Duplicate status determination device, method, and program

Abstract

To provide an underground duplication state determination device, method and computer program, capable of accurately displaying an underground structure.SOLUTION: A duplication state discrimination device comprises: a duplication determination unit that inputs positioning information and road photographs, where a duplication determination unit determines whether a pair of radar data is duplicated; and an identical structure discrimination unit that when there is no duplication, displays the result of a detection unit, and when there is a duplication state, inputs a duplication area of the duplication determination unit, and object position coordinates and positioning information of the detection unit, where the identical structure discrimination unit determines whether a duplication area detection target is an identical structure, and integrates and displays the discrimination result as input with a display processing unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a technique for determining the state of detected underground structures. In particular, it relates to a technique for determining an overlapping state. Note that structures widely include objects such as devices and facilities, and some of them are present underground or in the ground.

Background Art

[0002] Currently, due to the aging of underground infrastructure, there is a need for underground surveys for its maintenance and replacement. As a result of this underground survey, an underground map visualizing the underground structure including underground structures can be created, and a service for providing this to customers can be realized. Here, in the underground survey, when the same location such as the same road is detected (scanned) multiple times, the same structure may be detected multiple times. If this result is displayed as it is on the underground map, a problem occurs that the same structure is displayed repeatedly. In order to solve this problem, it is necessary to manually remove the overlapping detection results.

[0003] Therefore, in Patent Document 1, a technique is disclosed in which, based on a region corresponding to a detection target of an image generated based on data measured by a ground penetrating radar device in the past, the position where the detection target is estimated to appear in the currently generated image is shown to the user.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Patent Document 1 describes a display system that displays the region corresponding to the detected object in the currently generated image, which is identified from the region corresponding to the detected object in the image generated based on data previously measured by a ground-penetrating radar device that moves sequentially along multiple lines on the ground. Furthermore, Patent Document 1 displays in different ways in the currently generated image the regions where the regions corresponding to the detected object in each of the images generated based on data previously measured by the radar device moving along multiple lines overlap and the regions where they do not overlap. Structures that appear in the region where the regions corresponding to the detected object overlap are described as common detected objects.

[0006] However, due to positioning errors and adjacent objects, overlapping areas in multiple measurements are not limited to the same structure. Thus, it is difficult to distinguish the same structure in Patent Document 1. Therefore, the present invention aims to more accurately determine the state of underground structures, particularly the overlapping state. [Means for solving the problem]

[0007] To solve the above problems, the state of the measured underground structure is determined based on multiple location information and overlapping areas in different coordinate systems during underground surveys. More preferably, the multiple location information includes global location information such as positioning information and local location information such as position coordinates.

[0008] A typical aspect of the present invention is an overlap state determination device for determining the overlap state of underground structures in underground surveys, comprising: an input unit that receives a plurality of measurement data measured by an underground condition measuring device; an overlap determination unit that identifies overlapping regions in a plurality of radar data indicating underground conditions included in the measurement data; and a same structure determination unit that determines the overlap state of underground structures included in the plurality of measurement data based on the overlapping regions and a plurality of positional information in different coordinate systems identified by the measurement data. The multiple location information in different coordinate systems is global location information, namely positioning information and local location information, identified from the radar data. The overlap determination unit uses the physical size of the multiple radar data to determine if there is an overlapping region where multiple regions overlap. If an overlapping region exists, the identical structure determination unit uses the multiple location information to determine whether the size of the overlapping region satisfies the size of the underground structure and predetermined conditions, thereby determining whether the underground structure is located within the overlapping region. If the underground structure is located within the overlapping region, the unit determines, based on the measurement data and the location information, whether each of the underground structures is the same structure. This invention is a duplicate state determination device. The present invention also includes a duplicate state determination method using the duplicate state determination device. Furthermore, the present invention includes a program for causing the duplicate state determination device to function as a computer and a storage medium for storing it. [Effects of the Invention]

[0009] According to the present invention, it becomes possible to more accurately determine the condition of underground structures. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments. [Brief explanation of the drawing]

[0010] [Figure 1] Functional block diagram of the duplicate state determination device and vehicle in Example 1 [Figure 2] Hardware configuration diagram of the duplicate status discrimination device in Example 1 [Figure 3] Flowchart of the processing of the duplicate state determination device in Example 1 [Figure 4] A diagram illustrating the measurement data obtained in step S1 in Example 1. [Figure 5] Flowchart showing the duplicate detection process in step S2 in Example 1 [Figure 6] Flowchart showing the process of identifying identical structures in step S5 of Example 1. [Figure 7] Flowchart showing the display process in step S6 of Example 1 [Figure 8] Figure showing the display content of the display unit in Example 1. [Figure 9] Hardware configuration diagram of the in-vehicle terminal in Example 2 [Figure 10] Hardware configuration diagram of the user terminal in Example 3 [Modes for carrying out the invention]

[0011] One embodiment of the present invention is described below. In this embodiment, the underground condition measuring device measures (scans) the underground multiple times to measure the underground condition. Then, the overlapping condition discrimination device uses multiple positional information in different coordinate systems from the underground survey and overlapping areas based on the underground condition to determine the overlapping state of the measured underground structures.

[0012] Note that the determination of the overlapping state in this embodiment is a determination in the overlapping state on the data, and means determining whether the data of the underground structures in each of the plurality of measurement data are the same underground structure.

[0013] According to this embodiment, the overlapping state of the underground structure can be determined more accurately. Hereinafter, each example which is a more specific example of this embodiment will be described. In each example, the underground state measuring device will be described as an embodiment mounted on a vehicle. However, the measurement of the underground state may be performed by a portable device other than the vehicle or a device provided on other moving means, or the underground state may be measured by the moving means itself.

Example

[0014] In Example 1, a vehicle 2 which is an example of the underground state measuring device and the overlapping state determination device 1 cooperate to determine the overlapping state of the underground structure. That is, the vehicle 2 measures the positioning information, position coordinates, and underground state in the underground survey, and the overlapping state determination device 1 determines the overlapping state of the underground structure based on the overlapping area corresponding to the positioning information, position coordinates, and underground state. Hereinafter, the details will be described.

[0015] First, the configuration of this example will be described. FIG. 1 is a functional block diagram of the overlapping state determination device 1 and the vehicle 2 in Example 1. Hereinafter, first, the outline of the functions of each device will be described, and then the configuration of each device will be described. First, the overlapping state determination device 1 processes the radar data included in the plurality of measurement data executed by the vehicle 2 to determine the overlapping state of the underground structure and displays this. For this purpose, the overlapping state determination device 1 receives, for example, measurement data including radar data and positioning information from the vehicle 2. Then, the overlapping state determination device 1 performs the determination of the overlapping state based on the overlapping area corresponding to the radar data, the position coordinates, and the positioning information.

[0016] In addition, the vehicle 2 measures the ground multiple times as measurement data to obtain the measurement data. Further, the vehicle 2 obtains a plurality of position information in different coordinate systems. For this purpose, the vehicle 2 continuously measures the ground, that is, the underground space and the road surface, and the position coordinates by the measuring device 24 to obtain the measurement data. Specifically, the measuring device 24 is provided with a ground penetrating radar, a camera, and a positioning sensor. Among these, a plurality of ground penetrating radars are provided in the width direction of the vehicle 2, and the ground penetrating radar irradiates the ground in the downward direction to continuously measure the underground space, that is, the ground, and obtains radar data. This radar data may also be sent to the database 6 by the radar data processing unit 23, or may be directly sent to the duplicate state discrimination device 1. It is possible to specify the position coordinates, which are the ground state and the position information in the local coordinate system, from the radar data. Also, the positioning sensor provided in the measuring device 24 continuously measures the positioning information, which is the position information of the vehicle 2. Then, the duplicate state discrimination device 1 obtains the positioning information processed by the positioning data processing unit 21. For this purpose, the positioning data processing unit 21 may send the positioning information to the database 6 described later, or may directly send it to the duplicate state discrimination device 1. Here, the positioning sensor can be realized by a GPS (Global Positioning System) sensor or a gyro, and obtains the positioning information, which is the position information in the global coordinate system.

[0017] Also, the camera provided in the measuring device 24 continuously photographs the road surface. Then, the photographed image (hereinafter, may be referred to as the road surface data 113 (see FIG. 4)) is sent to the duplicate state discrimination device 1 by the camera data processing unit 22. The photographed image may also be sent to the database 6 by the camera data processing unit 22, or may be directly sent to the duplicate state discrimination device 1.

[0018] Next, the configuration of each device shown in Figure 1 will be explained. First, the overlap state determination device 1 comprises an overlap determination unit 11, a detection unit 12, a same structure determination unit 13, a display processing unit 14, and a display unit 15. First, the overlap determination unit 11 determines whether there are overlapping regions in the multiple radar data sent from the vehicle 2. Then, the overlap determination unit 11 sends this determination result to the detection unit 12 and the same structure determination unit 13. In particular, if the overlap determination unit 11 determines that there are overlapping regions, it identifies the overlapping regions and sends them to the same structure determination unit 13.

[0019] Furthermore, the detection unit 12 detects the position coordinates of underground structures based on multiple radar data. If the overlap determination unit 11 determines that there is an overlap, the detection unit 12 sends the position coordinates to the identical structure determination unit 13. If the overlap determination unit 11 determines that there is no overlap, the detected position coordinates are sent to the display unit 15.

[0020] Furthermore, if the duplicate determination unit 11 determines that there is a duplicate, the identical structure determination unit 13 sends the determination result to the display processing unit 14 based on the duplicate area identified by the duplicate determination unit 11, the position coordinates detected from the detection unit 12, and the positioning information.

[0021] The display processing unit 14 outputs the display content based on the determination result of the identical structure determination unit 13. Details of the processing of the display processing unit 14 will be described later in Figure 7. The display unit 15 displays the result of the display processing unit 14 or the detection unit 12 on the display device.

[0022] In this embodiment, positioning information and position coordinates are used as multiple positional information in different coordinate systems, but the present invention is not limited to these. Also, in this embodiment, the duplicate state determination device 1 detects the position coordinates, but they may be detected by the vehicle 2 and received by the duplicate state determination device 1. Furthermore, positioning information may also be detected by the duplicate state determination device 1.

[0023] Furthermore, although not shown in the diagram, it is desirable to provide an input unit 10 in the duplicate state determination device 1. In this case, the input unit 10 will receive measurement data from the vehicle 2 and send it to the duplicate determination unit 11 and the detection unit 12.

[0024] Next, an implementation example for realizing the functional blocks described above will be explained. In this embodiment, the duplicate state determination device 1 is implemented as a so-called cloud system (server). Figure 2 is a hardware configuration diagram of the duplicate state determination device 1 in Embodiment 1. The duplicate state determination device 1 can be implemented as a so-called computer and includes a storage device 41, a CPU (Central Processing Unit) 42, memory 43, and a communication device 44. The storage device 41 stores the duplicate determination program 101, the detection program 102, the identical structure determination program 103, and the display processing program 104. The programs may be recorded on a storage medium MM such as a USB (Universal Serial Bus) memory. Each of these programs is a program that realizes the functions of the duplicate determination unit 11, the detection unit 12, the identical structure determination unit 13, and the display processing unit 14 through calculations performed by the CPU 42. The functions of each program will be described later using flowcharts.

[0025] The CPU 42 is an example of a processor (arithmetic unit) that implements each function by reading programs 101 to 104 from the storage device 41 into memory 43 and executing them. Memory 43 is a volatile storage medium such as RAM (Random Access Memory), where programs and various information and data are stored for calculations by the CPU 42. The communication device 44 is connected to the user terminal 5, which is equipped with a vehicle 2, a database 6, and a display device 51, via a network 45, enabling bidirectional communication. The display device 105 is a type of output device that outputs calculation results from the duplicate status determination device 1. For this reason, the display device 105 can be implemented as a monitor or a touch panel. However, the display device 105 is optional. Furthermore, the duplicate status determination device 1 may have an input device such as a keyboard or mouse for user operation. The display device 105 and the input device may be implemented as an integrated unit, such as a touch panel.

[0026] Data transfer between programs 101 to 104 may be performed by the CPU 42 via memory 43 or storage device 41, etc. The communication device 44 of the duplicate state determination device 1 may perform wireless communication or wired communication.

[0027] Furthermore, the user terminal 5 can be a personal computer, such as a tablet, smartphone, or PC. The user terminal 5 may also be a personal computer equipped with the monitor for the display device 51. The display device 51 may be implemented in a separate enclosure from the user terminal 5.

[0028] Furthermore, database 6 stores the aforementioned measurement data and map information of the area where the underground survey is to be conducted. Therefore, vehicle 2 saves the measurement data to database 6, and the duplicate status determination device 1 reads it and performs various processes. In this embodiment, the duplicate status determination device 1 acquires the measurement data stored in database 6. However, the measurement data and map information may also be stored in the storage device 41. In this case, the measurement data may be transmitted from vehicle 2 to the duplicate status determination device 1. Here, the data transfer of measurement data from vehicle 2 to database 6 may be processed sequentially via network 45 or performed in batch processing. Furthermore, the measurement data may be deployed offline via a storage medium or the like. Note that database 6 may be configured to be included in a database server or to be included in the duplicate status determination device 1. The duplicate status determination device 1 and the display device 51 may be connected via a display interface such as an RGB (Red Green Blue) cable.

[0029] Furthermore, the network 45 can be implemented via the internet or similar means, and has the function of connecting the duplicate status determination device 1, the vehicle 2, the user terminal 5, and the database 6 to each other. In Figure 2, the duplicate status determination device 1, the vehicle 2, the user terminal 5, the database 6, and the network 45 are each shown singly, but there may be multiple instances of each.

[0030] This concludes the explanation of the configuration of this embodiment, and the processing of this embodiment will now be explained using a flowchart. The following describes the processing of the duplicate state determination device 1, but as a prerequisite, the vehicle 2 measures measurement data and stores it in the database 6. As described above, in this embodiment, radar data, positioning information, and road surface photographs are used as measurement data.

[0031] The flowchart will be explained step by step below, using the parts of Figure 1 to illustrate the processing units. Figure 3 is a flowchart of the processing of the duplicate state determination device 1 in Example 1.

[0032] In step S1, the duplicate determination unit 11 and the detection unit acquire measurement data from the database 6 that is the subject of the underground survey. Specifically, the duplicate determination unit 11 acquires radar data, positioning information, and road surface photographs. In this step, multiple measurement data sets are acquired. The detection unit 12 also acquires radar data. The measurement data acquired in step S1 will be explained below with reference to Figure 4.

[0033] In Figure 4, the x-axis direction indicates the direction of movement of vehicle 2. The y-axis direction indicates the width of vehicle 2. Furthermore, the z-axis direction indicates the depth direction underground.

[0034] First, Figure 4(a) is an explanatory diagram of multiple measurements taken by vehicle 2. In the figure, A and B indicate the direction of travel (measurement) when vehicle 2 takes a measurement, i.e., the measurement direction. As shown in Figure 4(a), it is assumed that structures 31, 32, and 33 are buried underground. Figure 4(b) shows radar data, which is one of the measurement results from Figure 4(a). As shown in Figure 4(a), when measurements are taken twice, at A and B, radar data 111A, 111B and positioning information 112A, 112B are measured at a certain location. Radar data 111A includes structures 31A and 32, which are part of structure 31. Radar data 111B also includes structures 31B and 33, which are part of structure 31. Figure 4(c) shows a road surface photograph corresponding to the radar data in Figure 4(b). Note that in Figures 4(b) and 4(c), overlapping regions U1 and U2 exist.

[0035] Returning to Figure 3, let's continue explaining the process. In step S2, the overlap determination unit 11 determines whether the acquired radar data is duplicated, that is, whether an overlapping region exists. The details of the overlap determination process in step S2 will be explained below with reference to Figure 5.

[0036] Figure 5 is a flowchart showing the duplication determination process in step S2 of Embodiment 1. First, in step S21, the duplication determination unit 11 identifies radar data parameters from the acquired radar data 111A and 111B and calculates the physical size of the radar data 111A and 111B. For example, the physical size corresponding to each pixel in the x, y, and z directions can be used as the radar data parameters. The duplication determination unit 11 also transforms the coordinate system of the acquired positioning information 112A and 112B. For example, the longitude and latitude are transformed from a geographic coordinate system to a Cartesian coordinate system.

[0037] Furthermore, in step S22, the overlap determination unit 11 determines whether there is an overlapping region between the acquired radar data 111A and radar data 111B. Here, this overlap determination will be explained with reference to Figure 4(b). Radar data 111A and radar data 111B have been transformed into the same coordinate system. Therefore, the overlap determination unit 11 can calculate the overlapping region U1 of the frame corresponding to each radar data. If it is determined in step S22 that there is an overlap, that is, an overlapping region exists (Yes), the process proceeds to steps S23 and S24. If it is determined that there is no overlap, that is, no overlapping region exists (No), the process proceeds to step S27.

[0038] Furthermore, in step S23, the overlap determination unit 11 extracts overlapping regions from the overlapping regions in which the overlapping index 2D IoU is greater than a predetermined threshold. If the overlap determination unit 11 finds that there are only overlapping regions in which the overlapping index 2D IoU is less than or equal to the predetermined threshold, it proceeds to step S27. In this case, it is treated as if it was determined to be No in step S22.

[0039] Furthermore, in step S24, the overlap determination unit 11 obtains an affine matrix and scale parameters from the acquired road surface photographs and aligns the positions of each road surface photograph. As scale parameters, for example, the physical length of road markings such as arrows on the road surface in the road surface photographs can be used. Then, in step S25, the overlap determination unit 11 calculates the overlapping region from the affine matrix and scale parameters as a result of the alignment. For example, the overlapping region U2 shown in Figure 4(c) will be calculated. Note that steps S23 and steps S24 to S25 may be processed simultaneously or in parallel, or they may be processed serially, with one being executed first.

[0040] Then, in step S26, the overlap determination unit 11 generates a union U of the two regions that include the overlapping region. Then, in step S27, the overlap determination unit 11 outputs the union U and its overlapping region to the detection unit 12. Also, if it is determined in step S22 that there is no overlap, the overlap determination unit 11 outputs the determination result that there is no overlap. It is desirable that the output destination for this step includes the identical structure determination unit 13. This concludes the explanation of Figure 5, and we return to the explanation of Figure 3.

[0041] In step S3, the detection unit 12 detects underground structures from the acquired radar data. The detection result may be coordinates indicating the 3D position information of the structure, such as the 3D bounding box or start and end points. Steps S2 and S3 may be processed simultaneously or in parallel, or they may be processed serially, with one being executed first.

[0042] In step S4, the overlap determination unit 11 or the detection unit 12 determines the results of steps S2 and S3. If it is determined in step S2 that there is an overlap and an underground structure is detected in step S3 (Yes), the process proceeds to step S4. Otherwise (No), the process proceeds to step S7. However, in this step, if it is determined that there is an overlap in step S2, the result may be Yes (the process proceeds to step S5). In step S5, the identical structure discrimination unit 13 determines whether there is an identical structure based on the overlapping area identified in step S2, the acquired positioning information, and the position coordinates detected from the radar data by the detection unit 12. In other words, the identical structure discrimination process is performed.

[0043] The details of the identical structure identification process (step S5), which determines the identity of multiple structures included in the measurement data, will be explained below with reference to Figure 6. Figure 6 is a flowchart showing the identical structure identification process in step S5 in Embodiment 1. In step S51, the identical structure identification unit 13 acquires the overlapping area identified in step S2, the acquired positioning information, and the position coordinates detected from the radar data.

[0044] Furthermore, in step S52, the identical structure discrimination unit 13 uses the position coordinates to determine whether the underground structure detected in step S3 is within the overlapping area. In this step, the overlapping area may be identified such that multiple underground structures are contained within it, and the determination may be made based on whether the size of the identified overlapping area satisfies conditions such as being within 110% of the underground structure. As a result, if the identical structure discrimination unit 13 determines that the underground structure, i.e., the position coordinates are within the overlapping area (Yes), it proceeds to step S53. If the underground structure, i.e., the position coordinates are not within the overlapping area (No), it proceeds to step S54.

[0045] Furthermore, in step S53, the identical structure discrimination unit 13 inputs positioning information and location coordinates into a discrimination model. The discrimination model is, for example, a model for discriminating identical structures based on the positioning information and location coordinates of multiple underground structures. The identical structure discrimination unit 13 may generate the discrimination model before step S5. The discrimination model can be generated by training a two-classification neural network using positioning information and location coordinates as training data. Moreover, it is desirable that the discrimination model be stored in the storage device 41 or the database 6.

[0046] Then, in step S54, the identical structure discrimination unit 13 uses a discrimination model to determine whether there are multiple underground structures. The identical structure discrimination unit 13 then outputs a discrimination result (1: identical structure, 0: not identical structure). If step S54 is a transition from step S52, the identical structure discrimination unit 13 outputs that they are not identical structures.

[0047] This concludes the explanation of Figure 6. Let's return to Figure 3 and continue the explanation. In step S6, the display processing unit 14 performs display processing, that is, the creation of display data. The details of step S6 will be explained below with reference to Figure 7.

[0048] Figure 7 is a flowchart showing the display process in step S6 of Embodiment 1. First, in step S61, the display processing unit 14 obtains the discrimination result from the identical structure discrimination unit 13. If the discrimination result is that the structures are identical (Yes), the process proceeds to step S62. If the discrimination result is that the structures are not identical (No), the process proceeds to step S63.

[0049] Furthermore, in step S62, the display processing unit 14 generates a union of the position coordinates described above. For example, when displaying the start and end points, the union can be generated by combining the minimum value of the start point and the maximum value of the end point to create new start and end points.

[0050] Then, in step S63, the display processing unit 14 outputs the generated display data to the display unit 15. Here, the display data is the union of the values ​​in step 62 if the transition is from step S62. If the transition is from step S61, the respective position coordinates are used as the display data. This concludes the explanation of Figure 7, and we will return to Figure 3 to continue the explanation.

[0051] In step S7, the display unit 15 displays the display data output from the display processing unit. The display content of the display unit 15 is explained below. Figure 8 shows the display content of the display unit 15 in Embodiment 1. As shown in Figure 8(a), the display unit 15 displays structure 31A and structure 32 in the radar data 111A. Also, structure 31B is displayed in the radar data 111B. If it is determined that structures 31A and 31B are the same structure, and that structures 31B and structure 32 are not the same structure, the integrated result is displayed in the display unit 15 as shown in Figure 8(b). In this way, the result of the duplicate detection process can be displayed. This allows the user to accurately understand the structures in three-dimensional space.

[0052] Note that the display shown in Figure 8 may also be displayed on the display device 51 of the user terminal 5 or on the display devices of other embodiments described later. [Examples]

[0053] Next, we will describe Example 2. Example 2 performs the same processing as Example 1, but the processing entity is different. In Example 1, the duplicate state determination device 1 is implemented as a server, but in this example, that function is implemented in the in-vehicle terminal 20 of the vehicle 2. Figure 9 is a hardware configuration diagram of the in-vehicle terminal 20 in Example 2. The in-vehicle terminal 20 can be implemented as a computer.

[0054] As shown in Figure 9, the in-vehicle terminal 20 includes a display device 201, a CPU 202, a memory 203, a communication device 204, an input device 205, an interface device 206, and a storage device 210.

[0055] The storage device 210 stores the duplicate detection program 101, the detection program 102, the identical structure identification program 103, the display processing program 104, the positioning data processing program 207, the camera data processing program 208, and the radar data processing program 209. Here, the duplicate detection program 101 to the display processing program 104 are the same as those in Embodiment 1.

[0056] Furthermore, the positioning data processing program 207, the camera data processing program 208, and the radar data processing program 209 are programs for executing the functions of the positioning data processing unit 21, the camera data processing unit 22, and the radar data processing unit 23 of Embodiment 1, respectively. The storage device 210 may also store measurement data, similar to the storage device 41. The programs may also be recorded on a storage medium MM such as a USB (Universal Serial Bus) memory.

[0057] The CPU 202 is an example of a processor (arithmetic unit), and it implements each function by reading programs 101-104 and 207-209 from the storage device 210 into memory 203 and executing them. Memory 203 is a volatile storage medium such as RAM, and programs and various information and data are loaded into it for calculations performed by the CPU 202. The communication device 204 is connected to the user terminal 5, which is equipped with a database 6 and a display device 51, via the network 45, enabling bidirectional communication.

[0058] Furthermore, the display device 201 is a type of output device that outputs calculation results from the in-vehicle terminal 20. For this reason, the display device 201 can be implemented as a monitor or touch panel. However, the display device 201 is optional. The input device 205 is a device for user operation and can be implemented as a keyboard or mouse. Note that the display device 201 and the input device 205 may be implemented as an integrated unit, such as a touch panel.

[0059] Furthermore, the interface device 206 is connected to the measuring device 24. The interface device 206 receives measurement data from the measuring device 24 and outputs measurement instructions to the measuring device 24.

[0060] Furthermore, this does not prevent the in-vehicle terminal 20 from having other functions such as navigation and autonomous driving functions. Alternatively, it may be provided in the duplicate state determination device 1 which has at least some of the functions of the in-vehicle terminal 20. In this case, the processing described in Embodiment 1 is executed in cooperation with the in-vehicle terminal 20 and the duplicate state determination device 1. According to Embodiment 2 described above, the processing can be distributed to the local in-vehicle terminal 20, enabling efficient use of resources. [Examples]

[0061] Next, we will describe Example 3. Example 3 performs the same processing as Examples 1 and 2, but the processing entity is different. In this example, the functions of the duplicate state determination device 1 from Example 1 and the in-vehicle terminal 20 from Example 2 are implemented in the user terminal 5. Figure 10 is a hardware configuration diagram of the user terminal 5 in Example 3. As explained in Example 1, the user terminal 5 can be implemented as a computer such as a smartphone, as explained in Example 1.

[0062] As shown in Figure 10, the user terminal 5 includes a display device 51, a CPU 52, a memory 53, a communication device 54, a storage device 55, and an input device 56.

[0063] The storage device 55 stores the duplicate detection program 101, the detection program 102, the identical structure identification program 103, and the display processing program 104. These programs are the same as those in Examples 1 and 2. The storage device 55 may also store measurement data, similar to the storage devices 41 and 210. Each program may be recorded on a storage medium MM such as a USB (Universal Serial Bus) memory.

[0064] The CPU 52 is an example of a processor (arithmetic unit), and it implements each function by reading programs 101 to 104 from the storage device 55 into memory 53 and executing them. Memory 53 is a volatile storage medium such as RAM, and programs and various information and data are stored there for calculations performed by the CPU 52. The communication device 54 is connected to the vehicle 2 and the database 6 via the network 45, enabling bidirectional communication.

[0065] Furthermore, the display device 51 is a type of output device that outputs calculation results, etc., from the user terminal 5. For this reason, the display device 51 can be implemented as a monitor or a touch panel. However, the display device 51 is optional. The input device 56 is a device for user operation and can be implemented as a keyboard or mouse. Note that the display device 51 and the input device 56 may be implemented as an integrated unit, such as a touch panel.

[0066] Furthermore, this does not prevent the user terminal 5 from having other functions, such as initiating underground surveys. Alternatively, the duplicate status determination device 1 or the in-vehicle terminal 20 may have at least some of the functions of the user terminal 5. In this case, the user terminal 5 will execute the process described in Example 1 in cooperation with the in-vehicle terminal 20 and the duplicate status determination device 1. In other words, each process can be executed by combining at least some of the processes described in Examples 1 to 3.

[0067] According to the above embodiment 3, processing can be distributed to local user terminals 5, enabling efficient use of resources. [Explanation of Symbols]

[0068] 1. Duplicate status determination device 11...duplication judgment section 12. Detection Unit 13...Identical structure discrimination unit 14. Display Processing Unit 15...Display section 2. Vehicles 21. Positioning Data Processing Unit 22. Camera Data Processing Unit 23. Radar Data Processing Unit 24. Measuring device 25...radar

Claims

1. In a device for determining the overlapping state of underground structures in underground surveys, An input unit that receives multiple measurement data measured by a ground condition measuring device, A duplication determination unit identifies overlapping regions in multiple radar data indicating underground conditions included in the measurement data, The system includes a same structure identification unit that determines the overlapping state of underground structures included in the multiple measurement data based on the overlapping region and multiple positional information in different coordinate systems identified by the measurement data, The aforementioned multiple location information in different coordinate systems are global location information, namely positioning information and local location information, identified from the radar data. The overlap determination unit uses the physical size of the multiple radar data to determine whether there is an overlapping region where multiple regions overlap. The aforementioned identical structure identification unit is, If the aforementioned overlapping region exists, the plurality of location information is used to determine whether the underground structure is located within the overlapping region based on whether the size of the overlapping region satisfies the size of the underground structure and predetermined conditions. A device for determining whether each of the underground structures is the same structure, based on the measurement data and the location information, when the underground structures are located within the overlapping area.

2. In the duplicate state determination device according to Claim 1, The identical structure discrimination unit is an overlap state discrimination device that determines whether each of the underground structures is the same structure, using a discrimination model that identifies identical structures based on the measurement data and location information of each of the underground structures located in the overlapping area.

3. In the duplicate state determination device according to claim 2, The overlap determination unit is an overlap state determination device that further uses road surface photographs included in the measurement data to identify the overlapping area.

4. In the duplicate state determination device according to claim 3, The overlap determination unit is an overlap state determination device that uses the physical length of the road marking as a scale parameter to align the road surface photograph and identify the overlapping area.

5. In the duplicate state determination device according to claim 1, Furthermore, the overlap state determination device has a display processing unit that creates display data including the underground structure and the overlapping region whose overlap state has been determined.

6. In a method for determining the overlapping state of underground structures in underground surveys using an overlapping state determination device, The device receives multiple measurement data from the underground condition measuring device. Identify overlapping regions in multiple radar data showing underground conditions included in the aforementioned measurement data. Based on the overlapping region and multiple positional information in different coordinate systems identified by the measurement data, the overlapping state of underground structures included in the multiple measurement data is determined. The aforementioned multiple location information in different coordinate systems are global location information, namely positioning information and local location information, identified from the radar data. Using the physical size of the multiple radar data mentioned above, it is determined whether there are overlapping regions where multiple regions overlap. If the aforementioned overlapping region exists, the plurality of location information is used to determine whether the underground structure is located within the overlapping region based on whether the size of the overlapping region satisfies the size of the underground structure and predetermined conditions. A method for determining whether each of the underground structures is the same structure, based on the measurement data and the location information, when the underground structures are located within the overlapping area.

7. In the duplicate state determination method according to Claim 6, A method for determining whether each of the underground structures in the overlapping region is the same structure, using a discrimination model that identifies identical structures based on the measurement data and location information of each of the underground structures in the overlapping region.

8. In the duplicate state determination method described in claim 7, A method for determining the overlapping state, which further uses road surface photographs included in the measurement data to identify the overlapping area.

9. In the duplicate state determination method described in claim 8, A method for determining overlapping conditions, which uses the physical length of road markings as a scale parameter to align them in a road surface photograph and identify the overlapping area.

10. In the duplicate state determination method described in claim 6, Furthermore, a method for determining the overlapping state, which creates display data including the underground structure and the overlapping area whose overlapping state has been determined.

11. A computer-based device for determining the overlapping state of underground structures in underground surveys, An input unit that receives multiple measurement data measured by a ground condition measuring device, A duplication determination unit identifies overlapping regions in multiple radar data indicating underground conditions included in the measurement data, Based on the overlapping region and multiple positional information in different coordinate systems identified by the measurement data, it functions as a same structure discrimination unit that determines the overlapping state of underground structures included in the multiple measurement data. The aforementioned multiple location information in different coordinate systems are global location information, namely positioning information and local location information, identified from the radar data. The overlap determination unit is instructed to determine, using the physical size of the multiple radar data, whether there is an overlapping region where multiple regions overlap. In the identical structure identification unit, If the aforementioned overlapping region exists, the system uses the multiple location information to determine whether the size of the overlapping region satisfies the size of the underground structure and predetermined conditions, thereby determining whether the underground structure is located within the overlapping region. A program for determining whether each of the underground structures is the same structure, based on the measurement data and the location information, when the underground structures are located within the overlapping area.

12. In the program described in Claim 11, A program that causes the identical structure discrimination unit to determine whether each of the underground structures is the same structure, using a discrimination model that distinguishes identical structures based on the measurement data and location information of each underground structure located in the overlapping area.

13. In the program described in claim 12, The overlap determination unit is a program that further uses road surface photographs included in the measurement data to identify the overlapping area.

14. In the program described in claim 13, The overlap determination unit is a program that uses the physical length of the road markings as a scale parameter to align them in the road surface photograph and identify the overlapping area.

15. In the program described in claim 11, Furthermore, a program to cause the overlap state determination device to function as a display processing unit that creates display data including the underground structure and the overlap area whose overlap state has been determined.

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