Buried object inspection apparatus, system, method and program

Abstract

To improve inspection efficiency of a buried object.SOLUTION: A buried object inspection device includes a search part, a processing part, an output part, and a control part. The search unit searches for a buried object on the basis of search conditions including at least search position information about a search position, and generates search data and positioning information about the buried object. The processing unit generates buried object information on a buried object based on the search data. The output unit generates positioning information-added buried object information based on the positioning information and the buried object information. The control part updates the search condition based on the buried object information with the positioning information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to a buried object inspection device, system, method, and program. [Background technology]

[0002] Recently, solar power generation has been attracting attention as a new, environmentally friendly energy source with a low environmental impact, replacing petroleum, which is a major cause of global warming and has a high environmental impact. Generally, solar power plants use a method in which solar panels are mounted on a mounting frame. This mounting frame can be constructed using steel materials installed on a concrete foundation, or by using a pile foundation method in which piles are driven directly into the ground. The former method uses a concrete foundation, which can require a large amount of concrete depending on the location, making it a costly method in terms of both money and time. On the other hand, the latter pile foundation method can be constructed once the bearing capacity of the ground has been confirmed, and is therefore known as a low-cost method.

[0003] However, even with the pile foundation method, there is a possibility of increased costs. For example, depending on the site where a solar power plant is planned to be built, there may be water pipes, gas pipes, and electric cables buried underground. In this case, if these buried objects are damaged when driving the piles, the construction period may need to be extended to repair them, which could lead to increased costs. Therefore, it is common to inspect the construction site in advance to see if there are any buried objects.

[0004] Conventional inspections have involved test drilling, but test drilling on large construction sites is time-consuming and costly. Therefore, in recent years, the mainstream inspection method involves visually checking scanned images of the underground measured by ground-penetrating radar using radio waves. While this method can significantly reduce the cost of test drilling, visually checking scanned images requires the judgment of an experienced person, making it difficult.

[0005] A related technology is to check for the presence of buried gas and water pipes in urban roads by inputting scanned images taken by a manually operated rover into an AI model and automatically identifying the type of buried object. This technology assumes flat land with almost no unevenness, such as urban roads, and does not take into account slopes and uneven areas, which are common in planned construction sites for solar power plants and other facilities, making it difficult for the rover to travel as planned. This may result in a decrease in the efficiency of buried object inspection. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2022-120327 Summary of the Invention [Problem to be solved by the invention]

[0007] The problem to be solved by the present invention is to provide a buried object inspection device, system, method, and program that can improve the efficiency of inspecting buried objects. [Means for solving the problem]

[0008] A buried object inspection device according to one embodiment includes an inspection unit, a processing unit, an output unit, and a control unit. The inspection unit inspects buried objects based on inspection conditions including at least inspection position information about the inspection position, and generates inspection data and positioning information about the buried objects. The processing unit generates buried object information about the buried objects based on the inspection data. The output unit generates buried object information with positioning information based on the positioning information and buried object information. The control unit updates the inspection conditions based on the buried object information with positioning information. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating the configuration of a buried object inspection device according to a first embodiment. [Figure 2]4 is a flowchart illustrating the operation of the buried object inspection device according to the first embodiment. [Figure 3] FIG. 4 is a diagram showing a first specific example of update processing in the first embodiment. [Figure 4] FIG. 10 is a diagram showing a second specific example of the update process in the first embodiment. [Figure 5] 5 is a scatter diagram illustrating the judgment results according to the first embodiment and the judgment results obtained by visual inspection by an expert. [Figure 6] FIG. 10 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a modified example of the first embodiment. [Figure 7] FIG. 10 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a second embodiment. [Figure 8] 10 is a flowchart illustrating the operation of the buried object inspection device according to the second embodiment. [Figure 9] 10A and 10B are diagrams showing specific examples of display images in the second embodiment. [Figure 10] FIG. 10 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a third embodiment. [Figure 11] 10 is a flowchart illustrating the operation of the buried object inspection device according to the third embodiment. [Figure 12] 10A to 10C are diagrams showing specific examples of display images in the third embodiment. [Figure 13] FIG. 11 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a modified example of the third embodiment. [Figure 14] 10 is a flowchart illustrating the operation of a buried object inspection device according to a modified example of the third embodiment. [Figure 15] FIG. 10 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a fourth embodiment. [Figure 16] 10 is a flowchart illustrating the operation of the buried object inspection device according to the fourth embodiment. [Figure 17] FIG. 1 is a block diagram illustrating a hardware configuration of a computer according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a buried object inspection device and a buried object inspection system will be described in detail with reference to the drawings.

[0011] (First embodiment) 1 is a block diagram illustrating the configuration of a buried object inspection device according to the first embodiment. The buried object inspection device 100 in FIG. 1 includes a detection unit 110, a processing unit 120, an output unit 130, and a control unit 140.

[0012] The detection unit 110 receives detection conditions from the control unit 140. The detection unit 110 detects buried objects based on the detection conditions and generates detection data and positioning information. The detection unit 110 outputs the detection data to the processing unit 120 and the positioning information to the output unit 130.

[0013] The search conditions include at least information about the search positions (search position information). The search position information is, for example, information that associates the search positions with the search times. Specifically, the search position information is information that associates multiple search positions set within the search range with the times at which each of the multiple search positions is searched.

[0014] The search location is information that can identify a unique location, and is, for example, geographic coordinate information expressed by latitude and longitude that can be obtained using a GPS (Global Positioning System), etc. The search location may also be expressed as a grid code that is expressed by distance easting and distance northing according to the UTM (Universal Transverse Mercator) grid (or MGRS (Military Grid Reference System)).

[0015] The positioning information is information (measured position information) relating to the measured position at the time when the survey was actually carried out. The measured position information is, for example, information that associates the measured position with the measured time. In other words, the survey position information is information before the survey is carried out (planned survey), and the positioning information is information after the survey is carried out. Note that the measured position may be expressed by geographic coordinate information or a grid code, similar to the survey position described above.

[0016] The exploration unit 110 also includes a measurement unit 111 and a drive unit 112. The measurement unit 111 is configured, for example, by a ground penetrating radar (GPR) capable of exploring underground. The drive unit 112 is configured, for example, by an autonomous robot that can move based on position information (for example, the aforementioned exploration positions). This allows the buried object inspection device 100 to automatically travel through the exploration positions in accordance with the exploration conditions, and automatically acquire exploration data and positioning information for each exploration position.

[0017] When the measurement unit 111 is configured by a ground-penetrating radar, the exploration data is data that expresses a continuous waveform measured by scanning an antenna of the ground-penetrating radar as values ​​that can be displayed two-dimensionally. Specifically, the exploration data includes, for example, at least one of B-scan exploration data and aperture synthesis exploration data. Thus, the exploration conditions may include measurement conditions of the ground-penetrating radar.

[0018] The inspection position may represent only the position through which the buried object inspection device 100 passes. Thus, the inspection time may represent the time at which the buried object inspection device 100 passes through the inspection position. Therefore, the buried object inspection device 100 may operate so as to pass through a predetermined inspection position at a predetermined inspection time according to the inspection position information. In this case, the buried object inspection device 100 may operate to inspect the underground in real time or at predetermined time intervals.

[0019] The processing unit 120 receives the detection data from the detection unit 110. The processing unit 120 generates buried object information based on the detection data. The processing unit 120 outputs the buried object information to the output unit .

[0020] Buried object information is information about buried objects, and includes at least one piece of information: whether or not a buried object is present, a certainty factor corresponding to the probability that a buried object exists, and the type of buried object. Types of buried objects include "water pipe," "gas pipe," and "electric cable," and may also include information about buried objects that have not been identified, such as "indistinguishable" and "noise." In the following explanation, buried object information will be described as including certainty factor information.

[0021] Specifically, the processing unit 120 generates buried object information from the exploration data using a machine learning model having one or more parameters, which is trained to input the exploration data and output the buried object information.

[0022] The output unit 130 receives the positioning information from the detection unit 110 and the buried object information from the processing unit 120. The output unit 130 generates buried object information with positioning information based on the positioning information and the buried object information. The output unit 130 outputs the buried object information with positioning information to an external device (e.g., a display terminal) and the control unit 140.

[0023] Specifically, the output unit 130 generates buried object information with positioning information by associating the positioning information for the already-searched position with the buried object information for the same position. Note that this association may also be interpreted as "integration."

[0024] The control unit 140 receives the buried object information with positioning information from the output unit 130. The control unit 140 updates the search conditions based on the buried object information with positioning information. The control unit 140 outputs the updated search conditions to the search unit 110.

[0025] Specifically, the control unit 140 updates the search conditions by adding new search positions based on the buried object information with positioning information generated by the most recent search (in other words, the searched actual measured positions where the certainty of the buried object exceeds a threshold). For example, the control unit 140 updates the search conditions by adding new search positions (one or more search positions) around one actual measured position. Also, for example, the control unit 140 updates the search conditions by adding new search positions (one or more search positions) between multiple actual measured positions. Note that a certainty level exceeding a threshold may be interpreted as "high certainty level."

[0026] The control unit 140 may also determine whether it is time to update the inspection conditions. Specifically, the control unit 140 may determine the update timing according to, for example, the inspection progress status or a predetermined time interval, or may determine that it is time to update when at least one of the following conditions is met: a measured position with a high degree of certainty of a buried object is detected, or multiple measured positions with a high degree of certainty of a buried object are within a predetermined distance. The inspection progress status is, for example, a ratio (percentage) calculated based on the number of inspection positions included in the inspection conditions and the number of measured positions that have already been inspected. The specific values ​​of the inspection progress status, the predetermined time interval, the certainty level, and the predetermined distance may be set arbitrarily. Note that even if it is determined that it is time to update, if there is no measured position with a high degree of certainty of a buried object, the control unit 140 does not need to update the inspection conditions.

[0027] When updating the inspection conditions, the control unit 140 may reduce the number of inspection locations included in the inspection conditions, or if a buried object cannot be identified, may add an already inspected actual measurement location as a new inspection location for re-inspection.

[0028] The above has described the configuration of the buried object inspection device according to the first embodiment. Next, the operation of the buried object inspection device according to the first embodiment will be described with reference to FIG.

[0029] Fig. 2 is a flowchart illustrating the operation of the buried object inspection device according to the first embodiment. The processing of the flowchart in Fig. 2 starts, for example, when the buried object inspection device 100 executes a program related to buried object inspection processing (buried object inspection program) in response to an instruction from a user.

[0030] (Step ST110) When the buried object inspection device 100 executes the buried object inspection program, the inspection unit 110 inspects buried objects based on the inspection conditions and generates inspection data and positioning information.

[0031] (Step ST120) After the exploration data and positioning information are generated, the processing unit 120 generates buried object information based on the exploration data.

[0032] (Step ST130) After the buried object information is generated, the output unit 130 generates buried object information with positioning information based on the positioning information and the buried object information.

[0033] (Step ST140) After the buried object information with positioning information is generated, the control unit 140 determines whether it is time to update the search conditions. This determination is made based on, for example, the progress of the search, a predetermined time interval, and the certainty of the buried object at the actually measured position. If it is determined that it is time to update the search conditions, the process proceeds to step ST150. If it is determined that it is not time to update the search conditions, the process proceeds to step ST160.

[0034] (Step ST150) After determining that it is time to update the search conditions, the control unit 140 updates the search conditions based on the buried object information with positioning information. Hereinafter, the process of step ST150 will be referred to as "update process." A specific example of the update process will be described with reference to FIGS. 3 and 4.

[0035] FIG. 3 is a diagram showing a first specific example of the update process in the first embodiment. The first specific example is an example in which a new search position is added based on one measured position. FIG. 3 shows a search range SR1 before the update process and a search range SR2 after the update process. The search range is the range in which the search positions included in the search conditions are displayed on a map.

[0036] The search range SR1 includes nine search positions P1 to P9. The nine search positions P1 to P9 are arranged in a 3x3 pattern, set in raster order from the top left to the bottom right. If the certainty factor of a buried object at search position P5, which is the center of the search range SR1, exceeds a threshold, the control unit 140 updates the search conditions by adding new search positions around search position P5. The following describes the case where four new search positions are added.

[0037] The search range SR2 includes nine search positions P1 to P9 and four search positions P5a, P5b, P5c, and P5d that were newly added by the update process. Search position P5a is set between search position P4 and search position P5. Search position P5b is set between search position P2 and search position P5. Search position P5c is set between search position P5 and search position P6. Search position P5d is set between search position P5 and search position P8.

[0038] The number of additional inspection positions may be determined according to the reliability of the inspection positions around the reference inspection position P5. For example, if the reliability of the inspection position P2 is low, the control unit 140 may not add the inspection position P5a. The number of additional inspection positions may also be determined according to the inspection time.

[0039] 4 is a diagram showing a second specific example of the update process in the first embodiment. The second specific example is an example in which a new search position is added based on two measured positions. FIG. 4 shows a search range SR11 before the update process and a search range SR12 after the update process.

[0040] The search range SR11 includes four search positions P11 to P14. The four search positions P11 to P14 are arranged in a 2x2 pattern, in the order of upper left, upper right, lower left, and lower right. If the certainty factor of a buried object at diagonally opposite search positions P12 and P13 exceeds a threshold, the control unit 140 updates the search conditions by adding new search positions between search positions P12 and P13. The following describes the case where two new search positions are added.

[0041] The search range SR12 includes four search positions P11 to P14 and two search positions P12a and P13a that were newly added by the update process. Search position P12a is set closer to search position P12 between search positions P12 and P13. Search position P13a is set closer to search position P13 between search positions P12 and P13.

[0042] (Step ST160) After determining in step ST140 that it is not time to update the search conditions, or after updating the search conditions in step ST150, the buried object inspection device 100 determines whether all searches have been completed. This determination is made, for example, based on whether or not there are any unsearched search positions included in the search conditions. If it is determined that all searches have been completed, the processing of the flowchart in Fig. 2 ends. If it is determined that all searches have not been completed, the processing returns to step ST110.

[0043] As described above, the buried object inspection device of the first embodiment explores buried objects based on exploration conditions that include at least exploration location information regarding the exploration location, generates exploration data and positioning information for the buried objects, generates buried object information for the buried objects based on the exploration data, generates buried object information with positioning information based on the positioning information and buried object information, and updates the exploration conditions based on the buried object information with positioning information.

[0044] Therefore, the buried object inspection device according to the first embodiment can improve the efficiency of inspecting buried objects by adaptively changing the search conditions based on the buried object information with positioning information, which is the inspection result.

[0045] FIG. 5 is a scatter diagram illustrating the judgment results in the first embodiment and the judgment results obtained by the visual inspection by an expert. These judgment results indicate the possibility of the presence of a buried object. In the scatter diagram SP of FIG. 5, the horizontal axis represents longitude and the vertical axis represents latitude, and the judgment results R_AI obtained by the first embodiment are shown by white circles, and the judgment results R_EXP obtained by the visual inspection by an expert are shown by black circles. As shown in FIG. 5, it can be seen that the judgment results in the first embodiment are substantially consistent with the judgment results obtained by the visual inspection by an expert.

[0046] (Modification of the first embodiment) In the first embodiment, the process of generating buried object information from the probe data is performed in the buried object inspection device. On the other hand, in the modified example of the first embodiment, the process is performed in a processing device separate from the buried object inspection device.

[0047] Fig. 6 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a modified example of the first embodiment. The buried object inspection system 10 in Fig. 6 includes a buried object inspection device 100A and a processing device 100B. The buried object inspection device 100A includes an inspection unit 110A, an output unit 130A, and a control unit 140. The inspection unit 110A includes a measurement unit 111 and a drive unit 112.

[0048] The detection unit 110A receives detection conditions from the control unit 140. The detection unit 110A detects buried objects based on the detection conditions and generates detection data and positioning information. The detection unit 110A outputs the detection data to the processing device 100B and outputs the positioning information to the output unit 130A.

[0049] The processing device 100B receives the inspection data from the inspection unit 110A of the buried object inspection device 100A. The processing device 100B generates buried object information based on the inspection data. Specifically, the processing device 100B generates the buried object information from the inspection data using a machine learning model having one or more parameters. This machine learning model is trained to input the inspection data and output the buried object information. The processing device 100B outputs the buried object information to the output unit 130A of the buried object inspection device 100A.

[0050] The buried object inspection device 100A may include a communication unit for communicating with the processing device 100B.

[0051] As described above, a buried object inspection system including a buried object inspection device according to a modified example of the first embodiment comprises a buried object inspection device and a processing device, wherein the buried object inspection device inspects buried objects based on inspection conditions including at least inspection location information regarding the inspection location, generates inspection data and positioning information about the buried objects, generates buried object information with positioning information based on the positioning information and buried object information about the buried object generated from the inspection data, updates the inspection conditions based on the buried object information with positioning information, and the processing device generates buried object information based on the inspection data.

[0052] Therefore, a buried object inspection system including the buried object inspection device according to the modified example of the first embodiment is expected to have the same effects as the buried object inspection device according to the first embodiment. Furthermore, this buried object inspection system can have an external processing device perform the process of generating buried object information, and therefore can perform higher performance processing than if the buried object inspection device performed the same process alone.

[0053] (Second embodiment) In the first embodiment, a buried object inspection device that generates buried object information with positioning information is described, whereas in the second embodiment, a buried object inspection system that includes a buried object inspection device and a display terminal that displays a display image based on the buried object information with positioning information is described.

[0054] 7 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to the second embodiment. The buried object inspection system 20 in FIG. 7 includes a buried object inspection device 200A and a display terminal 200B. The buried object inspection device 200A includes an inspection unit 210, a processing unit 220, an output unit 230, and a control unit 240. The inspection unit 210 includes a measurement unit 211 and a drive unit 212. Note that the inspection unit 210, the measurement unit 211, the drive unit 212, the processing unit 220, and the control unit 240 are similar to the inspection unit 110, the measurement unit 111, the drive unit 112, the processing unit 120, and the control unit 140 in FIG. 1, and therefore description thereof will be omitted.

[0055] The output unit 230 generates buried object information with positioning information, similar to the output unit 130 of the first embodiment. The output unit 230 may also generate a display image based on the buried object information with positioning information. The display image may include, for example, a search position map illustrating the search positions included in the search conditions, and may further include information (progress information) on at least one of the search progress and the remaining search time. The output unit 230 outputs the display image to the display terminal 200B. The output unit 230 may generate the display image in real time, at predetermined time intervals, or after all searches have been completed.

[0056] The display terminal 200B is, for example, a laptop PC (Personal Computer) or tablet PC used by a user. The display terminal 200B receives a display image from the output unit 230 of the buried object inspection device 200A. The display terminal 200B displays the display image on a display.

[0057] Note that display terminal 200B may generate the display image. In this case, output unit 230 outputs the buried object information with positioning information to display terminal 200B. Then, display terminal 200B generates the display image based on the buried object information with positioning information received from output unit 230.

[0058] Fig. 8 is a flowchart illustrating the operation of the buried object inspection device according to the second embodiment. The processing of the flowchart in Fig. 8 starts, for example, when the buried object inspection device 200A executes a buried object inspection program in response to an instruction from a user.

[0059] (Step ST210) When the buried object inspection device 200A executes the buried object inspection program, the inspection section 210 inspects the buried object based on the inspection conditions, and generates inspection data and positioning information.

[0060] (Step ST220) After the exploration data and positioning information are generated, the processing unit 220 generates buried object information based on the exploration data.

[0061] (Step ST230) After the buried object information is generated, the output unit 230 generates buried object information with positioning information based on the positioning information and the buried object information.

[0062] (Step ST240) After generating the buried object information with positioning information, the output unit 230 causes a display image based on the buried object information with positioning information to be displayed on the display terminal 200B. A specific example of the display image will be described with reference to FIG.

[0063] Fig. 9 is a diagram showing a specific example of a display image in the second embodiment. The display image DI10 in Fig. 9 includes an investigation position map SM10 and progress information PI.

[0064] The search position map SM10 includes 25 search positions arranged in a 5x5 matrix. The search position map SM10 also displays colors corresponding to the confidence levels of searched search positions. The correspondence between confidence levels and colors is, for example, white for confidence levels of "0%," gray for confidence levels of "50%," and black for confidence levels of "100%." ​​The colors displayed at the search positions will be specifically explained using five search positions P21 to P25, located from the top left to the right of the 25 search positions. In FIG. 9, search positions P21, P22, and P25 are all white, indicating a confidence level of "0%." Search position P23 is gray, indicating a confidence level of "50%." Search position P24 is black, indicating a confidence level of "100%."

[0065] The progress information PI includes information on the progress status and the remaining exploration time. In Fig. 9, the progress status is "60%" and the remaining exploration time is "10 minutes".

[0066] Note that the searched route may be shown on the search position map SM10. In Fig. 9, the searched route is indicated by an arrow R. The arrow R passes through each of the 14 search positions that have been searched.

[0067] (Step ST250) After the display image is displayed, the control unit 240 determines whether it is time to update the search conditions. This determination is made based on, for example, the progress of the search, a predetermined time interval, and the certainty of the buried object at the actually measured position. If it is determined that it is time to update the search conditions, the process proceeds to step ST260. If it is determined that it is not time to update the search conditions, the process proceeds to step ST270.

[0068] (Step ST260) After determining that it is time to update the search conditions, the control unit 240 updates the search conditions based on the buried object information with positioning information.

[0069] (Step ST270) After determining in step ST250 that it is not time to update the search conditions, or after updating the search conditions in step ST260, the buried object inspection device 200A determines whether or not all searches have been completed. This determination is made, for example, based on whether or not there are any unsearched search positions included in the search conditions. If it is determined that all searches have been completed, the processing of the flowchart in FIG. 8 ends. If it is determined that all searches have not been completed, the processing returns to step ST210.

[0070] As described above, a buried object inspection system including a buried object inspection device according to the second embodiment comprises the buried object inspection device and a display terminal, the buried object inspection device inspects buried objects based on inspection conditions including at least inspection location information regarding the inspection location, generates inspection data and positioning information for the buried objects, generates buried object information about the buried objects based on the inspection data, generates buried object information with positioning information based on the positioning information and buried object information, updates the inspection conditions based on the buried object information with positioning information, and the display terminal displays a display image based on the buried object information with positioning information.

[0071] Therefore, the buried object inspection system including the buried object inspection device according to the second embodiment can present the investigation status to the user. Furthermore, the buried object inspection device according to the second embodiment is expected to have the same effects as the buried object inspection device according to the first embodiment.

[0072] (Third embodiment) In the second embodiment, a buried object inspection system including a buried object inspection device and a display terminal that displays a display image based on buried object information with positioning information has been described. On the other hand, in the third embodiment, a map information acquisition unit that acquires map information based on positioning information is added to the configuration of the buried object inspection device according to the second embodiment.

[0073] 10 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a third embodiment. The buried object inspection system 30 in FIG. 10 includes a buried object inspection device 300A and a display terminal 300B. The buried object inspection device 300A includes an inspection unit 310, a processing unit 320, an output unit 330, a control unit 340, and a map information acquisition unit 350. The inspection unit 310 includes a measurement unit 311 and a drive unit 312. Note that the measurement unit 311, drive unit 312, processing unit 320, and display terminal 300B are similar to the measurement unit 211, drive unit 212, processing unit 220, and display terminal 200B in FIG. 7, and therefore description thereof will be omitted.

[0074] The map information acquisition unit 350 receives positioning information from the exploration unit 310. The map information acquisition unit 350 acquires map information based on the positioning information. The map information is acquired, for example, from an external server. The map information acquisition unit 350 outputs the map information to the output unit 330. Note that the buried object inspection device 300A may include a communication unit for communicating with the external server.

[0075] The map information may be, for example, a past construction drawing of the site that is the search range, and an ortho-drawing based on an aerial photograph of the search range. The ortho-drawing may include, for example, information on the land condition (such as undulations). The range of the map information may be, for example, a square range centered on the position of the positioning information. The length of one side of the square may be determined arbitrarily. The frequency of acquiring the map information may be determined depending on the range of the map information to be acquired. Note that each of the multiple map information acquired at any time may be called a partial map.

[0076] The output unit 330 receives positioning information from the inspection unit 310, receives buried object information from the processing unit 320, and receives map information from the map information acquisition unit 350. The output unit 330 generates buried object information with positioning information based on the positioning information, buried object information, and map information. Specifically, the output unit 330 generates buried object information with positioning information by associating the positioning information and map information for an inspected position with the buried object information for the same position. The output unit 330 outputs the buried object information with positioning information to the control unit 340.

[0077] The output unit 330 may also generate a display image based on the buried object information with positioning information. The display image may include, for example, an investigation position map and a partial map based on the acquired map information, and may further include progress information. The output unit 330 outputs the display image to the display terminal 300B. The output unit 330 may generate the display image in real time, at predetermined time intervals, or after all investigations have been completed.

[0078] The control unit 340 updates the exploration conditions based on the buried object information with positioning information, similar to the control unit 140 of the first embodiment (or the control unit 240 of the second embodiment). In the third embodiment, since the buried object information with positioning information includes map information, there is a possibility that the update results will be different from those of the first or second embodiment. Specifically, when the map information is a construction drawing, the control unit 340 updates the exploration conditions so as to explore the area where the buried object described on the construction drawing is located. Furthermore, when the map information is an ortho-photograph, the control unit 340 updates the exploration conditions according to the state of the land.

[0079] Fig. 11 is a flowchart illustrating the operation of the buried object inspection device according to the third embodiment. The processing of the flowchart in Fig. 11 starts, for example, when the buried object inspection device 300A executes a buried object inspection program in response to an instruction from a user.

[0080] (Step ST310) When the buried object inspection device 300A executes the buried object inspection program, the inspection section 310 inspects the buried object based on the inspection conditions, and generates inspection data and positioning information.

[0081] (Step ST320) After the search data and the positioning information are generated, the map information acquisition unit 350 acquires the map information based on the positioning information.

[0082] (Step ST330) After the map information is acquired, the processing unit 320 generates buried object information based on the exploration data.

[0083] (Step ST340) After the buried object information is generated, the output unit 330 generates buried object information with positioning information based on the positioning information, map information, and buried object information.

[0084] (Step ST350) After generating the buried object information with positioning information, the output unit 330 causes a display image based on the buried object information with positioning information to be displayed on the display terminal 300 B. A specific example of the display image will be described with reference to FIG.

[0085] Fig. 12 is a diagram showing a specific example of a display image in the third embodiment. The display image DI20 in Fig. 12 includes an investigation position map SM20 and progress information PI.

[0086] Similar to the search position map SM10 in FIG. 9, the search position map SM20 shows 25 search positions, colors corresponding to the confidence levels displayed at the search positions, and arrows indicating the searched routes. Furthermore, the search position map M20 has a partial map superimposed on each of the searched search positions. The partial maps will be specifically described using five search positions P21 to P25, located from the upper left to the right of the 25 search positions. In FIG. 12, five partial maps M21 to M25 are superimposed on the five search positions P21 to P25.

[0087] (Step ST360) After the display image is displayed, the control unit 340 determines whether it is time to update the search conditions. This determination is made based on, for example, the progress of the search, a predetermined time interval, and the certainty of the buried object at the actually measured position. If it is determined that it is time to update the search conditions, the process proceeds to step ST370. If it is determined that it is not time to update the search conditions, the process proceeds to step ST380.

[0088] (Step ST370) After determining that it is time to update the search conditions, the control unit 340 updates the search conditions based on the buried object information with positioning information.

[0089] (Step ST380) After determining in step ST360 that it is not time to update the search conditions, or after updating the search conditions in step ST370, the buried object inspection device 300A determines whether or not all searches have been completed. This determination is made, for example, based on whether or not there are any unsearched search positions included in the search conditions. If it is determined that all searches have been completed, the processing of the flowchart in FIG. 11 ends. If it is determined that all searches have not been completed, the processing returns to step ST310.

[0090] The order of steps ST320 and ST330 may be reversed, or steps ST320 and ST330 may be processed in parallel.

[0091] As described above, the buried object inspection device of the third embodiment explores buried objects based on exploration conditions that include at least exploration location information regarding the exploration location, generates exploration data and positioning information for the buried objects, acquires map information based on the positioning information, generates buried object information for the buried objects based on the exploration data, generates buried object information with positioning information based on the positioning information, map information, and buried object information, and updates the exploration conditions based on the buried object information with positioning information.

[0092] Therefore, since the buried object inspection device of the third embodiment includes map information in the buried object information with positioning information, it can update the exploration conditions taking the map information into consideration, and therefore can perform inspections with higher accuracy than the buried object inspection device of the first embodiment.

[0093] (Modification of the third embodiment) In the third embodiment, mainly, the map information is reflected in the display image, and the search conditions are updated based on the buried object information with positioning information including the map information. In the modified example of the third embodiment, the map information is also used in the processing unit.

[0094] FIG. 13 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a modification of the third embodiment. The buried object inspection system 30′ in FIG. 13 includes a buried object inspection device 300A′ and a display terminal 300B. The buried object inspection device 300A includes an inspection unit 310, a processing unit 320, an output unit 330, a control unit 340, and a map information acquisition unit 350. The inspection unit 310 includes a measurement unit 311 and a drive unit 312. The buried object inspection device 300A′ includes the inspection unit 310, a processing unit 320′, an output unit 330, a control unit 340, and a map information acquisition unit 350′. The inspection unit 310 includes a measurement unit 311 and a drive unit 312.

[0095] The map information acquisition unit 350′ acquires map information based on positioning information, similar to the map information acquisition unit 350 of the third embodiment. The map information acquisition unit 350′ outputs the map information to the output unit 330, and further outputs the map information to the processing unit 320′.

[0096] The processing unit 320' receives the search data from the search unit 310 and the map information from the map information acquisition unit 350'. The processing unit 320' generates buried object information based on the search data and the map information. The processing unit 320' outputs the buried object information to the output unit 330.

[0097] Specifically, the processing unit 320' generates buried object information from the exploration data and map information using a machine learning model having one or more parameters, which is trained to input the exploration data and map information and output the buried object information.

[0098] Fig. 14 is a flowchart illustrating the operation of a buried object inspection device according to a modified example of the third embodiment. The processing of the flowchart in Fig. 14 is started, for example, by a buried object inspection device 300A' executing a buried object inspection program in response to an instruction from a user. Note that the processing of the flowchart in Fig. 14 is obtained by replacing step ST330 of the flowchart in Fig. 11 with step ST330'. Therefore, only step ST330' will be described below.

[0099] (Step ST330') After the map information is obtained, the processing unit 320' generates buried object information based on the exploration data and the map information.

[0100] As described above, the buried object inspection device according to the modified example of the third embodiment generates buried object information based on the search data and map information in the processing unit.

[0101] Therefore, the buried object inspection device according to the modified example of the third embodiment generates buried object information based on the exploration data and map information, and therefore, for example, if the map information is a construction drawing, the information on buried objects described on the construction drawing can be used, thereby enabling more accurate estimation than the buried object inspection device according to the previously described embodiment.

[0102] (Fourth embodiment) In the third embodiment, the addition of a map information acquisition unit has been described. On the other hand, in the fourth embodiment, an adjustment unit that adjusts parameters of a machine learning model in a processing unit is added to the configuration of the buried object inspection device according to the third embodiment.

[0103] FIG. 15 is a block diagram illustrating the configuration of a buried object inspection system including a buried object inspection device according to a fourth embodiment. The buried object inspection system 40 of FIG. 15 includes a buried object inspection device 400A and a display terminal 400B. The buried object inspection device 400A includes an inspection unit 410, a processing unit 420, an output unit 430, a control unit 440, a map information acquisition unit 450, and an adjustment unit 460. The inspection unit 410 includes a measurement unit 411 and a drive unit 412. Note that the inspection unit 410, the measurement unit 411, the drive unit 412, the processing unit 420, the control unit 440, and the display terminal 400B are similar to the inspection unit 310, the measurement unit 311, the drive unit 312, the processing unit 320, the control unit 340, and the display terminal 300B of FIG. 10, and therefore description thereof will be omitted.

[0104] The map information acquisition unit 450 acquires map information based on positioning information, similar to the map information acquisition unit 350 of the third embodiment. The map information acquisition unit 450 outputs the map information to the output unit 430, and further outputs the map information to the adjustment unit 460.

[0105] Similar to output unit 330 of the third embodiment, output unit 430 generates buried object information with positioning information based on the positioning information, buried object information, and map information. Output unit 430 outputs the buried object information with positioning information to control unit 440, and further outputs the buried object information with positioning information to adjustment unit 460.

[0106] The adjustment unit 460 receives the buried object information with positioning information from the output unit 430, and receives the map information from the map information acquisition unit 450. The adjustment unit 460 adjusts one or more parameters of a machine learning model having one or more parameters used in the processing unit 420, based on the buried object information with positioning information and the map information.

[0107] Specifically, when the map information is a construction drawing, the adjustment unit 460 sets the information of the buried object described in the construction drawing as a correct label, and calculates the error between this correct label and the buried object information with positioning information. Then, the adjustment unit 460 adjusts one or more parameters of the machine learning model to reduce the calculated error.

[0108] Fig. 16 is a flowchart illustrating the operation of the buried object inspection device according to the fourth embodiment. The processing of the flowchart in Fig. 16 starts, for example, when the buried object inspection device 400A executes a program related to the adjustment processing (adjustment program) in response to an instruction from a user.

[0109] (Step ST410) When the buried object inspection device 400A executes the adjustment program, the exploration unit 410 explores buried objects based on the exploration conditions and generates exploration data and positioning information.

[0110] (Step ST420) After the search data and the positioning information are generated, the map information acquisition unit 450 acquires the map information based on the positioning information.

[0111] (Step ST430) After the map information is acquired, the processing unit 420 generates buried object information based on the exploration data.

[0112] (Step ST440) After the buried object information is generated, the output unit 430 generates buried object information with positioning information based on the positioning information, map information, and buried object information.

[0113] (Step ST450) After the buried object information with positioning information is generated, the adjustment unit 460 adjusts the parameters of the machine learning model based on the map information and the buried object information with positioning information.

[0114] (Step ST460) After the parameters of the machine learning model are adjusted, the control unit 440 determines whether it is time to update the search conditions. This determination is made based on, for example, the progress of the search, a predetermined time interval, and the certainty of the buried object at the actually measured position. If it is determined that it is time to update the search conditions, the process proceeds to step ST470. If it is determined that it is not time to update the search conditions, the process proceeds to step ST480.

[0115] (Step ST470) After determining that it is time to update the search conditions, the control unit 440 updates the search conditions based on the buried object information with positioning information.

[0116] (Step ST480) After determining in step ST460 that it is not time to update the search conditions, or after updating the search conditions in step ST470, the buried object inspection device 400A determines whether or not the adjustment has been completed. This determination is made, for example, based on whether or not there are any unsearched search positions included in the search conditions. If it is determined that the adjustment has been completed, the processing of the flowchart in Fig. 16 ends. If it is determined that the adjustment has not been completed, the processing returns to step ST410.

[0117] The buried object inspection device 400A may execute both the above-described adjustment program and the buried object inspection program described in the third embodiment. When the buried object inspection device 400A executes both programs, overlapping processes may be combined into one. For example, since step ST310 in FIG. 11 and step ST410 in FIG. 16 are overlapping processes, the buried object inspection device 400A only needs to perform the process once.

[0118] As described above, the buried object inspection device of the fourth embodiment explores buried objects based on exploration conditions including at least exploration location information regarding the exploration location, generates exploration data and positioning information for the buried objects, acquires map information based on the positioning information, generates buried object information for the buried objects based on the exploration data, generates buried object information with positioning information based on the positioning information, map information, and buried object information, adjusts one or more parameters of a machine learning model having one or more parameters based on the map information and buried object information with positioning information, and updates the exploration conditions based on the buried object information with positioning information.

[0119] Therefore, the buried object inspection device according to the fourth embodiment can perform robust inspection adapted to the condition of the land being inspected by adjusting the parameters of the machine learning model during the inspection.

[0120] (Hardware configuration) Fig. 17 is a block diagram illustrating the hardware configuration of a computer according to one embodiment. Computer 1700 in Fig. 17 includes, as hardware components, a central processing unit (CPU) 1710, random access memory (RAM) 1720, program memory 1730, auxiliary storage device 1740, and input / output interface 1750. CPU 1710 communicates with RAM 1720, program memory 1730, auxiliary storage device 1740, and input / output interface 1750 via bus 1760.

[0121] The CPU 1710 is an example of a general-purpose processor. The RAM 1720 is used by the CPU 1710 as a working memory. The RAM 1720 includes a volatile memory such as a synchronous dynamic random access memory (SDRAM). The program memory 1730 stores various programs, including a buried object inspection program or an adjustment program. The program memory 1730 may be, for example, a read-only memory (ROM), a part of the auxiliary storage device 1740, or a combination thereof. The auxiliary storage device 1740 stores data non-temporarily. The auxiliary storage device 1740 includes a non-volatile memory such as an HDD or SSD.

[0122] The input / output interface 1750 is an interface for connecting to other devices. The input / output interface 1750 is used, for example, to connect to other devices.

[0123] Each program stored in program memory 1730 includes computer-executable instructions. When executed by CPU 1710, the program (computer-executable instructions) causes CPU 1710 to perform predetermined processes. For example, when executed by CPU 1710, the buried object inspection program and adjustment program cause CPU 1710 to perform the series of processes described with reference to each section in FIGS. 1, 6, 7, 10, 13, and 15.

[0124] The program may be provided to computer 1700 in a state where it is stored in a computer-readable storage medium. In this case, for example, computer 1700 may further include a drive (not shown) for reading data from the storage medium and acquire the program from the storage medium. Examples of storage media include magnetic disks, optical disks (CD-ROM, CD-R, DVD-ROM, DVD-R, etc.), magneto-optical disks (MO, etc.), and semiconductor memories. Alternatively, the program may be stored on a server on a communications network, and computer 1700 may download the program from the server using input / output interface 1750.

[0125] The processing described in the embodiments is not limited to being performed by a general-purpose hardware processor such as CPU 1710 executing a program, but may also be performed by a dedicated hardware processor such as an ASIC (Application Specific Integrated Circuit). The term processing circuit (processing unit) includes at least one general-purpose hardware processor, at least one dedicated hardware processor, or a combination of at least one general-purpose hardware processor and at least one dedicated hardware processor. In the example shown in Figure 17, CPU 1710, RAM 1720, and program memory 1730 correspond to the processing circuit.

[0126] Therefore, according to each of the above embodiments, it is possible to improve the efficiency of inspecting buried objects.

[0127] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0128] 10, 20, 30, 30', 40... buried object inspection system, 100, 100A, 200A, 300A, 300A', 400A... buried object inspection device, 100B... processing device, 110, 110A, 210, 310, 410... detection unit, 111, 211, 311, 411... measurement unit, 112, 212, 312, 412... drive unit, 120, 220, 320, 320', 420... processing unit, 130, 230, 330, 430... output unit, 130A... output unit, 140, 240, 340, 440... control unit, 200B, 300B, 400B... display terminal, 350... map information acquisition unit, 350', 450... Map information acquisition unit, 460...adjustment unit, 1700...computer, 1730...program memory, 1740...auxiliary storage device, 1750...input / output interface, 1760...bus, DI10, DI20...display image, M20...scanned position map, M21 to M25...partial map, P1 to P5, P5a to P5d, P6 to P9, P11, P12, P12a, P13, P13a, P14, P21 to P25...scanned position, PI...progress information, R...arrow, R_AI, R_EXP...judgment result, SM10, SM20...scanned position map, SP...scatter plot, SR1, SR2, SR11, SR12...scanned range.

Claims

1. an inspection unit that inspects buried objects based on inspection conditions including at least inspection position information relating to inspection positions, and generates inspection data and positioning information for the buried objects; a processing unit that generates buried object information regarding the buried object based on the exploration data; an output unit that generates buried object information with positioning information based on the positioning information and the buried object information; a control unit that updates the search conditions based on the buried object information with positioning information; A buried object inspection device comprising:

2. a map information acquisition unit that acquires map information based on the positioning information; Further comprising: the output unit generates the buried object information with positioning information based on the positioning information, the map information, and the buried object information. The buried object inspection device according to claim 1.

3. the control unit updates the search conditions based on the buried object information with positioning information and the map information. The buried object inspection device according to claim 2.

4. the processing unit generates the buried object information based on the exploration data and the map information. The buried object inspection device according to claim 2.

5. an adjustment unit that adjusts one or more parameters of a machine learning model having one or more parameters based on the map information and the buried object information with positioning information; Further comprising: the processing unit generates the buried object information using the machine learning model. The buried object inspection device according to claim 2.

6. the processing unit generates the buried object information using a machine learning model having one or more parameters. The buried object inspection device according to any one of claims 1 to 4.

7. The search position information is information that associates the search position with a search time. The buried object inspection device according to any one of claims 1 to 5.

8. the exploration data includes at least one of B-scan exploration data measured by a ground penetrating radar and aperture synthesis exploration data; The exploration conditions further include measurement conditions for the ground penetrating radar. The buried object inspection device according to any one of claims 1 to 5.

9. the control unit determines the timing to update the exploration conditions based on the progress of the exploration or a predetermined time interval. The buried object inspection device according to any one of claims 1 to 5.

10. The buried object information includes at least one piece of information regarding the presence or absence of the buried object, a certainty factor corresponding to the probability that the buried object exists, and a type of the buried object. The buried object inspection device according to any one of claims 1 to 5.

11. the buried object information includes information on a degree of certainty corresponding to a probability that the buried object exists; the control unit determines the timing to update the search conditions based on the information on the confidence level. The buried object inspection device according to any one of claims 1 to 5.

12. the control unit updates the search conditions by adding a new search position based on a searched actual measured position where the certainty factor of the buried object exceeds a threshold. The buried object inspection device according to claim 11.

13. the control unit updates the search conditions by adding the new search positions around one of the measured positions where the certainty factor of the buried object exceeds a threshold. The buried object inspection device according to claim 12.

14. the control unit updates the search conditions by adding the new search position between the plurality of measured positions where the certainty factor of the buried object exceeds a threshold. The buried object inspection device according to claim 12.

15. The buried object inspection device according to any one of claims 1 to 5, a display terminal that displays a display image based on the buried object information with the positioning information; A buried object inspection system comprising:

16. the buried object information includes information on a degree of certainty corresponding to a probability that the buried object exists; The display image includes an exploration map in which the explored measured positions are displayed in colors corresponding to the confidence values. The buried object inspection system according to claim 15.

17. The display image includes information on at least one of the progress of exploration and the remaining exploration time. The buried object inspection system according to claim 16.

18. an inspection unit that inspects buried objects based on inspection conditions including at least inspection position information relating to inspection positions, and generates inspection data and positioning information for the buried objects; an output unit that generates buried object information with positioning information based on the positioning information and buried object information related to the buried object generated from the exploration data; a control unit that updates the search conditions based on the buried object information with positioning information; a buried object inspection device comprising: a processing device that generates the buried object information based on the exploration data; A buried object inspection system comprising:

19. The computer searching for buried objects based on search conditions including at least search position information relating to the search position, and generating search data and positioning information for the buried objects; generating buried object information regarding the buried object based on the exploration data; generating buried object information with positioning information based on the positioning information and the buried object information; updating the search conditions based on the buried object information with positioning information; A buried object inspection method comprising:

20. Computer, a means for detecting buried objects based on detection conditions including at least detection position information relating to the detection position, and generating detection data and positioning information for the buried objects; means for generating buried object information regarding the buried object based on the exploration data; means for generating buried object information with positioning information based on the positioning information and the buried object information; means for updating the search conditions based on the buried object information with the positioning information; This is a buried object inspection program that functions as a

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