046] As a result, as shown in FIG. 14, the CAD information of the buried object 601 is added to the CAD data 530 of the object to be searched 532.

[0047] [Details of coordinate information linking process] Next, the coordinate information linking process (step S4 in FIG. 4) will be described in detail with reference to FIGS. The coordinate information linking process aims to link coordinates (u, v) in the buried object exploration device coordinate system C1 (UV coordinate system) with coordinates (r, s, t) in the on-site coordinate system C2 (RST coordinate system). In other words, a conversion is performed from the buried object exploration device coordinate system C1 to the on-site coordinate system C2. Specifically, the coordinate information linking processor 112 executes a coordinate conversion process that suppresses an error between the coordinates (u, v) in the buried object exploration device coordinate system C1 and the coordinates (r, s, t) in the on-site coordinate system C2.

[0048] In the following, first, the definition of the coordinate relationship inside the mobile device 200 is explained as a premise for the coordinate information linking process, and the relationship between the three-dimensional measuring device 300 and the buried object exploration device 201 is clarified. After that, the travel distance of the mobile device 200 is assumed to be the sum of the distances between the measurement points 613 (see FIG. 15), and the relationship between the travel distance and the site coordinate system C2 is derived using the formula (5) described later. In this way, the buried object detection position 512 (see FIG. 12), which is expressed as (u, v) in the buried object exploration device coordinate system C1, is converted to coordinates (r, s, t) expressed in the site coordinate system C2.

[0049] (3D measurement data 520) FIG. 15 is a schematic diagram of three-dimensional measurement data 520 transmitted from the three-dimensional measuring device 300. Three-dimensional measurement data 520 is generated as a collection of measurement points 613 on a movement trajectory 611 of the mobile device 200. Note that in Fig. 15 to Fig. 18, the movement trajectory 611 is one of the multiple movement trajectories 611 shown in Fig. 10. In Fig. 15 to Fig. 18, it is assumed that N measurement points 613 have been acquired by the three-dimensional measuring device 300 on the movement trajectory 611 to be processed.

[0050] (Definition of coordinate relationships within the mobile device 200) 16 and 17 are diagrams showing the definition of coordinate relationships within the mobile device 200. FIG. In this embodiment, in the buried object exploration data 510, the position of the buried object exploration device 201 ("u" in the coordinates (u,v)) needs to be used as the position in the site coordinate system C2. In addition, in the three-dimensional measurement data 520 (see FIG. 1), the position information of the three-dimensional measurement device 202 (the prism if the three-dimensional measuring device 300 is a total station, or the transmitter if it is a wireless system) is stored as the site coordinate system C2. Therefore, it is necessary to clarify the definition of the position of the buried object exploration device 201 and the relative positional relationship of the three-dimensional measurement device 202. The clarification of the relative positional relationship of the position of the buried object exploration device 201 and the three-dimensional measurement device 202 will be described with reference to FIG. 16 and FIG. 17. Note that in FIG. 16 and FIG. 17, the outline arrow indicates the traveling direction of the mobile device 200.

[0051] First, as shown in FIG. 16, the three-dimensional measuring device 202 is installed at a position facing vertically upward from the buried object exploration device 201 as indicated by the reference symbol 701. The exploration target surface 532a on which the mobile device 200 moves is assumed to be a flat surface. The exploration target surface 532a on which the mobile device 200 moves is appropriately referred to as a reference plane. As shown in FIG. 17, the coordinate information linking processor 112 calculates a reference plane normal vector 702 of the reference plane. This reference plane normal vector 702 coincides with the vertical vector of the buried object exploration device coordinate system C1 (UV coordinate system). Therefore, the coordinate information linking processor 112 can clearly indicate the relative relationship between the three-dimensional measuring device 202 and the buried object exploration device 201 using this reference plane normal vector 702.

[0052] First, the coordinate information linking processor 112 sets the coordinates of the buried object exploration device 201 in the on-site coordinate system C2 (RST coordinate system) as A=(ra, sa, ta).

[0053] Next, coordinate information linkage processor 112 sets the coordinates of three-dimensional measuring device 202 to B=(rb, sb, tb). The coordinates of three-dimensional measuring device 202 are known information based on three-dimensional measurement data 520 transmitted from three-dimensional measuring machine 300, and are coordinates in on-site coordinate system C2.

[0054] Then, the coordinate information linkage processor 112 sets the reference plane normal vector 702 with respect to the inspection target surface 532a as n=(a, b, c) shown in Fig. 17. The reference plane normal vector 702 is a known coordinate calculated from the CAD data 530 by CAD, etc., and is a coordinate converted in advance into the on-site coordinate system C2.

[0055] Then, the coordinate information linkage processor 112 determines the distance between the three-dimensional measuring device 202 and the buried object exploration device 201 as Q. This distance is obtained based on the design of the mobile device 200.

[0056] Using the above coordinates and distances, the coordinate information linking processor 112 defines the coordinates of the buried object exploration device 201 using the three-dimensional measurement device 202 according to the following equation (1).

[0057] A = BQ n (1)

[0058] This makes it possible to express the position of the buried object exploration device 201 in the buried object exploration device coordinate system C1 in the on-site coordinate system C2. Incidentally, equation (1) defines the relationship between the on-site coordinate system C2 and the buried object exploration device coordinate system C1. Simply calculating equation (1) does not link the measurement points 613 measured at a predetermined interval to the buried object detection positions 512 (see Figures 11 and 12). With equation (1), the horizontal position of the buried object exploration device 201 can be regarded as the horizontal position of the three-dimensional measurement device 202.

[0059] (Calculation of location information of buried object 601) FIG. 18 is a diagram showing a procedure for calculating the position information of the buried object 601 (see FIG. 9). 18 shows a moving trajectory 611 on the inspection target surface 532a, a measurement point 613, and a buried object detection position 512. The buried object detection position 512 indicates the first buried object detection position information, and also indicates the buried object detection position indicated by the first buried object detection position information. It is assumed that the measurement by the three-dimensional measuring device 300 has been performed N times on the moving trajectory 611. It is assumed that each of the measurement points 613 is represented in the on-site coordinate system C2 (RST coordinate system) as P1=(r1,s1,t2), P2=(r2,s2,t2),..., Pn=(rn,sn,tn),..., PN=(rN,sN,tN).

[0060] Assume that the mobile device 200 moves in a straight line between each point (P1, P2, . . . , Pn, . . . , PN). The movement distance Ln of the mobile device 200 at an arbitrary measurement point 613, Pn, is expressed by the following formula (2). In FIG. 18, the measurement point 613S is the movement start position of the mobile device 200, i.e., the buried object exploration device 201, and corresponds to P1. Similarly, the measurement point 613E is the movement end position of the mobile device 200, i.e., the buried object exploration device 201, and corresponds to PN.

[0061]

number

[0062] Then, v is set to 0 (v=0, i.e., the depth direction is 0) in the coordinates of the buried object detection position 512 in the buried object exploration device coordinate system C1 (UV coordinate system). That is, the buried object detection position 512 is expressed in the buried object exploration device coordinate system C1, and in this case, u in the buried object detection position 512 should be located on the movement trajectory 611. Of the buried object detection position 612 (u, v) expressed in the buried object exploration device coordinate system C1, u corresponds to Lu, which is the movement distance from the movement start point of the mobile device 200 to the buried object detection position 512 in the site coordinate system C2. Umax is the total movement distance of the mobile device 200 in one movement trajectory 611. Then, Lu can be expressed by the following formula (3) (corresponding to formula (1) in the claims) using the result of formula (2) and information of the buried object exploration data 510 (see FIG. 1).

[0063] Lu = (LN / Umax)u (3)

[0064] Lu in formula (3) is the distance from the movement start position (measurement point 613S) of the mobile device 200, i.e., the buried object detection position 512, to the buried object detection position 512. Incidentally, for the buried object detection position 512, the coordinate in the buried object detection device coordinate system C1 is known at this time, but the coordinate in the site coordinate system C2 is unknown. In formula (3), Umax is the coordinate in the buried object detection device coordinate system C1, and is the value of u in PN. That is, PN is expressed as u=Umax in the buried object detection device coordinate system C1. That is, Umax is the coordinate of PN, which is the movement end position of the buried object detection device 201 measured by the buried object detection device 201, in the buried object detection device coordinate system C1. Also, LN is the movement distance from the movement start point to the movement end point (PN) of the mobile device 200, calculated using formula (2). That is, LN is the sum of the intervals between the multiple measurement points 613 measured by the three-dimensional measuring device 300, from the measurement point 613S (P1) which is the movement start point to the measurement point 613E (PN) which is the movement end point. Furthermore, in formula (3), u is the movement direction coordinate (U-axis coordinate) of the buried object detection position 512 in the buried object exploration device coordinate system C1.

[0065] FIG. 19 is a diagram showing a method of coordinate conversion of buried object detection position 512 existing on the U axis. First, buried object detection position 512 exists somewhere between each of measurement points 613. That is, there exists m that satisfies the following formula (4).

[0066] Lm≦Lu≦Lm+1 (4)

[0067] Also, the buried object detection position 512, which exists on the moving trajectory 611 and is expressed in the on-site coordinate system C2, exists on the line segment connecting the measurement point 613a (Pm) and the measurement point 613b (Pm+1) as shown in FIG. 19. The measurement point 613a is the end point of Lm, and the measurement point 613b is the end point of Lm+1. That is, as shown in FIG. 19, Pm and Pm+1 are the coordinates of the measurement point 613 according to the on-site coordinate system C2 that are adjacent to each other, and the buried object detection position 512 exists between Pm and Pm+1. From the above, the buried object detection position 512 corresponding to u expressed in the on-site coordinate system C2 (buried object detection position 612 shown in the on-site coordinate system C2) Pu can be obtained by the following formula (5) (corresponding to formula (2) in the claims). In formula (5), the line segment ratio Ku, Pm, and Pm+1 are used.

[0068] Pu=Ku·Pm+1 + (1-Ku)·Pm···(5)

[0069] Here, Ku = (Lu - Lm) / (Lm+1 - Lm).

[0070] Equation (5) is summarized as follows with reference to FIG. 19. FIG. 18 is also referred to as appropriate. In the following, it is assumed that the measurement points 613a, 613b, and the buried object detection position 612 are expressed in the on-site coordinate system C2. The measurement point 613a is Pm=(rm, sm, tm), and the measurement point 613b is Pm+1=(rm+1, sm+1, tm+1). The buried object detection position 612 is Pu=(ru, su, tu). The buried object detection position 612 (Pu) has unknown coordinates at the present time. The movement distance of the mobile device 200 to the measurement point 613a is expressed as Lm, and the movement distance of the mobile device 200 to the measurement point 613b is expressed as Lm+1. That is, in formula (2), Lm is the sum of the intervals of each of the measurement points 613 from the measurement point 613S (see FIG. 18) which is the movement start point to the measurement point 613a which is Pm, based on the definition of formula (2). Similarly, Lm+1 is the sum of the intervals of each of the measurement points 613 from the measurement point 613S (see FIG. 18) which is the movement start point to the measurement point 613b which is Pm+1, based on the definition of formula (2). The movement distance of the mobile device 200 to the buried object detection position 612 is represented by Lu. Lu is calculated by formula (3).

[0071] The length of the line segment 641 connecting Pu and Pm is expressed as (Lu - Lm) / (Lm+1 - Lm) = Ku. The length of the line segment 642 connecting Pm+1 and Pu is expressed as 1 - {(Lu - Lm) / (Lm+1 - Lm)} = 1 - Ku.

[0072] By using the above information, the coordinate information link processor 112 identifies the coordinates of Pu in the site coordinate system C2 by equation (5).

[0073] Pu calculated by formula (5) indicates buried object detection position 612 on movement trajectory 611, and does not take into account the depth direction. Therefore, the coordinate information link processing unit 112 calculates Puv, which is buried object detection position 612 indicated by coordinates of the on-site coordinate system C2, by adding depth direction information to Pu, using the following formula (6) (formula (3) in the claims).

[0074] Puv=Pu - v n (6)

[0075] In equation (6), n is reference plane normal vector 702, which is a normal vector to inspection target surface 532a, shown in Fig. 17. And in equation (6), v is the depth direction coordinate (V-axis coordinate) of buried object detection position 512 in buried object inspection device coordinate system C1.

[0076] As described above, in Pu, the buried object detection position 612 on the movement trajectory 611 is specified, but the depth direction is not taken into consideration. This means that Puv, which is the coordinate of the buried object detection position 612 taking the depth direction into consideration in equation (6), is defined at a location that is -v times from Pu in the direction of n, which is the reference plane normal vector 702. In this way, the coordinate (Puv) of the buried object detection position 612 taking the depth direction into consideration in the on-site coordinate system C2 is calculated.

[0077] By calculating Puv through the above processing, the coordinate information linking processor 112 converts the buried object detection position 612 into the on-site coordinate system used in the three-dimensional measurement data 520 transmitted from the three-dimensional measuring device 300. That is, the coordinate information linking processor 112 calculates the movement distance of the buried object exploration device 201 to the buried object detection position 612 by equation (3). Furthermore, the coordinate information linking processor 112 specifies the buried object detection position 612 in the on-site coordinate system C2 by equations (5) and (6).

[0078] (flowchart) FIG. 20 is a flowchart showing the procedure of the coordinate information linking process. First, the coordinate information link processor 112 calculates the movement distance (Lu) to the buried object detection position 512 using equation (3) (S410). Then, the coordinate information link processor 112 calculates the buried object detection position 612 (Pu), which is the position information of the buried object 601, using the formula (5) based on the calculated movement distance (Lu) to the buried object detection position 512 (S420). After that, the coordinate information link processing unit 112 adds depth information to the position information of the buried object 601 calculated in step S420 (buried object detection position 612) using equation (6) (S430).

[0079] As described above, by the coordinate information linking process shown in Figs. 15 to 20, it is possible to express the buried object detection position 612 in the on-site coordinate system C2.

[0080] [Details of buried object estimation process] Next, the buried object inferring process (step S5 in FIG. 4) will be described in detail with reference to FIGS. As explained in Fig. 13, the buried object estimation process aims to estimate the position and posture of the buried object 601 (see Fig. 9) from the buried object detection position 612 in the on-site coordinate system C2 calculated in the coordinate information linking process. In order to achieve the above objective, the following explanation will explain the information used in the buried object estimation process, and the arrangement of the reinforcing bars which are the buried object 601. The arrangement of the buried object 601 (reinforcing bars) includes the position and posture of the buried object 601. Then, an algorithm for estimating the arrangement of the reinforcing bars which are the buried object 601 will be explained.

[0081] (Information used in buried object estimation processing) 21 is a diagram showing an overview of information used in the buried object inference process, with reference to FIG. The information used in the buried object inference process is the movement trajectory 611, the buried object detection position 612, and the reference plane normal vector 702 with respect to the inspection target surface 532a. The movement trajectory 611 is the movement trajectory 611 of the mobile device 200. The buried object detection position 612 is calculated by the coordinate information linking process shown in Figs. 15 to 20. That is, the buried object detection position 612 corresponds to Puv having depth direction information calculated by equation (6). The reference plane normal vector 702 is the reference plane normal vector 702 with respect to the inspection target surface 532a. The movement trajectory 611, the buried object detection position 612, and the reference plane normal vector 702 are all shown in the on-site coordinate system C2.

[0082] (Arrangement of rebar) FIG. 22 is a diagram showing the arrangement of reinforcing bars, which are a typical buried object 601. Regarding the arrangement of reinforcing bars, which are a specific example of the buried object 601, the following assumptions are used. (A1) The rebar is arranged parallel to the inspection target surface 532a. (A2) Reinforcement bars arranged in the same direction are approximately the same depth. (A3) Reinforcing bars are often arranged at equal intervals. (A4) The moving device 200 (see FIG. 1) is moved so as to intersect at right angles with the reinforcing bars. The approximate arrangement of the reinforcing bars can be estimated from the exploration waveform 511 (see FIG. 11) of the buried object exploration result during the buried object exploration. The depth in (A2) is the depth in the direction in which the object to be inspected 532 (see FIG. 7: concrete) exists from the inspection target surface 532a. The symbol H shown in FIG. 22 indicates the height direction with respect to the inspection target surface 532a.

[0083] 23 is a flow chart showing the procedure of the buried object inference process. Each step in FIG. 23 will be described later. Using the various pieces of information shown in FIG. 21 and the assumptions shown in FIG. 22, the buried object estimation processor 121 performs estimation processing of the buried object 601 by the following steps S510 to S530. First, the buried object estimation processing unit 121 groups the movement trajectories 611 of the buried object exploration device 201 based on the three-dimensional measurement data 520 (grouping of movement trajectories 611: S510). That is, the buried object estimation processing unit 121 groups the movement trajectories 611 of the buried object exploration device 201 based on the three-dimensional measurement data 520. The movement trajectory of the three-dimensional measurement device 202 is stored in the three-dimensional measurement data 520. However, since the three-dimensional measurement device 202 is installed directly above the buried object exploration device 201 as shown in FIG. 16, there is no problem in regarding the movement trajectory 611 as the movement trajectory 611 of the buried object exploration device 201.

[0084] Then, the buried object estimation processing unit 121 groups the buried object detection positions 612 that satisfy a predetermined condition as buried object detection positions 612 related to the same buried object 601 (grouping of buried object detection positions 612: S520). The predetermined conditions will be described later. The process of step S520 is looped for each movement trajectory 611 grouped in step S510. Thereafter, the buried object prediction processing unit 121 generates (S530) an approximate straight line 621 for the buried object detection positions 612 grouped as the same buried object 601. This approximate straight line 621 becomes the position of the buried object 601 to be predicted.

[0085] (Grouping of movement trajectory 611) Fig. 24 is a diagram showing the grouping process of the movement trajectories 611. The grouping process of the movement trajectories 611 (step S510 in Fig. 23) will be described with reference to Fig. 24. Note that Fig. 24 also shows buried object detection position 612, which is indicated by Puv according to equation (6). As described above, buried object detection position 612 has information in the depth direction, but Fig. 24 shows buried object detection position 612 projected onto inspection target surface 532a. The same is true for Figs. 26, 28 to 31.

[0086] The buried object estimation processor 121 generates a trajectory group TG by grouping a plurality of trajectories 611 as shown in Fig. 20 into trajectories 611 having the same direction. In the example shown in Fig. 24, the trajectories are grouped into a trajectory group TG1 consisting of trajectories 611a to 611c, and a trajectory group TG2 consisting of trajectories 611d and 611e.

[0087] Specifically, first, the buried object estimation processing unit 121 calculates a trajectory vector 615 which is a vector of each trajectory 611. For example, a line connecting a start point and an end point of the trajectory 611 may be defined as the trajectory vector 615. Alternatively, a line connecting any measurement points 613 in the trajectory 611 may be defined as the trajectory vector 615, or an average of lines connecting all the measurement points 613 in the trajectory 611 may be defined as the trajectory vector 615. In the example shown in FIG. 24, a line connecting a start point and an end point of the trajectory 611 is defined as the trajectory vector 615.

[0088] Then, the buried object estimation processing unit 121 judges whether the angle between the selected trajectory vector 615 and the other trajectory vectors 615 is close to 0° (if they are approximately parallel). For example, the buried object estimation processing unit 121 selects an arbitrary trajectory 611, and calculates the absolute value of cosθ when the angle between the selected trajectory vector 615 and the other trajectory vector 615 is θ. If the absolute value of cosθ is equal to or greater than a predetermined value, the buried object estimation processing unit 121 judges that the two trajectories 611 have the same direction, that is, belong to the same trajectory group TG. If the absolute value of cosθ is less than a predetermined value, the buried object estimation processing unit 121 judges that the two trajectories 611 have different directions, that is, do not belong to the same trajectory group TG.

[0089] In this way, the buried object estimation processor 121 judges whether the trajectory vectors 615 of the two trajectories 611 are substantially parallel (the angle formed is close to 0°) or not. If the trajectory vectors 615 are substantially parallel, the buried object estimation processor 121 judges that the two trajectories 611 belong to the same group (same trajectory group TG), thereby grouping the trajectories 611.

[0090] In this embodiment, the absolute value of cosθ is used to determine whether or not the two trajectories 611 belong to the same trajectory group TG. However, as long as the angle between the two trajectories 611 can be determined, the absolute value of sinθ may be used. For example, the absolute value of sinθ may be used. In this case, the buried object estimation processing unit 121 determines that the two trajectories 611 belong to the same trajectory group TG if the absolute value of sinθ is equal to or less than a predetermined value, assuming that the angle between the two trajectories 615 is θ. Also, the buried object estimation processing unit 121 determines that the two trajectories 611 do not belong to the same trajectory group TG if the absolute value is greater than the predetermined value. Alternatively, the determination may be made based on the angle between the two trajectories 611. In this case, the buried object estimation processing unit 121 determines that the two trajectories 611 belong to the same trajectory group TG if the angle between the two trajectory vectors 615 is equal to or less than a predetermined value. Moreover, if the difference is greater than a predetermined value, the buried object estimation processor 121 determines that the two trajectories 611 do not belong to the same trajectory group TG.

[0091] (flowchart) Fig. 25 is a flowchart showing the detailed procedure of grouping the movement trajectories 611 described with reference to Fig. 24. Fig. 25 is a flowchart showing the detailed procedure of step S510 in Fig. 23. First, the buried object estimation processing unit 121 calculates a movement trajectory vector 615 for each movement trajectory 611 (S511).

[0092] Next, the buried object estimation processing unit 121 judges whether or not there is an unprocessed pair of trajectories 611 (S512). If there is no unprocessed pair of the movement trajectories 611 (S512→No), the buried object estimation processor 121 returns the process to step S520 in FIG. If there is an unprocessed pair of trajectories 611 (S512→Yes), the buried object estimation processor 121 selects an arbitrary trajectory 611 (S513). Then, the buried object estimation processor 121 selects a movement trajectory 611 different from the movement trajectory 611 selected in step S513 (S514).

[0093] Next, the buried object estimation processor 121 judges whether the angle between the two trajectory vectors 615 based on the trajectories 611 selected in steps S513 and S514 is close to 0° (S515). In the process of step S515, if the angle between the trajectory vectors 615 is θ as described above, and the absolute value of cosθ is equal to or greater than a predetermined value, the result of the judgment in step S515 is “Yes”.

[0094] If the angle between the two trajectory vectors 615 is close to 0° (S515→Yes), the buried object estimation processing unit 121 performs the process of step S516. In step S516, the buried object estimation processing unit 121 determines that the two trajectories 611 subject to the process of step S515 belong to the same trajectory group TG. After that, the buried object estimation processing unit 121 returns the process to step S512.

[0095] If the angle between the two trajectory vectors 615 is not close to 0° (S515→Yes), the buried object estimation processing unit 121 performs the process of step S517. In step S517, the buried object estimation processing unit 121 determines that the two trajectories 611 subject to the process of step S515 do not belong to the same trajectory group TG. After that, the buried object estimation processing unit 121 returns the process to step S512.

[0096] (Grouping of buried object detection positions 612) Fig. 26 is a diagram showing an overview of grouping of buried object detection positions 612. The grouping process of buried object detection positions 612 (step S520 in Fig. 23) will be described with reference to Fig. 26. FIG. 26 shows trajectories 611a to 611c grouped into a trajectory group TG1 in FIG. First, the buried object estimation processing unit 121 selects as a reference trajectory an arbitrary movement trajectory 611. In the example shown in Fig. 26, it is assumed that a movement trajectory 611a is selected as the reference trajectory. Next, the buried object prediction processing unit 121 selects an arbitrary buried object detection position 612 on the reference trajectory. Then, the buried object prediction processing unit 121 generates a buried object detection position vector 614 by connecting the buried object detection position 612 present on a movement trajectory 611 other than the reference trajectory with the buried object detection position 612 selected on the reference trajectory.

[0097] 26, buried object detection position vectors 614a-614c are generated. Buried object detection position vectors 614a-614c are vectors connecting buried object detection position 612a on movement trajectory 611a, which is the reference trajectory, with each of buried object detection positions 612b1-612b3. In this manner, buried object estimation processing unit 121 calculates buried object detection position vector 614 connecting buried object detection positions 612 for grouped movement trajectories 611 (belonging to the same movement trajectory group TG).

[0098] Then, the buried object estimation processing unit 121 judges whether each of the generated buried object detection position vectors 614a to 614c is close to 90° with respect to the movement trajectory vector 615 (see FIG. 24) of the movement trajectory 611a. In this judgment, the buried object estimation processing unit 121 judges whether each of the generated buried object detection position vectors 614a to 614c is approximately perpendicular to the movement trajectory vector 615 (see FIG. 24). For example, the buried object estimation processing unit 121 sets the angle between the movement trajectory vector 615 of the movement trajectory 611a and the buried object detection position vectors 614a to 614c as θ. Then, if cosθ is equal to or less than a predetermined value or sinθ is equal to or more than a predetermined value, the buried object estimation processing unit 121 judges that the angle is close to 90°. In the assumption of (A4) described above, the moving device 200 (see FIG. 1) is moved so as to be perpendicular to the reinforcing bar. Therefore, when the angle formed by the movement trajectory vector 615 of the movement trajectory 611a and the buried object detection position vectors 614a to 614c is θ, the buried object prediction processing unit 121 selects the buried object detection position vector 614 whose θ is close to 90°.

[0099] 26, buried object detection position vector 614a has an angle close to 90° with respect to movement trajectory 611a. Therefore, buried object estimation processing unit 121 determines that buried object detection position 612a and buried object detection position 612b1 belong to the same detection position group BG.

[0100] In this way, the buried object prediction processing unit 121 judges whether the buried object detection position vector 614 is approximately orthogonal to the movement trajectory 611. If the buried object detection position vector 614 is approximately orthogonal, the buried object prediction processing unit 121 groups the buried object detection positions 612 constituting the buried object detection position vector 614 into the same group (same detection position group BG). Specifically, the buried object prediction processing unit 121 judges whether the movement trajectory vector 615 and the buried object detection position vector 614 are approximately orthogonal. If the buried object detection position vector 614 is approximately orthogonal, the buried object prediction processing unit 121 groups the buried object detection positions 612 constituting the buried object detection position vector 614 into the same group (same detection position group BG).

[0101] Next, the buried object prediction processing unit 121 generates buried object detection position vectors 614d-614f. The buried object detection position vectors 614d-614f are vectors connecting the buried object detection position 612b1 and the buried object detection positions 612c1-612c3 of the movement trajectory 611c. The buried object detection position 612b1 is a buried object detection position 612 determined to belong to the same detection position group BG as the buried object detection position 612a1. Then, the buried object prediction processing unit 121 determines whether the angle formed by the buried object detection position vectors 614d-614f and the movement trajectory 611a, which is the reference trajectory, is close to 90°. As a result, the buried object detection position vector 614d, i.e., the buried object detection position 612c1, is selected.

[0102] Through such processing, the buried object estimation processing unit 121 determines that the buried object detection positions 612a, 612b1, and 612c1 belong to the same detection position group BG. The buried object estimation processing unit 121 also performs similar processing on the buried object detection positions 612a2 and 612a3.

[0103] Through the above process, the buried object estimation processing unit 121 groups the buried object detection positions 612 based on the buried object detection positions 612 converted into the on-site coordinate system in the coordinate information linking process.

[0104] (Flowchart of grouping of buried object detection positions 612) Figures 27A and 27B are flowcharts showing the procedure of the grouping process of buried object detection positions 612 performed in this embodiment. Figures 27A and 27B are flowcharts of the process described with reference to Figure 26, and show detailed procedures of step S520 in Figure 23. Figure 26 will also be referred to as appropriate. First, the buried object estimation processing unit 121 judges whether or not there is an unestimated movement trajectory group TG (S5201 in FIG. 27A). If there is no un-estimated movement trajectory group TG (S5201→No), the buried object estimation processing unit 121 returns the process to step S530 in FIG.

[0105] If there is an unestimated trajectory group TG (S5201→Yes), the buried object estimation processing unit 121 performs a reference trajectory selection process to select a reference trajectory (S5202). As described above, the buried object estimation processing unit 121 selects one trajectory 611 from the trajectories 611 belonging to the trajectory group TG being processed as the reference trajectory.

[0106] Thereafter, the buried object prediction processing unit 121 selects the start point of the buried object detection position vector 614 (S5203). In step S531, the buried object prediction processing unit 121 selects the buried object detection position 612 that is the start point of the buried object detection position vector 614 from the buried object detection positions 612 on the reference trajectory. Next, the buried object estimation processing unit 121 selects the end point of the buried object detection position vector 614 (S5204). In step S5204, the buried object estimation processing unit 121 selects the buried object detection position 612 which is the end point of the buried object detection position vector 614. Incidentally, the end point of the buried object detection position vector 614 is selected from the movement trajectory 611 other than the reference trajectory.

[0107] Next, the buried object estimation processing unit 121 calculates a movement trajectory vector 615 (see FIG. 24) which is a vector related to the reference trajectory (S5205). Then, the buried object estimation processing unit 121 calculates the buried object detection position vector 614 (S5206). The buried object estimation processing unit 121 calculates the buried object detection position vector 614 based on the start point selected in step S5203 and the end point selected in step S5204.

[0108] Then, the buried object estimation processing unit 121 judges whether the angle between the movement trajectory vector 615 and the two buried object detection position vectors 614 (two vectors) is close to 90° (S5207). Note that the process of step S5207 varies depending on the buried object 601 to be estimated. The process shown in Figures 27A and 27B is described for the case where the buried object 601 is a reinforcing bar. If the angle between the two vectors is not close to 90° (S5207→No), the buried object estimation processor 121 returns the process to step S532 and selects a new end point. If the angle between the two vectors is close to 90° (S5207→Yes), the buried object estimation processing unit 121 performs step S5208. In step S5208, the buried object estimation processing unit 121 registers the buried object detection position 612 selected in step S5203 and the buried object detection position 612 selected in step S5204 as the same detection position group BG.

[0109] After that, the buried object estimation processing unit 121 judges whether or not there is an unprocessed movement trajectory 611 (S5209 in FIG. 27B). If there are any unprocessed trajectories 611 (S5209→Yes), one trajectory 611 is selected from the unprocessed trajectories 611 (S5211). Then, the buried object estimation processing unit 121 selects the buried object detection position 612 currently selected as the end point of the buried object detection position vector 614 as the start point of a new buried object detection position vector 614 (S5212). Furthermore, the buried object estimation processing unit 121 returns the process to step S5204 in FIG. 27A, and selects the end point of the buried object detection position vector 614 from the movement trajectory 611 selected in step S5211.

[0110] If there is no unprocessed movement trajectory 611 (S5209→No), the buried object estimation processing unit 121 determines whether or not all buried object detection positions 612 on the reference trajectory have been processed (S5221). If all buried object detection positions 612 on the reference trajectory have not been processed (S5221→No), the buried object estimation processing unit 121 returns the process to step S5203 in Fig. 27A. Then, the buried object estimation processing unit 121 selects an unprocessed buried object detection position 612 on the reference trajectory as the starting point of a new buried object detection position vector 614.

[0111] If all buried object detection positions 612 on the reference trajectory have been processed (S5221→Yes), the buried object estimation processing unit 121 returns the process to step S5201.

[0112] (Example of detection position group BG) Fig. 28 to Fig. 30 are diagrams showing examples of detection position groups BG. In Fig. 28 to Fig. 39, the same components as those in Fig. 26 are given the same reference numerals and the description thereof will be omitted as appropriate. In the example shown in FIG. 28, three detection position groups BG1 to BG3 are generated. Furthermore, in the example shown in Fig. 29, detection position groups BG11 to BG13 are generated. In the example shown in Fig. 29, of the movement trajectories 611f to 611h, the movement trajectory 611f is the reference line. In the example shown in Fig. 29, there are buried object detection position 612e and buried object detection position 612f which do not belong to any of the detection position groups BG11 to BG13. These buried object detection positions 612 are excluded from the estimation targets of the buried object 601 as errors.

[0113] FIG. 30 shows an example in which the same movement trajectory 611 and buried object detection position 612 as in FIG. 29 are used, but movement trajectory 611h is selected as the reference trajectory. When movement trajectory 611h is selected as the reference trajectory, detection position groups BG21 to BG23 as shown in FIG. 30 are generated. Of these, detection position group BG21 contains only one buried object detection position 612f. Such detection position group BG21 is excluded from the estimation target of the buried object 601 as an error. In addition, there are buried object detection positions 612e, 612h, and 612g that are not included in any of the detection position groups BG, and these buried object detection positions 612 are excluded from the estimation target of the buried object 601 as an error.

[0114] (Estimation of buried object placement) Fig. 31 is a diagram showing the process of estimating the buried object arrangement. The process of generating the approximate line 621 (step S530 in Fig. 23) will be described with reference to Fig. 31. Fig. 31 is the same as Fig. 13. FIG. 31 shows a movement trajectory 611, buried object detection positions 612, and detection position group BG similar to those shown in FIG. The buried object estimation processing unit 121 generates an approximate straight line 621 that passes through the buried object detection positions 612 (grouped second buried object detection position information) of the same detection position group BG. This straight line becomes the estimated arrangement of the reinforcing bars (estimated arrangement information of the buried object). In this way, the buried object estimation processing unit 121 generates the approximate straight line 621 for the grouped second buried object detection position information. In this way, the buried object estimation processing unit 121 generates the approximate straight line 621 that becomes the arrangement information of the estimated buried object 601 for the grouped buried object detection positions 612.

[0115] As shown in a detection position group BG21 in FIG. 30, when there is only one buried object detection position 612 present within a detection position group BG, the buried object estimation processing unit 121 does not generate an approximation line 621.

[0116] Through the above process, the information processing device 100 can link the three-dimensional measurement data 520 by the three-dimensional measuring device 300 and the buried object exploration data 510 by the buried object exploration device 201. Specifically, the buried object exploration data 510 acquired in the buried object exploration device coordinate system C1 is converted into the site coordinate system C2, and the arrangement of the buried object 601 can be estimated from the buried object exploration data 510 converted into the site coordinate system C2. This makes it possible to reflect the arrangement information of the buried object 601 in the CAD data 530. Then, the designer can use the CAD data 530 reflecting the arrangement information of the buried object 601 to perform design work taking into account the results of the buried object exploration. This makes it possible to generate design information (CAD information) of the buried object 601 efficiently and accurately. In addition, it becomes possible to process a plurality of buried object exploration results (measurement points 613 on the movement trajectory 611) and estimate the position and posture of the buried object 601, thereby making it possible to improve the efficiency of design work.

[0117] Furthermore, in the coordinate information linking process, the information processing device 100 converts the buried object detection position 512 shown in the buried object exploration device coordinate system C1 into the on-site coordinate system C2 based on the measurement point 613, which is the result of three-dimensional measurement at a predetermined interval. In particular, the information processing device 100 calculates the movement distance of the buried object exploration device 201 to the buried object detection position 512 by equation (3), and identifies the buried object detection position 612 in the on-site coordinate system C2 by equations (5) and (6). This makes it possible to convert the buried object detection position 512 into the on-site coordinate system C2 with high accuracy based on the measurement point 613, which is the result of three-dimensional measurement at a predetermined interval.

[0118] Furthermore, in the buried object estimation process, the information processing device 100 groups movement trajectories 611 of the buried object exploration device 201 based on the three-dimensional measurement data 520. Then, the information processing device 100 groups buried object detection positions 612 that are approximately perpendicular to the grouped movement trajectories 611. After that, the information processing device 100 generates an approximation line 621 for the grouped buried object detection positions 612. This approximation line 621 becomes the location information of the estimated buried object 601. This makes it possible to estimate the location information of the buried object 601 based on the buried object detection positions 612 converted into the on-site coordinate system C2 in the coordinate information linking process.

[0119] [Variations] Fig. 32 is a diagram showing a modified example of the buried object exploration system Z according to this embodiment. In Fig. 32, the same components as those in Fig. 1 are given the same reference numerals and the description thereof will be omitted. In a buried object exploration system ZA shown in FIG. 32, the mobile device 200 shown in FIG. 1 is a self-propelled mobile device 200A. The position of the mobile device 200A can be identified by the three-dimensional measuring device 300. Therefore, the mobile device 200A is self-propelled as shown in Fig. 32. By managing the position information of the mobile device 200A by the three-dimensional measuring device 300, it becomes possible to automatically control the mobile device 200A or to remotely control it from the outside to search for buried objects.

[0120] The flow is as follows: first, the user specifies the location to be surveyed using CAD data 530 (see FIG. 7). Then, the coordinate information of the specified location to be surveyed is converted into the on-site coordinate system C2 by the information processing device 100 or the like. After that, the mobile device 200A moves based on the converted on-site coordinate system C2.

[0121] The moving device 200A may be equipped with wheels and a motor and may run only on the floor surface, or may have a structure similar to that of an installation surface moving device and may run on a wall surface by itself.

[0122] According to the buried object exploration system ZA shown in FIG. 32, it is possible to perform buried object exploration even in places where it is difficult for people to enter.

[0123] The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to all of the configurations described.

[0124] In this embodiment, the three-dimensional measuring machine 300 is a total station, and the three-dimensional measuring device 202 is a prism, but they are not limited to these as long as they can measure the three-dimensional position of the mobile device 200. For example, a high-precision GPS measuring device or the like may be used.

[0125] In this embodiment, the buried object 601 to be detected is assumed to be a reinforcing bar buried in concrete, but the present invention is not limited to this and may be applied to pipes buried in concrete, etc.

[0126] The coordinate information linking process does not have to be limited to the method described in this embodiment as long as it is possible to associate the buried object exploration data 510 with the three-dimensional measurement data 520. In addition, the buried object inferring process does not have to be limited to the method described in this embodiment as long as it is possible to infer the buried object 601.

[0127] In this embodiment, the measurement point 613 shown in FIG. 12 is associated with the buried object detection position 512 by the coordinate information linking process as described in FIG. 15 to FIG. 20. It has been described above that it is generally difficult to link the measurement point 613 by the three-dimensional measuring device 300 with the buried object detection position 512 by the buried object exploration device 201. However, it is actually possible to simply associate the measurement point 613 with the buried object detection position 512 without performing the coordinate information linking process. However, as described above, the buried object exploration data 510 is acquired substantially continuously, whereas the measurement point 613 is acquired discretely. Therefore, when simply associating the measurement point 613 with the buried object detection position 512, it is necessary to move the moving device 200 very slowly. Alternatively, if the user visually checks the exploration waveform 511 (see FIG. 5) during exploration and finds a location where the buried object 601 is likely to be, he or she must return the mobile device 200 to that location and have the three-dimensional measuring device 300 perform measurement. Therefore, if a method of simply associating the measurement point 613 with the buried object detection position 512 is adopted, the exploration time will be long.

[0128] In addition, the above-mentioned configurations, functions, the exploration information processing unit 110, the information assignment processing unit 111, the coordinate information linkage processing unit 112, the buried object estimation unit 120, the buried object estimation processing unit 121, the CAD linkage information processing unit 122, the storage unit 140, etc. may be realized in hardware by designing a part or all of them as an integrated circuit, for example. In addition, as shown in Fig. 3, the above-mentioned configurations, functions, etc. may be realized in software by a processor such as a CPU interpreting and executing a program that realizes each function. Information such as a program, table, file, etc. that realizes each function can be stored in a recording device such as a memory 151 or a solid state drive (SSD), or a recording medium such as an integrated circuit (IC) card, a secure digital (SD) card, or a digital versatile disc (DVD). In addition, in each embodiment, the control lines and information lines are shown as those considered necessary for the explanation, and not all control lines and information lines in the product are shown. In reality, it can be considered that almost all components are connected to each other. [Explanation of symbols]

[0129] 100 Information processing device 110 Exploration Information Processing Unit 111 Information attachment processing unit 112 Coordinate information link processing unit 120 Buried Object Estimation Department 121 Buried object estimation processing unit 122 CAD Linkage Information Processing Section 130 Design Processing Section 200,200A Mobile Device 201 Buried object detection device (buried object detection section) 202 3D Measuring Device (3D Measuring Department) 300 3D Measuring Machine (3D Measuring Section) 401 Display device 402 Input Device 510 Buried object exploration data (buried object exploration information) 511 Exploration Waveform 512 buried object detection position (first buried object detection position information, buried object detection position indicated by the first buried object detection position information) 520 Three-dimensional measurement data (three-dimensional measurement information) 530 CAD data 532 Examination target (concrete) 532a Survey target surface 601 Buried objects (reinforcing bars) 611,611a~611h Movement trajectory (including distance traveled) 612, 612a, 612a2, 612a2, 612b1 to 612b3, 612c1 to 612c3, 612e, 612f, 612g, 612h Buried object detection position (second buried object detection position information) 613,613a,613b Measuring points 613E Measurement point (end of movement) 613S Measurement point (start position of movement) 614, 614a to 614f Buried object detection position vector 615 Movement trajectory vector 621 Approximate straight line 641 Line Segments 642 lines 701 code 702 Reference plane normal vector BG, BG1-BG3, BG11-BG13, BG21-BG23 Detection position group (grouped buried object detection position information) C1 Coordinate system of buried object detection device (coordinate system of buried object detection section) C2 Field coordinate system C3 CAD coordinate system TG, TG1, TG2 movement trajectory group Z,ZA Buried Object Exploration System S4 Coordinate information linkage processing (coordinate information linkage processing step) S5 Buried object estimation processing (buried object estimation processing step) S6 CAD-linked information processing (CAD-linked information processing step)

Claims

1. An information processing device, a coordinate information linking processing step of converting first buried object detection position information, which is information regarding the detection position of the buried object based on buried object exploration information, which is the result of the buried object exploration by the buried object exploration unit, into a site coordinate system used in the three-dimensional measurement information by the three-dimensional measurement unit, to generate second buried object detection position information, which is expressed in the site coordinate system and is information regarding the detection position of the buried object; a buried object inference processing step of grouping the second buried object detection position information based on the buried object exploration information converted into the on-site coordinate system in the coordinate information linking processing step, and generating an approximation line for the grouped second buried object detection position information; a CAD-linked information processing step of converting the approximation line into a CAD coordinate system; An information processing method for performing the above.

2. In the coordinate information linking processing step, the information processing device The movement distance of the buried object exploration unit to the buried object detection position indicated by the first buried object detection position information is calculated by using equation (1), and the second buried object detection position information in the on-site coordinate system is generated by using equations (2) and (3).

2. The information processing method according to claim 1, Lu=(LN / Umax)u... (1) Pu=Ku・Pm+1 + (1-Ku)・Pm... (2) Puv=Puv・n... (3) Here, Ku=(Lu−Lm) / (Lm+1−Lm). Also, Lu is the distance from the movement start position of the buried object detection unit to the buried object detection position, Umax is the coordinate of the movement end position of the buried object detection unit measured by the buried object detection unit in the buried object detection unit coordinate system, LN is the sum of the intervals between the plurality of measurement points measured by the three-dimensional measurement unit from the movement start point to the movement end point, u is the moving direction coordinate of the buried object detection position in the buried object detection unit coordinate system, v is the depth coordinate of the buried object detection position in the buried object detection unit coordinate system, Pm and Pm+1 are coordinates of measurement points in the on-site coordinate system that are adjacent to each other, and the buried object detection position is between Pm and Pm+1, Lm is the sum of the distances between the measurement points from the movement start point to Pm, Lm+1 is the sum of the distances between the measurement points from the movement start point to Pm+1, Pu is the buried object detection position represented in the on-site coordinate system, Puv is the buried object detection position indicated by the coordinates of the on-site coordinate system obtained by adding depth information to Pu, n is the normal vector to the surface of the object to be probed.

3. In the buried object inference processing step, the information processing device The movement trajectory of the buried object exploration unit based on the three-dimensional measurement information is grouped, and when a buried object detection position vector connecting the second buried object detection position information is substantially perpendicular to the grouped movement trajectories, the second buried object detection position information constituting the buried object detection position vector is grouped into the same group, and the approximation straight line serving as the estimated location information of the buried object is generated for the grouped second buried object detection position information.

3. The information processing method according to claim 2.

4. The information processing device includes: calculating a movement trajectory vector that is a vector of the movement trajectory, and if the movement trajectory vectors of the two movement trajectories are substantially parallel, determining that the two movement trajectories belong to the same group, thereby grouping the movement trajectories; When the movement trajectory vector and the buried object detection position vector are substantially perpendicular to each other, the second buried object detection position information constituting the buried object detection position vector is grouped into the same group.

4. The information processing method according to claim 3.

5. The buried object is a reinforcing bar, and the object to be explored is concrete.

2. The information processing method according to claim 1,

6. a coordinate information linking processing unit that converts first buried object detection position information, which is information regarding the detection position of the buried object based on buried object exploration information, which is the result of the buried object exploration by the buried object exploration unit, into a site coordinate system used in the three-dimensional measurement information by the three-dimensional measurement unit, to generate second buried object detection position information, which is expressed in the site coordinate system and is information regarding the detection position of the buried object; a buried object estimation processing unit that groups the second buried object detection position information based on the buried object exploration information converted into the on-site coordinate system by the coordinate information link processing unit, and generates an approximation line for the grouped second buried object detection position information; a CAD linkage information processing unit that converts the approximation line into a CAD coordinate system; An information processing device having the above configuration.

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