Scanning system, scanning guide generation device, scanning method, and program

Abstract

A scanning system (100) according to the present disclosure comprises: a scanning device (2) that moves a ground surface and scans underground below the ground surface; and a scanning guide generation device (4). The scanning guide generation device (4) comprises: an input unit (41) that receives input of pipeline information indicating a hypothesized shape and position of a pipeline underground and setting information indicating a condition of a measuring line indicating the direction and route of movement of the scanning device (2) on the ground surface; a measuring line determination unit (42) that determines a measuring line (GD) on the basis of the pipeline information and the setting information; and a device control unit (47) that controls a display device (3) for displaying a guide line (OB1) which is an image showing the measuring line (GD), a projection device (5) that projects the guide line (OB1), or a drive device (6) that drives the scanning device (2).

Description

Technical Field

[0001] The present disclosure relates to a scanning system, a scanning guide generation device, a scanning method, and a program.

Background Art

[0002] Conventionally, as described in Non-Patent Document 1, a technique for specifying the position of an embedded object buried in the ground using a ground penetrating radar (GPR) is known. In this technique, the GPR generates electromagnetic waves toward the ground while moving, and specifies the position of the embedded object by performing a scan to receive reflected electromagnetic waves reflected from the embedded object having a different dielectric constant from the ground medium.

[0003] Also, as described in Non-Patent Document 2, a technique for marking a survey line along which the GPR moves while scanning the ground when performing a scan using the GPR is known. In this technique, an operator determines the survey line, for example, by referring to a drawing showing the assumed position of the embedded object or using the electromagnetic wave induction method, and marks the survey line on the ground surface using chalk, string, etc. Thereby, the operator can recognize the survey line and move the GPR based on the survey line.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Non-Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when a scanning device such as a GPR performs scanning, the operator who operates the scanning device may require a lot of time for the work of marking the survey line. As an example, the work of marking the survey line may require more time than the time required for the scanning itself. For this reason, it takes time to scan buried objects such as pipelines.

[0006] In view of such circumstances, an object of the present disclosure is to provide a scanning system, a scanning guide generation device, a scanning method, and a program that can quickly scan a pipeline.

Means for Solving the Problems

[0007] To solve the above problems, a scanning system according to the present disclosure includes a scanning device that moves on the ground surface and scans the subsurface below the ground surface, and a scanning guide generation device. The scanning guide generation device includes an input unit that receives an input of pipeline information indicating an assumed position and shape of a pipeline in the subsurface, and setting information indicating conditions of a survey line indicating a path and a direction for moving the scanning device on the ground surface; a survey line determination unit that determines the survey line based on the pipeline information and the setting information; and a device control unit that controls a display device that displays a guide line that is an image indicating the survey line, a projection device that projects the guide line, or a drive device that drives the scanning device.

[0008] In order to solve the above problems, a scanning guide generation device according to the present disclosure includes an input unit that receives an input of pipeline information indicating the position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a survey line indicating the path and direction for moving the scanning device; a survey line determination unit that determines the survey line based on the pipeline information and the setting information; and a device control unit that controls a display device that displays a guide line, which is an image indicating the survey line, a projection device that projects the guide line, or a driving device that drives the scanning device.

[0009] Also, in order to solve the above problems, a scanning method according to the present disclosure includes a step of receiving an input of pipeline information indicating the assumed position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a survey line indicating the path and direction for moving the scanning device on the ground surface; a step of determining the survey line based on the pipeline information and the setting information; and a step of controlling a display device that displays a guide line, which is an image indicating the survey line, a projection device that projects the guide line, or a driving device that drives the scanning device.

[0010] Also, in order to solve the above problems, a program according to the present disclosure causes a computer to function as the scanning guide generation device described above.

Advantages of the Invention

[0011] According to the scanning system, scanning guide generation device, scanning method, and program according to the present disclosure, a pipeline can be scanned quickly.

Brief Description of the Drawings

[0012]

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Best Mode for Carrying Out the Invention

[0013] <<First Embodiment>> With reference to FIG. 1, the overall configuration of the first embodiment will be described. FIG. 1 is a schematic diagram of a scanning system 100 according to the first embodiment.

[0014] As shown in FIG. 1, the scanning system 100 according to the first embodiment includes a pipeline management device 1, a scanning device 2, a display device 3, and a scanning guide generation device 4.

[0015] <Configuration of Pipeline Management Device> The pipeline management device 1 is configured by a computer having a control unit (controller), a memory, and a communication interface. The control unit may be configured by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array), or may be configured by a processor, or may be configured to include both. For the communication interface, for example, standards such as Ethernet (registered trademark), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark) may be used. The memory may be an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), or the like.

[0016] The pipeline management device 1 stores pipeline information of pipelines buried underground. The pipeline information indicates the assumed shape and position of the pipelines. The pipeline management device 1 transmits the pipeline information to the scanning guide generation device 4. The pipeline management device 1 may transmit the pipeline information to the scanning guide generation device 4 based on a request from the scanning guide generation device 4.

[0017] <Configuration of Scanning Device> The scanning device 2 scans the subsurface by generating electromagnetic waves and receiving the reflected electromagnetic waves which are the reflection waves of the electromagnetic waves. The scanning device 2 moves on the ground surface and scans the subsurface below the ground surface. The scanning device 2 can be a ground penetrating radar (GPR) as shown in the external appearance in FIG. 2. Also, the electromagnetic waves used in the scanning device 2 can be electromagnetic waves in the frequency range of 1 to 1000 MHz.

[0018] As shown in FIG. 1, the scanning device 2 includes an electromagnetic wave generation unit 21, an antenna 22, an electromagnetic wave reception unit 23, and a distance measurement unit 24.

[0019] Based on the control of the scanning guide generation device 4, the electromagnetic wave generation unit 21 supplies a current for generating electromagnetic waves to the antenna 22.

[0020] The antenna 22 generates electromagnetic waves by changing the magnetic field with the current supplied by the electromagnetic wave generation unit 21. Also, the antenna 22 receives the reflected electromagnetic waves of the electromagnetic waves. When the current flowing through the antenna 22 changes due to the received reflected electromagnetic waves, the antenna 22 converts the reflected electromagnetic waves into an electric current.

[0021] The electromagnetic wave reception unit 23 receives the current converted by the antenna 22.

[0022] The distance measurement unit 24 measures the distance from a predetermined point. The predetermined point can be, for example, the unit scan start position. The unit scan start position is the position where the unit scan is started, and the unit scan is a scan performed while the scanning device 2 moves on a straight line in a direction orthogonal to the extending direction of the pipeline.

[0023] <Configuration of the display device> The display device 3 displays an image based on the control of the scanning guide generation device 4. The display device 3 is composed of an organic EL (Electro Luminescence), a liquid crystal panel, or the like. As shown in FIG. 2, the display device 3 may be integrally configured with the scanning guide generation device 4. Further, the display device 3 may be configured separately from the scanning guide generation device 4, and for example, it can be an AR (Augmented Reality) device such as a head-mounted type, a glasses type, or a tablet type.

[0024] The display device 3 displays a superimposed image generated by the scanning guide generation device 4, which will be described in detail later. Further, the display device 3 may display information indicating the distance and the intensity of the reflected electromagnetic wave (electromagnetic wave intensity) at the distance. The distance is the distance from a predetermined point measured by the distance measurement unit 24.

[0025] <Configuration of Scanning Guide Generation Device> As shown in FIG. 1, the scanning guide generation device 4 includes an input unit 41, a survey line determination unit 42, an imaging unit 43, a position detection unit 44, a direction detection unit 45, an attitude detection unit 46, a display control unit (device control unit) 47, a scanning control unit 48, and a scanning information storage unit 49.

[0026] Here, an overview of the survey line, which is the path along which the scanning device 2 moves determined by the scanning guide generation device 4 of the present embodiment, will be described. The survey line is a vector indicating the path along which the scanning device 2 moves and the direction of movement on the path. As shown in FIG. 3, in the present embodiment, the scanning device 2 executes a unit scan in which it scans while moving on a straight line in a direction (y-axis direction) orthogonal to the extending direction (x-axis direction) of the pipeline. FIG. 3 shows the survey lines GD (in this example, GD1 to GD6) of each unit scan. The scanning device 2 executes an overall scan by repeating the unit scan at a predetermined scanning interval W from one end to the other end in the extending direction (x-axis direction) of the pipeline.

[0027] Returning to FIG. 1, the input unit 41 may be constituted by an input interface. The input interface can be a pointing device, a keyboard, a mouse, or the like. Further, the input interface may be a communication interface that receives information from an external device. The line measurement determination unit 42, the display control unit 47, and the scanning control unit 48 constitute a control unit. The imaging unit 43 may be constituted by a camera having an imaging element, an optical element, or the like. The position detection unit 44 may be constituted by a position sensor, and the position sensor can be, for example, a GPS receiver. The direction detection unit 45 may be constituted by, for example, an electronic compass. The attitude detection unit 46 may be constituted by a gyro sensor that detects the angle or angular velocity of the attached object. The scanning information storage unit 49 may be constituted by a memory.

[0028] The input unit 41 receives the input of pipeline information and setting information.

[0029] The pipeline information indicates the assumed position and shape of the pipeline buried underground. The pipeline information may be a plan view showing the position and shape by a polyline or the like, or a three-dimensional view showing the position and shape three-dimensionally.

[0030] The setting information indicates the conditions of the survey line GD showing the path and direction for moving the scanning device 2 on the ground surface as shown in FIG. 3. The setting information can include the scanning length, the scanning interval W, and the overall scanning start position.

[0031] The scanning length indicates the length that the scanning device 2 moves on a single straight line. The scanning length can include any one of the first scanning length L1, the second scanning length L2, and the overall scanning length L0. The first scanning length L1 is the length from the unit scanning start position Ps to the pipeline scanning position Pp. The unit scanning start position Ps is the position where the unit scanning starts. The pipeline scanning position Pp is the position where the pipeline corresponding region CL and a straight line extending in the direction orthogonal to the extending direction of the pipeline (the x-axis direction in the example of FIG. 3) from the unit scanning start position Ps (the y-axis direction in the example of FIG. 3) intersect. The pipeline corresponding region CL is the region obtained by projecting the region of the pipeline in the ground onto the ground surface. In other words, the pipeline corresponding region CL is the region of the ground surface located directly above the region of the pipeline in the ground. The second scanning length L2 is the length from the pipeline scanning position Pp to the unit scanning end position Pf. The scanning length is an arbitrary value that can be appropriately determined by the operator according to the characteristics of the pipeline to be scanned, the purpose of the scanning, etc. The unit of the scanning length can be cm (centimeter), m (meter), etc.

[0032] The scanning interval W indicates the interval in the extending direction of the pipeline in unit scanning. As described above, the unit scanning is a scanning performed while moving on a single straight line extending in the direction orthogonal to the extending direction of the pipeline corresponding region CL. In the example where the pipeline is linear, as shown in FIG. 3, the extending direction of the pipeline corresponding region CL is the longitudinal direction (x-axis direction) of the pipeline corresponding region CL, and the orthogonal direction is the lateral direction (y-axis direction) of the pipeline corresponding region CL. In the example where the pipeline is arc-shaped, as shown in FIG. 4, the extending direction of the pipeline corresponding region CL is the circumferential direction (±C direction) of the pipeline corresponding region CL, and the orthogonal direction is the radial direction of the pipeline corresponding region CL. The scanning interval W is an arbitrary value that can be appropriately determined by the operator according to the characteristics of the pipeline to be scanned, the purpose of the scanning, etc. The unit of the scanning interval W can be cm (centimeter), m (meter), etc.

[0033] The overall scan start position is the position where the overall scan including a plurality of unit scans starts. The overall scan start position may be the position of the scanning device 2 at the start time of the overall scan specified by the operator using the map data. Also, the overall scan start position may be the position of the scanning device 2 at the start time of the overall scan acquired from a position detection center such as GNSS (Global Navigation Satellite System). The overall scan start position may be indicated by coordinates in a rectangular coordinate system. The overall scan start position may be indicated by latitude, longitude, and altitude. The same applies to the unit scan start position Ps, the pipeline scan position Pp, and the unit scan end position Pf.

[0034] The input unit 41 may receive the input of pipeline information and setting information by the operation of the operator. For example, the input unit 41 may receive the input of pipeline information by receiving the pipeline information from the pipeline management device 1.

[0035] The survey line determination unit 42 determines a survey line GD indicating the path and direction for moving the scanning device 2 based on the pipeline information and setting information received by the input unit 41.

[0036] Specifically, the survey line determination unit 42 determines the unit scan start position Ps (Pp1 to Pp6 in the example of FIG. 3) where the unit scan starts based on the overall scan start position. The survey line determination unit 42 determines the unit scan end position Pf (Pf1 to Pf6 in the example of FIG. 3), which is the position where the unit scan ends, based on the unit scan start position Ps, the extending direction of the pipeline indicated by the shape (the x-axis direction in the example of FIG. 3), and the scan length. The survey line determination unit 42 determines the survey line GD in the unit scan based on the unit scan start position Ps and the unit scan end position Pf. The survey line determination unit 42 determines the survey line GD in the unit scan a plurality of times based on the scan interval W, thereby determining the survey line GD of the overall scan including a plurality of unit scans.

[0037] As a first example, the processing of the measurement line determination unit 42 when the pipeline extends linearly as shown in FIG. 3 will be described in detail. In this example, the scanning length included in the setting information is the second scanning length L2.

[0038] First, the measurement line determination unit 42 determines the overall scanning start position as the first unit scanning start position Ps1. Then, the measurement line determination unit 42 determines whether there is an intersection between the straight line extending in the direction orthogonal to the extending direction (x-axis direction) of the pipeline and the pipeline corresponding region CL from the first unit scanning start position Ps1. When the measurement line determination unit 42 determines that there is an intersection, it determines the intersection as the first pipeline scanning position Pp1. Then, the measurement line determination unit 42 determines the position where the length in the y-axis direction from the first pipeline scanning position Pp1 is the second scanning length L2 as the first unit scanning end position Pf1. Then, the measurement line determination unit 42 determines the vector indicating the length and direction from the first unit scanning start position Ps1 to the first unit scanning end position Pf1 as the measurement line GD1 in the first unit scanning.

[0039] Next, the measurement line determination unit 42 determines the second unit scanning start position Pp2 at a position separated by the scanning interval W from the first unit scanning start position Ps1 in one direction (the +x-axis direction in the example of FIG. 3) of the extending direction of the pipeline. Then, the measurement line determination unit 42 determines whether there is an intersection between the straight line extending in the y-axis direction and the pipeline corresponding region CL from the second unit scanning start position Ps2. When the measurement line determination unit 42 determines that there is an intersection, it determines the intersection as the second pipeline scanning position Pp2. Then, the measurement line determination unit 42 determines the position where the length in the y-axis direction from the second pipeline scanning position Pp2 is the second scanning length L2 as the second unit scanning end position Pf2. Then, the measurement line determination unit 42 determines the vector indicating the length and direction from the second unit scanning start position Ps2 to the second unit scanning end position Pf2 as the measurement line GD2 in the second unit scanning.

[0040] In this way, the measurement line determination unit 42 determines the start position Psi of the i-th unit scan at a position separated from the start position Ps(i - 1) of the (i - 1)-th (where i is an integer of 2 or more) unit scan by the scan interval W in the +x-axis direction. Then, the measurement line determination unit 42 determines whether there is an intersection between the straight line extending in the y-axis direction from the start position Psi of the i-th unit scan and the pipeline corresponding region CL. When the measurement line determination unit 42 determines that there is an intersection, it determines the intersection as the pipeline scan position Ppi of the i-th. Then, the measurement line determination unit 42 determines the end position Pfi of the i-th unit scan at a position where the length in the y-axis direction from the pipeline scan position Ppi of the i-th is the second scan length L2. Then, the measurement line determination unit 42 determines the vector indicating the length and direction from the start position Psi of the i-th unit scan to the end position Pfi of the i-th unit scan as the measurement line GDi in the i-th unit scan.

[0041] When the measurement line determination unit 42 determines that there is no intersection between the straight line extending in the y-axis direction from the start position Psi of the i-th unit scan and the pipeline corresponding region CL, it ends the determination of the measurement line GDi located in the +x-axis direction from the measurement line GD1.

[0042] Furthermore, the measurement line determination unit 42 similarly determines the measurement line GDj located in the other direction (the -x-axis direction in the example of FIG. 3) in the extending direction of the pipeline corresponding region CL from the start position Ps1 of the first unit scan. At this time, when the measurement line determination unit 42 determines that there is no intersection between the straight line extending in the y-axis direction from the start position Psj of the j-th unit scan and the pipeline corresponding region CL, it ends the determination of the measurement line GDj located in the -x-axis direction from the measurement line GD1. Thus, the measurement line determination unit 42 can determine the measurement line GD for guiding the overall scan, including the measurement lines GD1, GDi, and GDj.

[0043] As shown in FIG. 3, the measurement line GD1 may be represented as a vector starting from the coordinates (X1, Y1, Z1) in the real space and ending at the coordinates (X1’, Y1’, Z1’). The same applies to the measurement lines GDi and GDj.

[0044] As a second example, the processing of the measurement line determination unit 42 when the pipeline extends in an arc shape as shown in FIG. 4 will be described in detail. In this example, the scanning length included in the setting information is the second scanning length L2. Also, in this example, the overall scanning start position included in the setting information is the center O of the circle that includes a part of the arc formed by the pipeline.

[0045] First, the measurement line determination unit 42 determines the center O, which is the overall scanning start position, as the first unit scanning start position Ps1. Then, the measurement line determination unit 42 determines the intersection point Pp1 of the line extending in the direction orthogonal to the extending direction (+C direction) of the pipeline (the radial direction of the pipeline) from the first unit scanning start position Ps1 and the pipeline corresponding region CL as the first pipeline scanning position Pp1. Then, the measurement line determination unit 42 determines the position where the length from the first pipeline scanning position Pp1 to the outside in the radial direction is the second scanning length L2 as the first unit scanning end position Pf1. Then, the measurement line determination unit 42 determines the vector indicating the length and direction from the first unit scanning start position Ps1 to the first unit scanning end position Pf1 as the measurement line GD1 in the first unit scanning.

[0046] Next, the measurement line determination unit 42 determines the center O, which is the overall scanning start position, as the second unit scanning start position Ps2. Then, the measurement line determination unit 42 determines whether there is a position in the pipeline corresponding region CL such that the length between the position and the first pipeline scanning position Pp1, which is away from the first pipeline scanning position Pp1 in the +C direction, is the scanning interval W. And when it is determined that the position is in the pipeline corresponding region CL, the measurement line determination unit 42 determines the position as the second pipeline scanning position Pp2. Then, the measurement line determination unit 42 determines the vector indicating the length and direction from the second unit scanning start position Ps2 to the second unit scanning end position Pf2 as the measurement line GD2 in the second unit scanning.

[0047] In this way, the measurement line determination unit 42 determines the center O, which is the overall scanning start position, as the i-th unit scanning start position Psi. The measurement line determination unit 42 determines whether a position that is at a distance in the +C direction from the (i−1)-th pipeline scanning position Pp(i−1) and has a length from the (i−1)-th pipeline scanning position Pp(i−1) equal to the scanning interval W is within the pipeline corresponding region CL. When it is determined that the position is within the pipeline corresponding region CL, the measurement line determination unit 42 determines the position as the i-th pipeline scanning position Ppi. Then, the measurement line determination unit 42 determines the i-th unit scanning end position Pfi at which the length from the i-th pipeline scanning position Ppi to the radially outer side is the second scanning length L2. Then, the measurement line determination unit 42 determines a vector indicating the length and direction from the i-th unit scanning start position Psi to the i-th unit scanning end position Pfi as the measurement line GDi in the i-th unit scanning.

[0048] When the measurement line determination unit 42 determines that a position that is at a distance in the +C direction from the (i−1)-th pipeline scanning position Pp(i−1) and has a length from the (i−1)-th pipeline scanning position Pp(i−1) equal to the scanning interval W is not within the pipeline corresponding region CL, the determination of the measurement line GDi located in the +C direction from the measurement line GD1 is terminated.

[0049] Furthermore, the measurement line determination unit 42 similarly determines a measurement line GDj (j is an integer of 2 or more) located in the other direction (the -C direction in the example of FIG. 4) in the extending direction of the pipeline from the first unit scanning start position Ps1. When the measurement line determination unit 42 determines that there is no intersection between the straight line extending radially from the j-th unit scanning start position Psj and the pipeline corresponding region CL, the determination of the measurement line GDj located in the -C direction from the measurement line GD1 is terminated.

[0050] The imaging unit 43 generates a captured image of the ground surface. Specifically, the imaging unit 43 generates a captured image of the ground surface located above the ground where it is assumed that the pipeline to be scanned by the scanning device 2 is buried.

[0051] The position detection unit 44 detects the position of the position detection unit 44. Thereby, the position detection unit 44 detects the position of the imaging surface of the imaging unit 43 included in the scanning guide generation device 4 together with the position detection unit 44.

[0052] The direction detection unit 45 detects the direction of the direction detection unit 45. Thereby, the direction detection unit 45 detects the direction of the imaging surface of the imaging unit 43 included in the scanning guide generation device 4 together with the direction detection unit 45.

[0053] The attitude detection unit 46 detects the attitude of the attitude detection unit 46. Thereby, the attitude detection unit 46 detects the attitude of the imaging surface of the imaging unit 43 included in the scanning guide generation device 4 together with the attitude detection unit 46.

[0054] The display control unit 47 controls the display device 3 that displays the guide line OB1 which is an image indicating the measurement line GD.

[0055] Specifically, the display control unit 47 generates a superimposed image in which the guide line OB1 is superimposed on the captured image based on the position, direction, and attitude of the imaging surface of the imaging unit 43. For example, the display control unit 47 calculates the correspondence relationship between the position in the real space and the position in the captured image based on the position, direction, and attitude of the imaging surface of the imaging unit 43. Then, as shown in FIG. 5, the display control unit 47 generates a superimposed image in which the guide line OB1 is superimposed on the position in the captured image corresponding to the position of the measurement line GD in the real space based on the correspondence relationship.

[0056] At this time, the display control unit 47 may further generate a superimposed image in which an image object OB2 indicating the pipeline to be scanned is superimposed on the captured image. Specifically, the display control unit 47 may generate a superimposed image in which the image object OB2 is placed at the position in the captured image corresponding to the assumed position of the pipeline in the real space.

[0057] Further, the display control unit 47 may generate a superimposed image in which an image object OB3 indicating a pipeline different from the pipeline to be scanned is further superimposed on the captured image. Specifically, the display control unit 47 may generate a superimposed image in which the image object OB3 is superimposed on a position within the captured image corresponding to the position of the pipeline indicated by the image object OB3 in the real space.

[0058] The display control unit 47 controls the display device 3 to display the superimposed image. In the example shown in FIG. 5, the display device 3 is a tablet configured separately from the scanning guide generation device 4. However, the present invention is not limited to this. As shown in FIG. 2, even when the display device 3 is configured integrally with the scanning guide generation device 4, the display control unit 47 controls the display device 3 to similarly display the superimposed image.

[0059] The scanning control unit 48 controls the scanning device 2 based on an operation command received by the input unit 41. For example, when the operation command includes a generation command for generating an electromagnetic wave, the scanning control unit 48 controls the scanning device 2 to generate an electromagnetic wave.

[0060] Further, when the scanning device 2 receives a reflected electromagnetic wave of the electromagnetic wave and converts the reflected electromagnetic wave into an electric current, the scanning control unit 48 causes the scanning information storage unit 49 to store the distance measured by the distance meter and the electromagnetic wave intensity indicated by the electric current at the distance. Further, the scanning control unit 48 may cause the distance and the electromagnetic wave intensity at the distance to be displayed on the display device 3.

[0061] The scanning information storage unit 49 stores the distance and the electromagnetic wave intensity at the distance under the control of the scanning control unit 48.

[0062] <Operation of the Scanning System> Here, the operation of the scanning system 100 according to the first embodiment will be described with reference to FIG. 6. FIG. 6 is a flowchart showing an example of the operation of the scanning system 100 according to the first embodiment. The operation in the scanning system 100 described with reference to FIG. 6 corresponds to an example of the scanning method of the scanning system 100 according to the first embodiment.

[0063] In step S11, the input unit 41 receives an input of pipeline information indicating the position and shape of a pipeline in the ground below the ground surface where the scanning device 2 moves, and setting information indicating the conditions of a survey line GD indicating the path and direction for moving the scanning device 2 on the ground surface.

[0064] In step S12, the survey line determination unit 42 determines the survey line GD based on the pipeline information and the setting information.

[0065] Here, with reference to FIGS. 7A, 7B, and 7C, the details of the process of determining the survey line GD in step S12 will be described. Here, the details of the process in an example where the pipeline is linear as shown in FIG. 3 and the scanning length is the second scanning length L2 will be described.

[0066] In step S1201, the survey line determination unit 42 determines a first unit scanning start position Ps1 based on the overall scanning start position. In the example shown in FIG. 3, the survey line determination unit 42 determines the overall scanning start position as the first unit scanning start position Ps1.

[0067] In step S1202, the survey line determination unit 42 determines a first pipeline scanning position Pp1 based on the first unit scanning start position Ps1 and the position and shape of the pipeline. In the example shown in FIG. 3, the survey line determination unit 42 determines the intersection of a straight line extending in the orthogonal direction (y-axis direction) of the extending direction (x-axis direction) of the pipeline corresponding region CL from the first unit scanning start position Ps1 and the pipeline corresponding region CL as the first pipeline scanning position Pp1.

[0068] In step S1203, the measurement line determination unit 42 determines a first unit scan end position Pf1 based on the first pipeline scan position Pp1 and the scan length. In the example shown in FIG. 3, the measurement line determination unit 42 determines, as the first unit scan end position Pf1, a position where the length in the y-axis direction from the first pipeline scan position Pp1 is the second scan length L2.

[0069] In step S1204, the measurement line determination unit 42 determines a measurement line GD1 in the first unit scan based on the first unit scan start position Ps1 and the first unit scan end position Pf1. In the example shown in FIG. 3, the measurement line determination unit 42 determines, as the measurement line GD1 in the first unit scan, a vector indicating the length and direction from the first unit scan start position Ps1 to the first unit scan end position Pf1.

[0070] In step S1205, the measurement line determination unit 42 sets i = 2.

[0071] In step S1206, the measurement line determination unit 42 determines a start position Psi of the i-th unit scan based on the start position Ps(i - 1) of the (i - 1)-th unit scan and the scan interval W. In the example shown in FIG. 3, the measurement line determination unit 42 determines, as the start position Psi of the i-th unit scan, a position that is separated from the start position Ps(i - 1) of the (i - 1)-th unit scan by the scan interval W in the +x-axis direction.

[0072] In step S1207, the measurement line determination unit 42 determines whether there is an intersection between a straight line extending in the y-axis direction from the start position Psi of the i-th unit scan and the pipeline corresponding region CL.

[0073] If it is determined in step S1207 that there is an intersection, then in step S1208, the measurement line determination unit 42 determines a pipeline scan position Ppi of the i-th unit scan. Specifically, the measurement line determination unit 42 determines the intersection as the pipeline scan position Ppi of the i-th unit scan.

[0074] In step S1209, the measurement line determination unit 42 determines the i-th unit scan end position Pfi based on the i-th pipeline scan position Ppi and the scan length. In the example shown in FIG. 3, the measurement line determination unit 42 determines the position where the length in the y-axis direction from the i-th pipeline scan position Ppi is the second scan length L2 as the i-th unit scan end position Pfi.

[0075] In step S1210, the measurement line determination unit 42 determines the measurement line GD i in the i-th unit scan based on the i-th unit scan start position Psi and the i-th unit scan end position Pfi. In the example shown in FIG. 3, the measurement line determination unit 42 determines the vector indicating the length and direction from the i-th unit scan start position Psi to the i-th unit scan end position Pfi as the measurement line GD i in the i-th unit scan.

[0076] In step S1211, set i = i + 1, return to step S1206, and repeat the process.

[0077] If it is determined in step S1207 that there is no intersection point, then in step S1212, set j = 2.

[0078] In step S1213, the measurement line determination unit 42 determines the j-th unit scan start position Psj based on the (j - 1)-th unit scan start position Ps(j - 1) and the scan interval W. In the example shown in FIG. 3, the measurement line determination unit 42 determines the position that is separated from the (j - 1)-th unit scan start position Ps(j - 1) by the scan interval W in the -x axis direction as the j-th unit scan start position Psj.

[0079] In step S1214, the measurement line determination unit 42 determines whether there is an intersection point between the straight line extending in the y-axis direction from the j-th unit scan start position Psj and the pipeline corresponding region CL.

[0080] If it is determined in step S1214 that there is an intersection point, then in step S1215, the measurement line determination unit 42 determines the j-th pipeline scan position Ppj. In the example shown in FIG. 3, the measurement line determination unit 42 determines the intersection point as the j-th pipeline scan position Ppj.

[0081] In step S1216, the measurement line determination unit 42 determines the j-th unit scan end position Pfj based on the j-th pipeline scan position Ppj and the scan length. In the example shown in FIG. 3, the measurement line determination unit 42 determines, as the j-th unit scan end position Pfj, a position where the length in the y-axis direction from the j-th pipeline scan position Ppj is the second scan length L2.

[0082] In step S1217, the measurement line determination unit 42 determines the measurement line GDj in the j-th unit scan based on the j-th unit scan start position Psj and the j-th unit scan end position Pfj. In the example shown in FIG. 3, the measurement line determination unit 42 determines, as the measurement line GDj in the j-th unit scan, the length and direction from the j-th unit scan start position Psj to the j-th unit scan end position Pfj.

[0083] In step S1218, set j = j + 1, return to step S1213, and repeat the process.

[0084] In step S1214, when it is determined that there is no intersection point, the measurement line determination unit 42 ends the process.

[0085] Thereby, the measurement line GD in the overall scan, including the measurement lines GD1, GDi, and GDj, is determined.

[0086] In step S13, the display control unit 47 controls the display device 3 to display a guide line OB1, which is an image indicating the measurement line GD, based on the measurement line GD.

[0087] As described above, according to the first embodiment, the scanning system 100 receives the input of pipeline information and setting information, determines the measurement line GD based on the pipeline information and the setting information, and controls the display device 3 to display a guide line OB1, which is an image indicating the measurement line GD, based on the measurement line GD. Therefore, the scanning system 100 can quickly scan the pipeline by enabling the operator to quickly recognize the measurement line GD. In addition, the scanning system 100 can reduce the load required for the operator to determine the measurement line GD.

[0088] Also, according to the first embodiment, in the scanning system 100, the display control unit 47 generates a superimposed image in which a guide line OB1, which is an image indicating the survey line GD, is superimposed on an imaging image obtained by the imaging unit 43 of the ground surface corresponding to the ground in which the pipeline is buried, based on the position, direction, and posture of the imaging unit 43. Then, the display control unit 47 controls the display device 3 to display the superimposed image. Therefore, the operator can accurately recognize the relationship between the survey line GD of the scanning device 2 that the operator moves and the ground surface shown in the imaging image.

[0089] <<Second Embodiment>> The overall configuration of the second embodiment will be described with reference to FIG. 8. FIG. 8 is a schematic diagram of a scanning system 100-1 according to the second embodiment. In the second embodiment, the same reference numerals are assigned to the same functional units as in the first embodiment, and the description thereof is omitted.

[0090] As shown in FIG. 8, the scanning system 100-1 includes a pipeline management device 1, a scanning device 2, a display device 3, a scanning guide generation device 4-1, and a projection device 5. The projection device 5 may be provided separately from the scanning guide generation device 4-1 as shown in FIG. 9A, or may be provided integrally with the scanning guide generation device 4-1 as shown in FIG. 9B.

[0091] <Configuration of Scanning Guide Generation Device> As shown in FIG. 8, the scanning guide generation device 4-1 includes an input unit 41, a survey line determination unit 42, a projection control unit (device control unit) 47-1, a scanning control unit 48, and a scanning information storage unit 49.

[0092] The projection control unit 47-1 controls a projection device that projects a guide line OB1, which is an image indicating the survey line GD.

[0093] Specifically, the projection control unit 47-1 generates a projection image including a guide line OB1, which is an image indicating the measurement line GD, based on the position, direction, and orientation of the image display surface of the projection device 5. For example, the projection control unit 47-1 calculates the correspondence relationship between the position in the projection image and the real space onto which the projection image is projected based on the position, direction, and orientation of the image display surface of the projection device 5. Information indicating the position, direction, and orientation of the image display surface of the projection device 5 may be transmitted to the scanning guide generation device 4-1 via a communication network, or may be received as an input by the input unit 41.

[0094] Also, in a configuration where the projection device 5 is provided integrally with the scanning guide generation device 4-1 as shown in the example of FIG. 9B, the scanning guide generation device 4-1 may further include a position detection unit 44, a direction detection unit 45, and an orientation detection unit 46. In this case, the position, direction, and orientation of the image display surface of the projection device 5 may be detected by the position detection unit 44, the direction detection unit 45, and the orientation detection unit 46, respectively.

[0095] Then, the projection control unit 47-1 controls the projection device 5 to project the guide line OB1, which is an image indicating the measurement line GD, at the position of the measurement line GD in the real space based on the correspondence relationship between the position in the projection image and the real space onto which the projection image is projected. In the examples shown in FIGS. 9A and 9B, the guide line OB1 has a shape of an arrow indicating the position and direction of the measurement line GD.

[0096] At this time, the projection control unit 47-1 may control the projection device 5 to project a projection image further including an image object OB2 indicating the pipeline to be scanned. Specifically, the projection control unit 47-1 may control the projection device 5 so that the image object OB2 is projected at the position of the pipeline to be scanned in the real space.

[0097] The projection control unit 47-1 may control the projection device 5 to project a projection image that further includes an image object OB3 indicating a pipeline different from the pipeline to be scanned. Specifically, the projection control unit 47-1 may control the projection device 5 so that the image object OB2 is projected at a position of a pipeline different from the pipeline to be scanned in the real space.

[0098] As shown in FIGS. 9A and 9B, the projection control unit 47-1 controls the projection device 5 to project the projection image onto the ground surface.

[0099] <Configuration of Projection Device> The projection device 5 projects an image based on the control of the scanning guide generation device 4-1. The projection device 5 is constituted by a projector including a liquid crystal panel, DLP (Digital Light Processing), etc.

[0100] <Operation of Scanning System> Here, regarding the operation of the scanning system 100-1 according to the second embodiment, it is a flowchart showing an example of the operation in FIG. 10. The operation in the scanning system 100-1 described with reference to FIG. 10 corresponds to an example of the scanning method of the scanning system 100-1 according to the second embodiment.

[0101] In step S21, the input unit 41 receives the input of pipeline information indicating the position and shape of a pipeline in the ground below the ground surface where the scanning device 2 moves, and setting information indicating the conditions of a survey line GD indicating the path and direction of moving the scanning device 2 on the ground surface.

[0102] In step S22, the survey line determination unit 42 determines the survey line GD based on the pipeline information and the setting information. The details of step S22 are the same as the details of step S12 in the first embodiment.

[0103] In step S23, the projection control unit 47-1 controls the projection device 5 that projects a guide line OB1, which is an image indicating the survey line GD, based on the survey line GD.

[0104] As described above, according to the second embodiment, the scanning system 100-1 receives the input of pipeline information and setting information, determines the measurement line GD based on the pipeline information and setting information, and controls the projection device 5 that projects the guide line OB1, which is an image showing the measurement line GD, based on the measurement line GD. Therefore, the scanning system 100-1 can quickly scan the pipeline by enabling the operator to quickly recognize the measurement line GD. In addition, the scanning system 100-1 can reduce the burden on the operator for the work of determining the measurement line GD. Furthermore, other persons (for example, the owner of the pipeline, the persons related to the inspection work) who are in a position where they cannot see the display device 3 arranged for the operator to view can also quickly recognize the measurement line GD.

[0105] Also, according to the second embodiment, in the scanning system 100-1, the projection control unit 47-1 generates a projection image including the guide line OB1, which is an image showing the measurement line GD, based on the position, direction, and posture of the image display surface of the projection device 5. Then, the projection control unit 47-1 controls the projection device 5 to project the projection image onto the ground surface. Therefore, the operator can accurately recognize the position of the measurement line GD of the scanning device 2 that he / she moves. In addition, other persons who are in a position where they cannot see the display device 3 can also accurately recognize the position of the measurement line GD.

[0106] <<Third Embodiment>> The overall configuration of the third embodiment will be described with reference to FIG. 11. FIG. 11 is a schematic diagram of the scanning system 100-2 according to the third embodiment. The same reference numerals are given to the functional parts that are the same as those in the second embodiment, and the description thereof is omitted.

[0107] As shown in FIG. 11, the scanning system 100-2 according to the third embodiment includes a pipeline management device 1, a scanning device 2, a display device 3, a scanning guide generation device 4-2, and a driving device 6.

[0108] <Configuration of Scanning Guide Generation Device> The scanning guide generation device 4-2 includes an input unit 41, a survey line determination unit 42, an imaging unit 43, a position detection unit 44, a drive control unit (device control unit) 47-2, a scanning control unit 48, and a scanning information storage unit 49.

[0109] The drive control unit 47-2 controls a drive device 6 that drives the scanning device 2 to move along the path and in the direction indicated by the survey line GD determined by the survey line determination unit 42.

[0110] For example, the drive control unit 47-2 may control the drive device 6 to control the scanning device 2 to move along the path and in the direction indicated by the survey line GD based on the current position of the scanning device 2. The current position of the scanning device 2 may be obtained by any method. For example, the scanning device 2 may be provided with a position detection unit such as a GPS receiver, and information indicating the position detected by the position detection unit may be transmitted to the scanning guide generation device 4-2. Alternatively, the scanning device 2 may be integrally configured with the scanning guide generation device 4-2, and the scanning guide generation device 4-2 may be provided with a position detection unit such as a GPS receiver, and the current position of the scanning device 2 may be detected by the position detection unit.

[0111] Further, the drive control unit 47-2 may determine an auxiliary line GDS that passes through the shortest path from the unit scan end position Pf of the survey line GD in one unit scan to the unit scan start position Ps of the survey line GD in another unit scan, as shown in FIG. 12. At this time, the survey line GD in another unit scan may be the survey line GD that is located closest to the survey line GD in one unit scan. In such a configuration, the drive control unit 47-2 may control the scanning device 2 to move along the path and in the direction indicated by the auxiliary line GDS from the unit scan end position of one survey line GD to the unit scan start position Ps of the survey line GD in another unit scan.

[0112] Further, the scanning control unit 48 of the third embodiment may control the scanning device 2 to generate an electromagnetic wave when moving along the path and in the direction indicated by the survey line GD. The scanning control unit 48 may control the scanning device 2 not to generate an electromagnetic wave when moving along the path and in the direction indicated by the auxiliary line GDS.

[0113] <Configuration of the driving device> Based on the control of the scanning guide generation device 4-2, the driving device 6 drives the scanning device 2. The driving device 6 is composed of a motor or the like.

[0114] <Operation of the scanning system> Here, the operation of the scanning system 100-2 according to the third embodiment will be described with reference to FIG. 13. FIG. 13 is a sequence diagram showing an example of the operation of the scanning system 100-2 according to the third embodiment. The operation in the scanning system 100-2 described with reference to FIG. 13 corresponds to an example of the scanning method of the scanning system 100-2 according to the third embodiment.

[0115] In step S31, the input unit 41 receives the input of pipeline information indicating the position and shape of the pipeline in the ground below the ground surface where the scanning device 2 moves, and setting information indicating the conditions of the survey line GD indicating the path and direction for moving the scanning device 2 on the ground surface.

[0116] In step S32, the survey line determination unit 42 determines the survey line GD based on the pipeline information and the setting information. The details of step S32 are the same as the details of step S12 in the first embodiment.

[0117] In step S33, the drive control unit 47-2 controls the drive device 6 that drives the scanning device 2 to move along the path and direction indicated by the survey line GD determined by the survey line determination unit 42.

[0118] As described above, according to the third embodiment, the scanning system 100-2 receives the input of the pipeline information and the setting information, determines the survey line GD based on the pipeline information and the setting information, and controls the drive device 6 that drives the scanning device 2 based on the survey line GD. Therefore, the scanning system 100-2 can quickly scan the pipeline without the operator recognizing the survey line GD. In addition, the scanning system 100-2 can reduce the load required for the operator to determine the survey line GD.

[0119] When the measurement line GD is determined as described in the first to third embodiments, the directions of the measurement lines GD in a plurality of unit scans are the same. As a result, for example, the distributions of the electromagnetic wave intensities in two unit scans where the measurement lines GD are adjacent to each other are represented with a shift of the scan interval W. Therefore, an operator can easily associate and recognize the distributions in a plurality of unit scans with positions in the real space. On the other hand, when the directions of the measurement lines GD in a plurality of unit scans are not the same, the distributions in two unit scans may be shifted by the scan interval W and further represented in an inverted manner. Therefore, an operator cannot easily associate and recognize the distributions in a plurality of unit scans with positions in the real space. Thus, the operator can easily specify the position of the pipeline by the fact that the directions of the measurement lines GD in a plurality of unit scans are the same.

[0120] <First Modification Example> In the first to third embodiments described above, the measurement line determination unit 42 may determine the measurement line GD such that the directions of the measurement lines GD in a plurality of unit scans are different. In such a configuration, the length of the auxiliary line GDS may be shorter than when the directions of all the measurement lines GD are the same. In this case, the scanning device 2 can efficiently move from the unit scan end position Pf of one measurement line GD to the unit scan start position Ps of another measurement line GD that moves next to the one measurement line GD.

[0121] <Second Modification Example> Also, in the first example and the second example of the first embodiment described above, the scan length included in the setting information was the second scan length L2, but this is not the limit. For example, the scan length included in the setting information may be the overall scan length L0. In such a configuration, when the measurement line determination unit 42 determines the i-th pipeline scan position Ppi, the measurement line determination unit 42 determines the i-th unit scan end position Pfi such that the distance from the i-th unit scan start position Psi to the i-th unit scan end position Pfi is the overall scan length L0. Similarly, when the measurement line determination unit 42 determines the j-th pipeline scan position Ppj, the measurement line determination unit 42 determines the j-th unit scan end position Pfj such that the distance from the j-th unit scan start position Psj to the j-th unit scan end position Pfj is the overall scan length L0. <Third Modification Example> In the first to third embodiments, the measurement line determination unit 42 determines the pipeline scanning position Pp based on the unit scanning start position Ps and the position and shape of the pipeline, and determines the unit scanning end position Pf based on the pipeline scanning position Pp and the scanning length. However, this is not the limit. For example, the measurement line determination unit 42 may determine the pipeline scanning position Pp based on the unit scanning end position Pf and the position and shape of the pipeline. Then, the measurement line determination unit 42 may determine the unit scanning start position Ps based on the pipeline scanning position Pp and the scanning length.

[0122] <Fourth Modification Example> In the first to third embodiments, when the pipeline is arc-shaped, the measurement line determination unit 42 determines the unit scanning start position Ps as the center O of the circle. However, this is not the limit. For example, the measurement line determination unit 42 may determine the unit scanning end position Pf as the center O of the circle. In such a configuration, the measurement line determination unit 42 may determine the pipeline scanning position Pp based on the unit scanning end position Pf and the position and shape of the pipeline. Then, the measurement line determination unit 42 may determine the unit scanning start position Ps based on the pipeline scanning position Pp and the scanning length.

[0123] <Fifth Modification Example> Unlike the display device 3 of the first embodiment, the display devices 3 of the second and third embodiments may not display the superimposed image.

[0124] <Program> The above-described scanning guide generation devices 4, 4-1, and 4-2 can be realized by a computer 101. Also, a program for causing the scanning guide generation devices 4, 4-1, and 4-2 to function may be provided. Further, the program may be stored in a storage medium or provided through a network. FIG. 14 is a block diagram showing a schematic configuration of a computer 101 that functions as the scanning guide generation devices 4, 4-1, and 4-2, respectively. Here, the computer 101 may be a general-purpose computer, a dedicated computer, a workstation, a PC (Personal Computer), an electronic notebook, or the like. The program instructions may be program codes, code segments, etc. for executing necessary tasks.

[0125] As shown in FIG. 14, the computer 101 includes a processor 110, a ROM (Read Only Memory) 120, a RAM (Random Access Memory) 130, a storage 140, an input unit 150, a display unit 160, and a communication interface (I / F) 170. Each component is communicably connected to each other via a bus 180. Specifically, the processor 110 is a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an SoC (System on a Chip), or the like, and may be configured by a plurality of processors of the same type or different types.

[0126] The processor 110 controls each component and executes various arithmetic processes. That is, the processor 110 reads a program from the ROM 120 or the storage 140 and executes the program using the RAM 130 as a work area. The processor 110 performs control of each of the above components and various arithmetic processes according to the program stored in the ROM 120 or the storage 140. In the above-described embodiment, the program according to the present disclosure is stored in the ROM 120 or the storage 140.

[0127] The program may be stored in a storage medium readable by the computer 101. By using such a storage medium, it is possible to install the program on the computer 101. Here, the storage medium storing the program may be a non-transitory storage medium. The non-transitory storage medium is not particularly limited, and may be, for example, a CD-ROM, a DVD-ROM, a USB (Universal Serial Bus) memory, or the like. Also, the program may be in a form downloaded from an external device via a network.

[0128] The ROM 120 stores various programs and various data. The RAM 130 temporarily stores a program or data as a working area. The storage 140 is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs and various data including an operating system.

[0129] The input unit 150 includes one or more input interfaces that receive a user's input operation and acquire information based on the user's operation. For example, the input unit 150 is a pointing device, a keyboard, a mouse, etc., but is not limited thereto.

[0130] The display unit 160 includes one or more output interfaces that output information. For example, the display unit 160 is a display that outputs information as video, or a speaker that outputs information as audio, but is not limited thereto. Note that when the display unit 160 is a touch panel type display, it also functions as the input unit 150.

[0131] The communication interface (I / F) 170 is an interface for communicating with an external device.

[0132] Regarding the above embodiments, the following additional remarks are disclosed.

[0133] (Supplementary Note 1) A scanning device that moves on the ground surface and scans the subsurface below the ground surface, and a scanning guide generation device, The scanning guide generation device, An input interface that receives an input of pipeline information indicating an assumed position and shape of a pipeline in the subsurface, and setting information indicating conditions of a survey line indicating a path and direction for moving the scanning device on the ground surface, And a control unit, The control unit, Based on the pipeline information and the setting information, determines the survey line, A scanning system that controls a display device that displays a guide line, which is an image indicating the survey line, a projection device that projects the guide line, or a driving device that drives the scanning device. (Supplementary Note 2) The scanning guide generation device further includes a camera that generates a captured image of the ground surface, The control unit generates a superimposed image in which the guide line is superimposed on the captured image based on the position, direction, and orientation of the imaging surface of the imaging unit, and controls the display device to display the superimposed image. The scanning system according to Supplementary Note 1. (Supplementary Note 3) The control unit generates a projection image including the guide line based on the position, direction, and orientation of the image display surface of the projection device, and controls the projection device to project the projection image onto the ground surface. The scanning system according to Supplementary Note 1. (Supplementary Note 4) The control unit controls a driving device that drives the scanning device to move along the survey line. The scanning system according to Supplementary Note 1. (Supplementary Note 5) The setting information includes a scanning length indicating a length for which the scanning device moves on a straight line, a scanning interval indicating an interval in the extending direction of a unit scan in which the scanning device scans while moving on a straight line extending in a direction orthogonal to the extending direction of a pipeline corresponding region obtained by projecting the region of the pipeline in the subsurface onto the ground surface, and an overall scanning start position that is a position at which an overall scan including a plurality of the unit scans starts. Based on the overall scanning start position, the control unit determines a unit scanning start position at which the unit scanning starts, and based on the unit scanning start position, the extending direction of the pipeline indicated by the shape, and the scanning length, determines a unit scanning end position which is the position at which the unit scanning ends, determines the length and direction from the unit scanning start position to the unit scanning end position as the measurement line in the unit scanning, and determines the measurement lines in the unit scanning multiple times based on the scanning interval, thereby determining the measurement lines of the overall scanning including a plurality of the unit scans. The scanning system according to any one of appended claims 1 to 3. (Appended claim 6) An input interface that receives an input of pipeline information indicating the position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a measurement line indicating the path and direction of moving the scanning device on the ground surface, A control unit, The control unit determines the measurement line based on the pipeline information and the setting information, A scanning guide generation device that controls a display device that displays a guide line which is an image indicating the measurement line, a projection device that projects the guide line, or a drive device that drives the scanning device. (Appended claim 7) A step of receiving an input of pipeline information indicating the assumed position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a measurement line indicating the path and direction of moving the scanning device on the ground surface, A step of determining the measurement line based on the pipeline information and the setting information, A step of controlling a display device that displays a guide line which is an image indicating the measurement line, a projection device that projects the guide line, or a drive device that drives the scanning device, A scanning method including. (Appended claim 8) A non-transitory storage medium storing a program executable by a computer, the program causing the computer to function as the scanning guide generation device according to appended claim 6.

[0134] All documents, patent applications, and technical standards described in this specification are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually indicated to be incorporated by reference.

[0135] The above-described embodiments have been described as representative examples, but it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the present disclosure. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications or changes are possible without departing from the scope of the claims. For example, it is possible to combine a plurality of constituent blocks described in the configuration diagrams of the embodiments into one, or to divide one constituent block.

Description of Reference Numerals

[0136] 1 Pipeline management device 2 Scanning device 3 Display device 4, 4-1, 4-2 Scanning guide generation device 5 Projection device 6 Driving device 21 Electromagnetic wave generation unit 22 Antenna 23 Electromagnetic wave reception unit 24 Distance measurement unit 41 Input unit 42 Measurement line determination unit 43 Imaging unit 44 Position detection unit 45 Direction detection unit 46 Attitude detection unit 47 Display control unit 47-1 Projection control unit 47-2 Driving control unit 48 Scanning control unit 49 Scanning information storage unit 100, 100-1, 100-2 Scanning system 101 Computer 110 Processor 120 ROM 130 RAM 140 Storage 150 Input section 160 Output section 170 Communication interface 180 Bus

Claims

1. A scanning system comprising a scanning device that moves on the ground surface and scans the subsurface below the ground surface, and a scanning guide generation device. The scanning guide generation device includes an input unit that receives input of pipeline information indicating an assumed position and shape of a pipeline in the subsurface, and setting information indicating conditions of a survey line indicating a path and direction for moving the scanning device on the ground surface; a survey line determination unit that determines the survey line based on the pipeline information and the setting information; and a device control unit that controls a display device that displays a guide line which is an image indicating the survey line, a projection device that projects the guide line, or a drive device that drives the scanning device to move along the path and in the direction indicated by the survey line.

2. The scanning guide generation device further includes an imaging unit that generates an imaging image of the ground surface. The device control unit generates a superimposed image in which the guide line is superimposed on the imaging image based on the position, direction, and posture of the imaging surface of the imaging unit, and controls the display device to display the superimposed image. The scanning system according to claim 1.

3. The device control unit generates a projection image including the guide line based on the position, direction, and posture of the image display surface of the projection device, and controls the projection device to project the projection image onto the ground surface. The scanning system according to claim 1.

4. The device control unit controls a drive device that drives the scanning device to move along the survey line. The scanning system according to claim 1.

5. The setting information includes a scanning length indicating a length for which the scanning device moves on a straight line, a scanning interval indicating an interval in the extending direction of the pipeline corresponding region projected on the ground surface of the region of the pipeline in the subsurface by the scanning device while the scanning device moves on a straight line extending in a direction orthogonal to the extending direction of the pipeline corresponding region during a unit scan, and an overall scan start position which is a position to start an overall scan including a plurality of the unit scans. The measurement line determination unit determines a unit scan start position at which the unit scan starts based on the overall scan start position, and based on the unit scan start position, the extending direction of the pipeline indicated by the shape, and the scan length, determines a unit scan end position that is the position at which the unit scan ends. Based on the unit scan start position and the unit scan end position, the measurement line in the unit scan is determined, and based on the scan interval, the measurement line in the unit scan is determined a plurality of times, thereby determining the measurement line of the overall scan including a plurality of the unit scans. The scanning system according to any one of claims 1 to 3.

6. An input unit that receives an input of pipeline information indicating the position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a measurement line indicating the path and direction of moving the scanning device; A measurement line determination unit that determines the measurement line based on the pipeline information and the setting information; A device control unit that controls a display device that displays a guide line that is an image indicating the measurement line, a projection device that projects the guide line, or a drive device that drives the scanning device to move along the path and direction indicated by the measurement line. A scanning guide generation device comprising:

7. A step of receiving an input of pipeline information indicating the assumed position and shape of a pipeline in the ground below the ground surface where the scanning device moves, and setting information indicating the conditions of a measurement line indicating the path and direction of moving the scanning device on the ground surface; A step of determining the measurement line based on the pipeline information and the setting information; A step of controlling a display device that displays a guide line that is an image indicating the measurement line, a projection device that projects the guide line, or a drive device that drives the scanning device to move along the path and direction indicated by the measurement line; A scanning method including:

8. A program for causing a computer to function as the scanning guide generation device according to claim 6.

Images