Method for detecting buried pipelines in golf course holes and device used in the method for detecting buried pipelines in golf course holes

Abstract

To provide a method for searching for buried pipelines in golf course holes, which can accurately identify the position of a determined buried pipeline and obtain a map image that can accurately grasp the pipelines buried underground in each hole of the golf course, and to provide a device used for the method for searching for buried pipelines in golf course holes. [Solution] The method for detecting buried pipelines in golf course holes of the present invention includes a landmark identification step, a landmark positioning step, a landmark data storage step, a radar detection movement route determination step, a radar detection device movement step, a radar data storage step, a detection device position data storage step, a buried pipeline determination step, a buried pipeline position identification step, an aerial photography step, an image generation step, and an image output step.

Description

[Technical Field]

[0001] The present invention relates to a method for detecting buried pipelines in golf course holes, which identifies pipelines buried underground in each hole of a golf course, and to an apparatus used in the method for detecting buried pipelines in golf course holes. [Background technology]

[0002] Golf courses often have basic leveling and drainage facilities in place, and even in suburban areas, roads and parking lots are already in place, making them easy to access, and their large areas make large-scale development possible. For these reasons, in recent years, there has been consideration of reusing the developed golf course land for energy facilities such as wind power generation facilities and solar power generation facilities, recreational facilities such as campsites and outdoor sports facilities, and even industrial facilities such as logistics centers, research facilities, plant factories and large-scale greenhouses. However, in many cases, golf courses that are the subject of reuse have been constructed a considerable amount of time ago, and the original design drawings from the time of construction are rarely preserved. In particular, there are almost no design documents remaining regarding buried objects. If buried objects, especially stormwater drainage pipes and water supply pipes, are damaged during excavation or pile driving for reuse, not only will restoration work be required, but reports will also be required to the supervisory authorities and measures to prevent recurrence will be developed, resulting in delays in the process and additional costs. Patent document 1 proposes a buried object detection method including the steps of: performing imaging processing of multiple radar data measured by an underground measuring device; detecting buried objects and characteristic parts different from the buried objects from the imaging processed radar data; calculating alignment information, which is information related to the alignment of multiple radar data, based on the detection results of the characteristic parts; and integrating the detection results of the buried objects using the alignment information. Furthermore, Patent Document 2 proposes an underground radar system that includes an underground radar device that has a self-propelled traveling unit and performs underground exploration of a target area, and a drone that flies above the target area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2025-93758 [Patent Document 2] Japanese Patent Application Laid-Open No. 2024-3679 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the buried object detection method of Patent Document 1, buried objects can be detected more accurately by integrating the buried object detection results from multiple locations with high accuracy, but it takes a considerable amount of time to detect the pipelines buried underground at each hole on a golf course. In the underground radar system of Patent Document 2, the underground radar device acquires its own position information by measuring its own movement amount, and confirms its position based on image data transmitted from the drone. If it is determined that correction of the position information is necessary, it is necessary to correct the data regarding the position recognition related to the understanding of its own position information, which makes it difficult to move the underground radar device quickly. Furthermore, unless it is precisely determined at what position the radar waveform data determined to be that of a buried pipeline was acquired, the correct position of the buried pipeline cannot be identified. In other words, in order to pinpoint the correct location of buried pipes, it is important to match the acquisition timing of the radar waveform data with the probe position data. In particular, golf courses, which have large areas, require the radar probe to move faster, and even at high speeds, the radar waveform data and the probe position data must match. Furthermore, even if the correct location of the buried pipes can be identified, without a map image that can accurately identify the correct location of the buried pipes, it will not be useful when excavating or driving piles to reuse the golf course.

[0005] The present invention aims to provide a method for detecting buried pipelines in golf course holes, which can accurately identify the location of a determined buried pipeline and obtain a map image that can accurately identify the pipelines buried underground in each hole of a golf course, and an apparatus for use in the method for detecting buried pipelines in golf course holes. [Means for solving the problem]

[0006] The method for detecting buried pipelines in golf course holes of the present invention as set forth in claim 1 is a method for detecting buried pipelines in golf course holes for identifying pipelines buried underground in each hole of a golf course, and includes a landmark identifying step for identifying the position of at least one of a manhole, a rainwater inlet, a drain outlet, a faucet, and a faucet cover plate present in the hole as a landmark 2, a landmark positioning step for determining the position of each of the landmarks 2, a landmark data storage step for storing landmark position data determined in the landmark positioning step, a radar detection movement path determination step for determining a ground movement path of a radar detection device 20 relative to the hole, a radar detection device moving step for moving the radar detection device 20 along the ground movement path determined in the radar detection movement path determination step, a radar data storage step for storing radar waveform data and radar waveform acquisition time data in the radar detection device moving step, and a buried pipeline determination step of determining a buried pipeline from the radar waveform data stored in the radar data storage step; a buried pipeline position identification step of extracting the exploration device position acquisition time data that is closest to the radar waveform acquisition time data that corresponds to the radar waveform data from which the buried pipeline was determined in the buried pipeline determination step, and setting the exploration device position data that corresponds to the extracted exploration device position acquisition time data as buried pipeline position data that corresponds to the determined radar waveform data; an aerial photography step of photogrammetrying the hole from above using the landmark 2 as a marker; an image generation step of generating a map image of the aerial photography data acquired in the aerial photography step and the buried pipeline position data identified in the buried pipeline position identification step, using the landmark position data as a reference; and an image output step of outputting the map image generated in the image generation step. The present invention described in claim 2 is characterized in that, in the golf course hole buried pipeline exploration method described in claim 1, the image output step displays a buried pipeline prediction area estimated using the landmark position data and the buried pipeline position data. The present invention described in claim 3 is characterized in that, in the golf course hole buried pipeline exploration method described in claim 2, the landmark identification step identifies the connection direction of the buried pipeline 1 connected to the manhole, the rainwater manhole, the drain outlet, the faucet, and the faucet cover plate, the landmark data storage step stores the connection direction of the buried pipeline 1, and the buried pipeline prediction area displayed in the image output step is estimated using the stored connection direction of the buried pipeline 1 together with the landmark position data and the buried pipeline position data. The present invention described in claim 4 is characterized in that, in the method for detecting buried pipelines in a golf course hole described in claim 1, in the radar detection movement path determination step, the ground movement path is determined using any of the landmarks 2 as a starting point. The present invention as set forth in claim 5 is characterized in that, in the method for detecting buried pipelines in a golf course hole as set forth in claim 1, the computer 40 has a clock unit 41 that acquires time data from an external source or generates it independently, and the time data from the clock unit 41 is used as the radar waveform acquisition time data and also as the detection device position acquisition time data. The present invention as set forth in claim 6 is characterized in that in the method for detecting buried pipelines in golf course holes as set forth in claim 1, in the buried pipeline determination step, the buried depth of the buried pipeline is distinguished and determined, and in the image output step, the buried pipeline position data is output to the map image with the buried depth distinguished. The device of the present invention described in claim 7 is a device used in the method for detecting buried pipelines in a golf course hole described in any one of claims 1 to 6, and is characterized in that it has the radar detection device 20 moved by a traveling means 10, a detection device position acquisition device 30 that acquires the detection device position data of the radar detection device 20, and a computer 40, and the computer 40 stores the radar waveform data and the radar waveform acquisition time data from the radar detection device 20, stores the detection device position data and the detection device position acquisition time data of the radar detection device 20, determines the buried pipeline from the radar waveform data, extracts the detection device position acquisition time data that is closest to the radar waveform acquisition time data corresponding to the radar waveform data from which the buried pipeline was identified, and outputs the detection device position data corresponding to the extracted detection device position acquisition time data as buried pipeline position data corresponding to the determined radar waveform data. [Effects of the Invention]

[0007] According to the method for detecting buried pipelines in golf course holes of the present invention, radar waveform data is stored together with radar waveform acquisition time data, and is also stored together with detection device position data and detection device position acquisition time data.The radar waveform acquisition time data and the detection device position acquisition time data are used to determine the detection device position data corresponding to the determined radar waveform data as buried pipeline position data, thereby accurately identifying the position of the determined buried pipeline.By matching the aerial photography data with the buried pipeline position data using landmarks as markers, a map image can be obtained that accurately shows the pipelines buried underground in each hole of the golf course. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a flowchart illustrating a method for detecting buried pipelines in golf course holes according to an embodiment of the present invention; [Figure 2] A block diagram showing the function realization means of the device used in the golf course hole buried pipe line detection method. [Figure 3]Photographs showing the traveling vehicle and radar detection device used in the method for detecting buried pipelines in golf course holes [Figure 4] Photograph showing a hole in a golf course according to this embodiment [Figure 5] Radar waveform data [Figure 6] FIG. 10 is a diagram showing the position data of the radar detection device and the time data of the time when the position of the radar detection device was acquired; [Figure 7] Image of the map DETAILED DESCRIPTION OF THE INVENTION

[0009] A method for detecting buried pipelines in a golf course hole according to a first embodiment of the present invention includes a landmark identifying step for identifying the position of at least one of a manhole, a rainwater inlet, a drain outlet, a faucet, and a faucet cover plate present in the hole as a landmark, a landmark positioning step for determining the position of each landmark, a landmark data storage step for storing landmark position data determined in the landmark positioning step, a radar detection movement path determination step for determining a ground movement path of a radar detection device relative to the hole, a radar detection device moving step for moving the radar detection device along the ground movement path determined in the radar detection movement path determination step, a radar data storage step for storing radar waveform data and radar waveform acquisition time data in the radar detection device moving step, and a radar data storage step for storing the detection device position data of the radar detection device and the detection device position data of the radar detection device in the radar detection device moving step. a buried pipeline determination step of determining a buried pipeline from the radar waveform data stored in the radar data storage step; a buried pipeline position identification step of extracting the probe device position acquisition time data that is closest to the radar waveform acquisition time data that corresponds to the radar waveform data from which a buried pipeline was determined in the buried pipeline determination step, and setting the probe device position data that corresponds to the extracted probe device position acquisition time data as the buried pipeline position data that corresponds to the determined radar waveform data; an aerial photography step of photogrammetrying the hole from above using landmarks as markers; an image generation step of generating a map image using the landmark position data as a reference, the aerial photography data acquired in the aerial photography step, and the buried pipeline position data identified in the buried pipeline position identification step; and an image output step of outputting the map image generated in the image generation step. According to this embodiment, radar waveform data is stored together with radar waveform acquisition time data, and is also stored together with exploration device position data and exploration device position acquisition time data. Using the radar waveform acquisition time data and the exploration device position acquisition time data, the exploration device position data corresponding to the determined radar waveform data is used as buried pipeline position data, thereby making it possible to accurately identify the determined position of the buried pipeline. By matching the aerial photography data with the buried pipeline position data using landmarks as markers, it is possible to obtain a map image that accurately shows the pipelines buried underground at each hole of the golf course.

[0010] The second embodiment of the present invention is a method for detecting buried pipelines in golf course holes according to the first embodiment, in which the image output step displays a predicted buried pipeline area estimated using landmark position data and buried pipeline position data. According to this embodiment, the buried pipeline predicted area is estimated using landmark position data and buried pipeline position data, thereby making it possible to grasp the buried pipeline more accurately.

[0011] A third embodiment of the present invention is a method for exploring buried pipelines in a golf course hole according to the second embodiment, in which the landmark identification step identifies the connection direction of buried pipes connected to manholes, rainwater manholes, drain outlets, faucets, and faucet cover plates, the landmark data storage step stores the connection direction of the buried pipes, and the buried pipeline prediction area displayed in the image output step is estimated using the stored connection direction of the buried pipes together with the landmark position data and the buried pipeline position data. According to this embodiment, the buried pipeline can be identified more accurately by estimating the buried pipeline predicted area using the connection direction of the buried pipeline together with the landmark position data and the buried pipeline position data.

[0012] In a fourth embodiment of the present invention, in the method for inspecting buried pipelines in a golf course hole according to the first embodiment, the radar inspection movement path determination step determines a ground movement path starting from any landmark. According to this embodiment, buried pipelines can be identified more accurately.

[0013] The fifth embodiment of the present invention is a method for detecting buried pipelines in golf course holes according to the first embodiment, in which the computer has a clock unit that acquires time data from an external source or generates it independently, and the time data from the clock unit is used as radar waveform acquisition time data and as detection device position acquisition time data. According to this embodiment, the time data from the clock unit is used as the radar waveform acquisition time data and as the probe device position acquisition time data, so that the buried pipeline position can be identified with less error. Therefore, the radar probe device can be moved faster, and the probe time can be shortened.

[0014] The sixth embodiment of the present invention is a method for detecting buried pipelines in golf course holes according to the first embodiment, in which the buried pipeline determination step distinguishes and determines the buried depth of the buried pipeline, and in the image output step, buried pipeline position data is output on a map image distinguishing the buried depth. According to this embodiment, it is possible to distinguish between pipes that are buried for different purposes and pipes that are buried at different depths, which allows for more accurate estimation of buried pipelines and can also be useful in construction work when holes are reused.

[0015] A seventh embodiment of the present invention is an apparatus used in a method for detecting buried pipelines in a golf course hole according to any one of the first to sixth embodiments, and comprises a radar detection device that moves by a traveling means, a detection device position acquisition device that acquires detection device position data of the radar detection device, and a computer, wherein the computer stores radar waveform data and radar waveform acquisition time data from the radar detection device, stores detection device position data and detection device position acquisition time data of the radar detection device, determines a buried pipeline from the radar waveform data, extracts the detection device position acquisition time data that is closest to the radar waveform acquisition time data that corresponds to the radar waveform data from which the buried pipeline was determined, and outputs the detection device position data that corresponds to the extracted detection device position acquisition time data as buried pipeline position data that corresponds to the determined radar waveform data. According to this embodiment, the determined position of the buried pipeline can be accurately identified. [Example]

[0016] A method for detecting buried pipelines in a golf course hole according to one embodiment of the present invention will now be described. FIG. 1 is a flowchart showing a method for detecting buried pipelines in a golf course hole according to this embodiment. First, the position of at least one of a manhole, a rainwater inlet, a drain outlet, a faucet, and a faucet cover plate present in the hall is identified as a landmark 2 (see FIG. 2) (S1) (landmark identification step). In S1, for example, the target hole is divided into multiple areas, and the approximate location, type and shape of landmark 2 for each area are entered on a prepared drawing. Landmark 2 can also be identified from existing aerial photographs. When identifying landmark 2 from existing aerial photographs, it can be detected using image recognition technology or AI. In S1, it is preferable to identify the connection direction of the buried pipe 1 (see FIG. 2) connected to the manhole, the rainwater inlet, the drain outlet, the faucet, and the faucet cover plate.

[0017] For the landmark 2 identified in S1, the position of the landmark 2 is measured (S2) (landmark positioning step). The position of landmark 2 can be determined using signals from the satellite positioning system "GNSS (Global Navigation Satellite System)" or the American satellite positioning system "GPS (Global Positioning System)." In the case of manholes or storm water inlets, the latitude and longitude of the center of the manhole or storm water inlet is taken as the position of landmark 2. S2 may be performed after S1 is completed, or may be performed together with S1. The landmark position data measured in S2 is stored (S3) (landmark data storage step). In S3, the landmark position data is stored in the computer 40 (see FIG. 2) together with landmark identification data that identifies each landmark 2. Furthermore, in S1, when the connection direction of the buried pipe 1 is identified, data on the connection direction of the buried pipe 1 is stored.

[0018] Next, a ground movement path for the radar exploration device 20 (see FIG. 2) is determined for the hole (S4) (radar exploration movement path determination step). Note that multiple types of ground movement paths can be determined depending on the traveling means 10 (see FIG. 2) that moves the radar exploration device 20. For example, when a vehicle or a self-propelled robot is used as the traveling means 10, it is preferable to use a handheld traveling means 10 in places where it is difficult for the vehicle or self-propelled robot to travel. The ground travel route is determined so that the route intervals are a predetermined interval (for example, 5 m intervals). When determining the route, it is preferable to include the positions of landmarks 2 in the route, and it is preferable to set one of the landmarks 2 as the start or end point of the ground travel route. By including the position of one of the landmarks 2 in the route as the start or end point, the buried pipeline can be identified more accurately. In addition, the flight path of the drone 50 (see FIG. 2) relative to the hole is determined (S5) (flight path determination step). In S5, it is preferable to determine a plurality of flight paths so that the same point can be photographed multiple times, provided that the marking position can be photographed.

[0019] The radar detection device 20 is moved along the ground movement path determined in S4 (S6) (radar detection device moving step). Then, during the movement in S6, radar exploration is performed by the radar exploration device 20 (S7), and radar waveform data is acquired at unit time intervals. The acquired radar waveform data is stored (S9) together with time data (S8) output from the clock unit (radar data storage step). In S9, the time data output at the timing of acquisition of the radar waveform data becomes radar waveform acquisition time data. Meanwhile, during movement in S6, the probe device position acquisition device 30 (see FIG. 2) acquires position information (e.g., GNSS reception) (S10) to acquire probe device position data at unit time intervals. Note that the unit time interval for acquiring probe device position data does not necessarily match the unit time interval for acquiring radar waveform data. The acquired probe device position data is stored (S11) (probe device position data storage step) together with time data (S8) output from the clock unit 41 (see FIG. 2). In S11, the time data output at the timing of acquisition of the probe device position data becomes probe device position acquisition time data.

[0020] A buried pipeline is determined from the radar waveform data stored in S9 (S12) (buried pipeline determination step). In S12, it is preferable to distinguish and determine the buried depth of the buried pipeline. After the determination in S12, the position of the buried pipeline is identified (S13) (buried pipeline position identifying step). In S13, the detection device position acquisition time data that is closest to the radar waveform acquisition time data corresponding to the radar waveform data for which a buried pipeline was determined in S12 is extracted, and the detection device position data corresponding to the extracted detection device position acquisition time data is set as the buried pipeline position data corresponding to the determined radar waveform data. In this way, by using the time data from the clock unit 41 as radar waveform acquisition time data and as exploration device position acquisition time data, the buried pipeline position can be identified with less error. Therefore, the radar exploration device 20 can be moved faster, and the exploration time can be shortened.

[0021] Meanwhile, the drone 50 is flown along the flight path determined in S5 (S14) (drone flight step). Prior to the flight in S14, a marker is placed on the landmark 2. Then, during the flight in S14, photogrammetry of the hall is performed from above using a survey camera 60 (see FIG. 2) to acquire aerial photography data (S15) (aerial photography step). The aerial photography data includes markers attached to the landmarks 2. The acquired aerial photography data including the markers is stored in the computer 40 (S16) (aerial photography data storage step).

[0022] A map image is generated using the buried pipe positions identified in S13 and the aerial photography data stored in S16 (S17) (image generation step). In S17, the aerial photography data acquired in S15 and the buried pipeline position data identified in S13 are used as a reference to generate a map image. The map image generated in S17 is output as a CAD image having contour lines, a digital elevation model image, an orthomosaic image, or the like (S18) (image output step). In S18, it is preferable to display a buried pipeline predicted area estimated using the landmark position data and the buried pipeline position data. Since buried pipelines are basically continuous lines, the buried pipeline predicted area is displayed as a band with a predetermined width along the buried pipeline. In this way, by estimating the buried pipeline predicted area using landmark position data and buried pipeline position data, buried pipelines can be identified more accurately. Furthermore, when data on the connection direction of the buried pipe 1 is stored, it is preferable to estimate the buried pipeline predicted area using the landmark position data and the buried pipeline position data as well as the connection direction of the buried pipe 1. By estimating the buried pipeline predicted area using the connection direction of the buried pipe 1 together with the landmark position data and the buried pipeline position data, the buried pipeline can be identified more accurately. In addition, in S18, it is preferable to output buried pipeline position data by distinguishing between buried depths. Being able to distinguish between pipes buried for different purposes and pipes buried at different depths allows for more accurate estimation of buried pipelines and can also be useful in construction work when holes are reused.

[0023] FIG. 2 is a block diagram showing the function realization means of the device used in the method for detecting buried pipelines in golf course holes according to this embodiment. The device used in the method for detecting buried pipelines in golf course holes according to this embodiment includes a radar detection device 20 that moves by a traveling means 10, a detection device position acquisition device 30 that acquires detection device position data of the radar detection device 20, and a computer 40. The exploration device position acquisition device 30 moves together with the radar exploration device 20 by the traveling means 10. The radar exploration device 20 comprises a transmitter 21 that transmits radar signals underground, a receiver 22 that receives reflected waves from underground, an encoder 23 that transmits pulses at predetermined intervals, a control unit 24 that controls the transmitter 21 and receiver 22 and links time data with the pulse timing of the encoder 23, and a power supply unit 25 that supplies power to the control unit 24, and determines the buried pipeline 1 based on the radar waveform data received by the receiver 22. The exploration device position acquisition device 30 includes an antenna 31 that receives signals from a satellite system, a GNSS module 32 that identifies the position from the signals received by the antenna 31, and a power supply unit 33 that supplies power to the GNSS module 32.

[0024] The computer 40 has a clock unit 41, a radar waveform data storage unit 42a, an exploration device position data storage unit 42b, a buried pipeline determination unit 43, a buried pipeline position identification unit 44, a map image generation unit 45, and a map image output unit 46. The clock unit 41 acquires time data from an external source or generates it independently. The time data from the clock unit 41 is used as radar waveform acquisition time data and as exploration device position acquisition time data. The radar waveform data storage unit 42a stores radar waveform data from the radar exploration device 20 and radar waveform acquisition time data. The exploration device position data storage unit 42b stores the exploration device position data of the radar exploration device 20 and the exploration device position acquisition time data. The buried pipeline determination unit 43 determines whether the pipeline is buried or not from the radar waveform data. The buried pipeline position identification unit 44 extracts the exploration device position acquisition time data that is closest to the radar waveform acquisition time data corresponding to the radar waveform data from which the buried pipeline 1 has been determined, and outputs the exploration device position data corresponding to the extracted exploration device position acquisition time data as the buried pipeline position data corresponding to the determined radar waveform data.

[0025] It is preferable that the device used in the method for detecting buried pipelines in golf course holes further includes, in the computer 40, an aerial photography data storage unit 42c and a landmark storage unit 42d. The aerial photography data storage unit 42c stores the acquired aerial photography data including the markers. The aerial photography data is acquired by photogrammetry using a surveying camera 60 mounted on the drone 50. The landmark storage unit 42d stores landmark position data together with landmark identification data for at least one landmark 2 of a manhole, a rainwater inlet, a drain outlet, a faucet, and a faucet cover plate present in the hall.

[0026] FIG. 3 is a photograph showing the traveling means and radar detection device used in the method for detecting buried pipelines in golf course holes according to this embodiment. In FIG. 3( a ), the traveling means 10 is a self-propelled robot equipped with a radar exploration device 20 and an exploration device position acquisition device 30 . In Fig. 3(b), a vehicle is used as the traveling means 10, and the radar exploration device 20 is towed by the vehicle. Note that Fig. 3(b) shows a case where three radar exploration devices 20 are provided. In this way, multiple radar exploration devices 20 can also be used. Detection accuracy can be improved by using multiple radar detection devices 20. In addition, by increasing the intervals between multiple radar detection devices 20, the vehicle travel distance can be reduced, and the detection time can be shortened.

[0027] FIG. 4 is a photograph showing a golf course hole according to this embodiment. Figure 4(a) shows the entire hall, Figure 4(b) is an enlarged photograph of the area enclosed by the small square in Figure 4(a), Figure 4(c) is an enlarged photograph of the area enclosed by the large square in Figure 4(a), Figure 4(d) is a photograph showing the rainwater manhole, Figure 4(e) is a photograph showing the drain outlet, and Figure 4(f) is a photograph showing manhole f. Figure 4(b) shows the sprinkler faucet and water tap cover plate, and Figure 4(c) shows eight rainwater manholes. In this way, golf course holes have manholes, rainwater inlets, drains, faucets, and faucet cover plates, which can be used as landmarks 2.

[0028] Figure 5 shows the radar waveform data. FIG. 5 shows radar waveform data obtained by three radar detection devices 20, and the buried pipe 1 is determined at the position indicated by the downward arrow. The radar waveform acquisition time data corresponding to the radar waveform data in which buried pipe 1 was identified is "00:7:12.880".

[0029] FIG. 6 shows the radar detection device's position data and the time data when the radar detection device's position was acquired. The probe device position acquisition time data closest to the radar waveform acquisition time data is "00:7:12.902", and the probe device position data corresponding to the probe device position acquisition time data "00:7:12.902" is latitude "33.260360712" and longitude "131.680261923". Therefore, the buried pipeline position where buried pipe 1 is determined in FIG. 6 is identified as latitude "33.260360712" and longitude "131.680261923". For example, when traveling at 40 km / h, a 0.1 second difference in the acquisition timing between the radar waveform data and the probe device position data will result in an error of 112 cm. Therefore, as shown in this embodiment, by using the time data from the clock unit 41 as radar waveform acquisition time data and probe device position acquisition time data, the error can be reduced to as close to zero as possible, allowing the radar probe device 20 to move faster.

[0030] FIG. 7 shows an image of a map image, where FIG. 7(a) shows the search range and FIG. 7(b) shows an image output. 7, P1 to P4 and S1 to S7 indicate landmarks 2, red and white lines indicate the predicted buried pipeline area, and white square marks and red circle marks indicate the identified buried pipeline positions. Furthermore, by indicating buried pipelines of different diameters, for example, using red lines and red circle marks, and white lines and white square marks, it is possible to distinguish between pipes buried for different purposes or pipes buried at different depths, which allows for more accurate estimation of buried pipelines and can also be useful for construction work when the hall is reused.

[0031] As described above, according to this embodiment, radar waveform data is stored together with radar waveform acquisition time data, and is also stored together with exploration device position data and exploration device position acquisition time data. Using the radar waveform acquisition time data and the exploration device position acquisition time data, the exploration device position data corresponding to the determined radar waveform data is set as buried pipeline position data, thereby making it possible to accurately identify the determined position of the buried pipeline. By matching the aerial photography data with the buried pipeline position data using landmark 2 as a marker, it is possible to obtain a map image that accurately shows the pipelines buried underground at each hole of the golf course. [Industrial Applicability]

[0032] The present invention is suitable for a method for detecting buried pipelines in golf course holes that identifies the pipelines buried underground in each hole of a golf course, but can also be applied to detecting buried pipelines in land where at least one of manholes, rainwater manholes, drains, faucets, and faucet cover plates that can be identified as landmarks 2 has been installed and where aerial photography is possible. [Explanation of symbols]

[0033] 1 Buried piping 2. Landmarks 10. Means of transportation 20 Radar detection equipment 21 Communications Department 22 Receiving unit 23 Encoder 24 Control Unit 25, 33 Power supply section 30. Exploration device position acquisition device 31 Antenna 32 GNSS modules 40 Computer 41 Clock section 42a Radar waveform data storage unit 42b Probe position data storage unit 42c Aerial photography data storage unit 42d Landmark Memory Section 43 Buried pipeline determination section 44 Buried pipeline location identification part 45 Map image generation unit 46 Map image output section 50 Drones 60 Survey Camera

Claims

1. A method for detecting buried pipelines in golf course holes, which identifies pipelines buried underground in each hole of a golf course, a landmark specifying step of specifying, as a landmark, the position of at least one of a manhole, a rainwater inlet, a drain outlet, a faucet, and a faucet cover plate present in the hole; a landmark positioning step of positioning the position of each of the landmarks; a landmark data storage step of storing landmark position data measured in the landmark positioning step; a radar detection movement path determination step of determining a ground movement path of a radar detection device relative to the hole; a radar exploration device moving step of moving the radar exploration device along the ground movement path determined in the radar exploration movement path determining step; a radar data storage step of storing radar waveform data and radar waveform acquisition time data in the radar exploration device moving step; a detection device position data storage step of storing detection device position data and detection device position acquisition time data of the radar detection device in the radar detection device moving step; a buried pipeline determination step of determining a buried pipeline from the radar waveform data stored in the radar data storage step; a buried pipeline position specifying step of extracting the exploration device position acquisition time data that is closest to the radar waveform acquisition time data corresponding to the radar waveform data for which the buried pipeline was determined in the buried pipeline determination step, and setting the exploration device position data corresponding to the extracted exploration device position acquisition time data as buried pipeline position data corresponding to the determined radar waveform data; an aerial photography step of photogrammetry of the hall from above using the landmark as a marker; an image generation step of generating a map image based on the landmark position data and the aerial photography data acquired in the aerial photography step and the buried pipeline position data identified in the buried pipeline position identification step; an image output step of outputting the map image generated in the image generation step; have A method for detecting buried pipelines in golf course holes.

2. In the image output step, A buried pipeline predicted area is displayed, which is estimated using the landmark position data and the buried pipeline position data.

2. The method for detecting buried pipelines in a golf course hole according to claim 1.

3. In the landmark identification step, Identifying the connection directions of the buried pipes connected to the manhole, the rainwater inlet, the drain outlet, the faucet, and the faucet cover plate; In the landmark data storage step, storing the connection direction of the buried pipe; The buried pipeline predicted area displayed in the image output step is The connection direction of the buried pipe that has been stored is estimated using the landmark position data and the buried pipe line position data.

3. The method for detecting buried pipelines in a golf course hole according to claim 2.

4. In the radar detection movement path determination step, The ground movement path is determined using any one of the landmarks as a starting point.

2. The method for detecting buried pipelines in a golf course hole according to claim 1.

5. The computer A clock unit that acquires time data from an external source or generates time data independently, The time data from the clock unit is used as the radar waveform acquisition time data and the exploration device position acquisition time data.

2. The method for detecting buried pipelines in a golf course hole according to claim 1.

6. In the buried pipeline determination step, distinguishing and determining the buried depth of the buried pipeline; In the image output step, The buried pipeline position data is output on the map image while distinguishing the buried depth.

2. The method for detecting buried pipelines in a golf course hole according to claim 1.

7. 7. A device used in the method for detecting buried pipelines in a golf course hole according to claim 1, The radar detection device is moved by a traveling means; a detection device position acquisition device that acquires the detection device position data of the radar detection device; Computer and and The computer storing the radar waveform data and the radar waveform acquisition time data obtained by the radar exploration device; storing the position data of the radar detection device and the time data of the time when the position of the radar detection device was acquired; determining the buried pipeline from the radar waveform data; The probe device position acquisition time data that is closest to the radar waveform acquisition time data corresponding to the radar waveform data for which the buried pipeline was determined is extracted, and the probe device position data corresponding to the extracted probe device position acquisition time data is output as buried pipeline position data corresponding to the determined radar waveform data. An apparatus characterized in that

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