Coordinates computation device

Abstract

A coordinates computation device (100) according to the present disclosure is provided with: an opening-location computing unit (14) that, on the basis of absolute coordinates of manhole covers (21A, 21B) on manholes (2A, 2B), a positional relationship between the manhole cover (21A) on the manhole (2A) and an opening (22A) that is provided in the manhole (2A) and is linked to a pipeline (1), and a positional relationship between the manhole cover (21B) on the manhole (2B) and an opening (22b) that is provided in the manhole (2B) and is linked to the pipeline (1), computes the absolute coordinates of the openings (22A, 22B); and a pipeline-location computing unit (15) that, on the basis of the absolute coordinates of the openings (22A, 22B) and relative coordinates of the pipeline (1), computes the absolute coordinates of the pipeline (1).

Description

Coordinate calculation device

[0001] The present disclosure relates to a coordinate calculation device.

[0002] Traditionally, the locations of underground utilities have been managed relative to reference points such as road boundaries. Therefore, when roads change shape on the surface due to factors such as road widening, the locations of these utilities become unclear. Furthermore, to understand the relative positions of utilities managed by one operator and those managed by another, it is necessary to check multiple drawings created by each operator. However, if the drawings are created at different times or have different reference positions, it becomes difficult to accurately determine the relative positions. If the relative positions of these utilities cannot be accurately determined, there is a risk of damage to the utilities during excavation work. Therefore, efforts are underway to manage the locations of underground utilities using absolute coordinates obtained by satellite positioning.

[0003] Non-Patent Document 1 proposes a method for acquiring and visualizing position information of underground buried objects using a ground penetrating radar method and satellite positioning.

[0004] Wataru Miyazaki et al., Technology for Providing Location Information for Underground Buried Objects, Proceedings of the 82nd National Conference of the Information Processing Society of Japan, 5G-01, 2020(1), 231-232 (2020-02-20)

[0005] Since the exploration depth of ground-penetrating radar is limited to about 2 m, the method described in Non-Patent Document 1 has a problem in that it cannot explore locations at depths of 2 m or more. Furthermore, the method described in Non-Patent Document 1 has a problem in that satellite positioning is not possible when satellite signals are blocked by trees, buildings, or the like. There is a need for a method to determine absolute coordinates for the positions of the enormous number of underground buried objects (e.g., approximately 600,000 km of communication conduits) installed throughout the country, regardless of the location of the underground buried objects, including locations at depths of 2 m or more and sections where satellite positioning is not possible.

[0006] The purpose of the present disclosure, made in consideration of the above-mentioned problems, is to provide a coordinate calculation device that can calculate the absolute coordinates of an underground buried object whose relative coordinates are known, regardless of the location where the underground buried object is buried.

[0007] In order to solve the above problem, a coordinate calculation device according to the present disclosure is a coordinate calculation device that calculates absolute coordinates of a pipeline buried underground that connects a first manhole and a second manhole, and includes: a first calculation unit that calculates absolute coordinates of the first opening and the second opening based on absolute coordinates of the iron covers of the first manhole and the second manhole, a positional relationship between the iron cover of the first manhole and a first opening provided in the first manhole that connects to the pipeline, and a positional relationship between the iron cover of the second manhole and a second opening provided in the second manhole that connects to the pipeline; and a second calculation unit that calculates absolute coordinates of the pipeline based on the absolute coordinates of the first opening and the second opening and the relative coordinates of the pipeline with an arbitrary point as the origin.

[0008] According to the coordinate calculation device of the present disclosure, it is possible to calculate the absolute coordinates of an underground buried object whose relative coordinates are known, regardless of the location where the underground buried object is buried.

[0009] 6 is a diagram showing an example of the configuration of a coordinate calculation device according to an embodiment of the present disclosure. FIG. 6 is a diagram showing an example of the configuration of a pipeline for which absolute coordinates are calculated. FIG. 6 is a diagram showing an example of pipeline position data. FIG. 6 is a diagram showing an example of iron cover position data. FIG. 6 is a diagram showing an example of iron cover-opening position relationship data. FIG. 6 is a diagram showing an example of the configuration of a pipeline position calculation unit shown in FIG. 1. FIG. 6 is a diagram for explaining the operation of a plot unit 151 shown in FIG. 6. FIG. 6 is a diagram for explaining the operation of a first angle calculation unit shown in FIG. 6. FIG. 6 is a diagram for explaining the operation of a second angle calculation unit shown in FIG. 6. FIG. 6 is a diagram for explaining the operation of an angle correction unit shown in FIG. 6. FIG. 6 is a diagram for explaining the operation of a distance correction unit shown in FIG. 6. A flowchart showing an example of the operation of the coordinate calculation device shown in FIG. 1. A flowchart showing an example of the operation of a pipeline position calculation unit shown in FIG. 1. A diagram showing an example of multiple laid pipelines. A diagram showing an example of the configuration of a computer functioning as the coordinate calculation device shown in FIG. 1.

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0011] FIG. 1 is a diagram illustrating an example configuration of a coordinate calculation device 10 according to an embodiment of the present disclosure. As shown in FIG. 2, the coordinate calculation device 10 according to the present disclosure calculates the absolute coordinates of a pipeline 1 buried underground, connecting a manhole 2A (first manhole) and a manhole 2B (second manhole). An iron cover 21A of the manhole 2A and an iron cover 21B of the manhole 2B are exposed to the ground surface. The manhole 2A has an opening 22A (first opening) that connects to the pipeline 1. The manhole 2B has an opening 22B (first opening) that connects to the pipeline 1. Hereinafter, when there is no need to distinguish between the manholes 2A and 2B, they will be referred to as manholes 2; when there is no need to distinguish between the iron covers 21A and 21B, they will be referred to as iron covers 21; and when there is no need to distinguish between the openings 22A and 22B, they will be referred to as openings 22.

[0012] As shown in FIG. 1 , the coordinate calculation device 10 according to this embodiment includes a pipeline position data input unit 11, a cover position data input unit 12, a positional relationship data input unit 13, an opening position calculation unit 14, a pipeline position calculation unit 15, and a pipeline position output unit 16.

[0013] The pipeline position data input unit 11 receives as input pipeline position data indicating the relative coordinates of the pipeline 1. The pipeline position data can be acquired from an existing drawing of the pipeline 1, such as CAD (Computer Aided Design) data. The pipeline position data is data indicating the three-dimensional coordinates (coordinates in a Cartesian coordinate system of three axes (x-axis, y-axis, and z-axis)) of each of a plurality of points on the pipeline 1, as shown in FIG. 3, for example. Here, the three-dimensional coordinates of the pipeline 1 indicated by the pipeline position data are relative coordinates with an arbitrary point as the origin. By acquiring the pipeline position data from the existing drawing, it becomes possible to efficiently calculate the absolute coordinates of the pipeline 1 without conducting surveying or the like.

[0014] It should be noted that there may be cases where there are no existing drawings for the pipeline 1, or where even if there are existing drawings for the pipeline 1, they may be outdated and differ from the actual situation on the ground. In such cases, for example, the three-dimensional coordinates of each of multiple points on the pipeline 1 measured using various sensing technologies may be input as pipeline position data.

[0015] Referring back to FIG. 1 , the pipeline position data input unit 11 outputs the input pipeline position data to the pipeline position calculation unit 15 .

[0016] The iron cover position data input unit 12 receives as input iron cover position data indicating the absolute coordinates of the iron cover 21A of the manhole 2A and the absolute coordinates of the iron cover 21B of the manhole 2B. For example, if the position of the iron cover 21 can be identified on an existing drawing, such as a topographical map, that includes information on latitude, longitude, and altitude, the position (latitude, longitude, and altitude) of the iron cover 21 on the existing drawing can be used as the iron cover position data. The coordinates of the iron cover 21 indicated by the iron cover position data are absolute coordinates that uniquely indicate the position of the iron cover 21 using latitude, longitude, altitude, etc., as shown in FIG. 4, for example. By acquiring iron cover position data from the existing drawing, it is possible to efficiently calculate the absolute coordinates of the pipeline 1 without conducting surveying or the like.

[0017] It should be noted that there may be cases where there are no existing drawings that can identify the iron cover 21, or where even if there are existing drawings that can identify the iron cover 21, they may be outdated and may differ from the actual situation on site. In such cases, for example, the latitude, longitude, and altitude of the iron cover 21 measured by satellite positioning may be input as iron cover position data.

[0018] Referring back to FIG. 1, the iron cover position data input unit 12 outputs the input iron cover position data to the opening position calculation unit 14.

[0019] The positional relationship data input unit 13 receives as input cover-opening positional relationship data the positional relationship between the iron cover 21 of the manhole 2 and an opening 22 provided in the manhole 2 and connecting to the pipeline 1. In this embodiment, the positional relationship data input unit 13 receives as cover-opening positional relationship data the positional relationship between the iron cover 21A of the manhole 2A and an opening 22A provided in the manhole 2A and connecting to the pipeline 1, and the positional relationship between the iron cover 21B of the manhole 2B and an opening 22B provided in the manhole 2B and connecting to the pipeline 1. As shown in FIG. 5 , for example, the cover-opening positional relationship data is data indicating the vertical distance a between the iron cover 21 and the opening 22, the horizontal distance b between the iron cover 21 and the opening 22, and the azimuth angle θ, which is the angle of the opening 22 with respect to a predetermined direction (north in FIG. 5 ) as viewed from the iron cover 21.

[0020] The iron cover-opening positional relationship data can be obtained, for example, from a structural drawing of the standardized manhole 2 or an installation drawing of the manhole 2. The iron cover-opening positional relationship data may also be obtained by measuring the positional relationship between the iron cover 21 and the opening 22 in the manhole 2 on-site.

[0021] Referring back to FIG. 1, the positional relationship data input unit 13 outputs the inputted iron cover-opening positional relationship data to the opening position calculation unit 14 .

[0022] Opening position calculation unit 14, which serves as a first calculation unit, receives as input cover position data from cover position data input unit 12 and cover-opening position relationship data from positional relationship data input unit 13. Opening position calculation unit 14 calculates the absolute coordinates of opening 22A and opening 22B based on the absolute coordinates of covers 21A and 21B of manholes 2A and 2B, the positional relationship between cover 21A of manhole 2A and opening 22A, and the positional relationship between cover 21B of manhole 2B and opening 22B. Opening position calculation unit 14 outputs the calculation results of the absolute coordinates of openings 22A and 22B to pipeline position calculation unit 15.

[0023] Pipeline position calculation unit 15, which serves as a second calculation unit, receives pipeline position data from pipeline position data input unit 11 and receives calculation results of the absolute coordinates of openings 22A and 22B from opening position calculation unit 14. Pipeline position calculation unit 15 calculates the absolute coordinates of pipeline 1 based on the absolute coordinates of openings 22A and 22B and the relative coordinates of pipeline 1, which are indicated in the pipeline position data and have an arbitrary point as the origin. Pipeline position calculation unit 15 outputs the calculation results of the absolute coordinates of pipeline 1 to pipeline position output unit 16.

[0024] The pipeline position output unit 16 outputs the calculation results of the absolute coordinates of the pipeline 1 output from the pipeline position calculation unit 15, for example, by displaying them on a display device. The pipeline position output unit 16 may display the absolute coordinates of the pipeline 1, for example, by plotting them on a map.

[0025] FIG. 6 is a diagram showing an example of the configuration of the pipeline position calculation unit 15.

[0026] As shown in FIG. 6 , the pipeline position calculation unit 15 includes plotting units 151 and 159, a first angle calculation unit 152, a second angle calculation unit 153, an angle correction unit 154, a first distance calculation unit 155, a second distance calculation unit 156, a distance correction unit 157, a coordinate conversion unit 158, and an absolute coordinate calculation unit 150.

[0027] The plotting unit 151 receives pipeline position data indicating the relative coordinates of the pipeline 1 from the pipeline position data input unit 11. The plotting unit 151 plots the relative coordinates of the pipeline 1 in a Cartesian coordinate system, starting from the origin of the Cartesian coordinate system. Specifically, as shown in Fig. 7 , the plotting unit 151 plots the relative coordinates of the pipeline 1 in the Cartesian coordinate system and translates the relative coordinates of the pipeline 1 so that one end of the pipeline 1 coincides with the origin of the Cartesian coordinate system. In this embodiment, the Cartesian coordinate system is set so that the x-axis and y-axis of the Cartesian coordinate system correspond to the east-west direction and the north-south direction, respectively.

[0028] In the Cartesian coordinate system in which the relative coordinates of the pipeline 1 are plotted by the plotting unit 151, the first angle calculation unit 152 calculates an angle θ between a line connecting one end of the pipeline 1 and the other end of the pipeline 1 and one axis of the Cartesian coordinate system (the y-axis in the example shown in FIG. 8 ), as shown in FIG. １ (first angle) is calculated.

[0029] The second angle calculation unit 153 receives the calculation results of the absolute coordinates of the openings 22A and 22B from the opening position calculation unit 14. As shown in FIG. 9 , the second angle calculation unit 153 calculates an angle θ ２ As described above, in this embodiment, the orthogonal coordinate system is set so that the y-axis corresponds to the north-south direction. In this case, the second angle calculation unit 153 calculates the angle θ , which is the angle that the line connecting the opening 22A and the opening 22B makes with the north direction corresponding to the y-axis of the orthogonal coordinate system. ２ It is calculated as follows.

[0030] The angle correction unit 154 performs angle correction on the relative coordinates of the pipeline 1 plotted with the origin of the Cartesian coordinate system as the starting point by the plotting unit 151. Specifically, as shown in FIG. 10 , the angle correction unit 154 corrects the angle of the relative coordinates of the pipeline plotted with the origin as the starting point in the Cartesian coordinate system by dividing the relative coordinates by an angle θ １ and angle θ ２ The difference between (θ １ -θ ２ ) by rotating the axis θ by 1 / 2. By doing so, the orientation of the pipeline 1 in the Cartesian coordinate system can be aligned with the actual orientation of the pipeline 1.

[0031] The first distance calculation unit 155 calculates the first distance, which is the distance between one end and the other end of the pipeline 1, based on the relative coordinates of the pipeline 1 after rotation by the angle correction unit 154 (the relative coordinates of the pipeline 1 after angle correction). Specifically, the first distance calculation unit 155 calculates, as the first distance, the distance d １ Distance d of x and y components １ Distance d of the y and z components １ Calculate z for each.

[0032] The second distance calculation unit 156 receives the calculation results of the absolute coordinates of the openings 22A and 22B by the opening position calculation unit 14. The second distance calculation unit 156 calculates a second distance, which is the distance between the openings 22A and 22B, based on the absolute coordinates of the openings 22A and 22B. Specifically, the second distance calculation unit 156 calculates, as the second distance, the distance d ２ Distance d of x and y components ２ Distance d of the y and z components ２ Calculate z for each.

[0033] The distance correction unit 157 corrects (distance correction) the relative coordinates of the pipeline 1 after rotation by the angle correction unit 154 in the orthogonal coordinate system based on the ratio of the second distance calculated by the second distance calculation unit 156 to the first distance calculated by the first distance calculation unit 155. Specifically, the distance correction unit 157 applies d ２ x / d １ Multiply by x and add d to the y component of the relative coordinate of pipeline 1. ２ y / d １ Multiply by y and add d to the z component of the relative coordinates of pipeline 1. ２ z / d １ Multiply by z.

[0034] As shown in Fig. 2, the opening 22A of manhole 2A and the opening 22B of manhole 2B correspond to one end and the other end of the pipeline 1. By performing rotational correction by the angle correction unit 154, the orientation of the pipeline 1 in the Cartesian coordinate system can be aligned with the actual orientation of the pipeline 1. Then, by multiplying the relative coordinates after rotational correction by the angle correction unit 154 by the ratio of the second distance to the first distance, the distance between one end and the other end of the pipeline 1 in the relative coordinates can be aligned with the actual distance between the openings 22A and 22B. Note that while Fig. 11 shows corrections in the x-axis and y-axis directions, similar corrections can be made in the z-axis direction.

[0035] The coordinate conversion unit 158 ​​receives the calculation results of the absolute coordinates of the openings 22A and 22B by the opening position calculation unit 14. The coordinate conversion unit 158 ​​converts the absolute coordinates of the openings 22A and 22B into coordinates in a plane Cartesian coordinate system. The plane Cartesian coordinate system is a coordinate system defined in Notification No. 9 of the Ministry of Land, Infrastructure, Transport and Tourism of 2002, and is an orthogonal coordinate system in Japan in which the latitude direction is the x-axis, the longitude direction is the y-axis, and the height direction is the z-axis from a certain origin (there are 19 locations in Japan, and the origin varies depending on the location of the measurement target). By converting the absolute coordinates of the openings 22A and 22B into coordinates in the plane Cartesian coordinate system, it is possible to treat the ground surface as a plane and plot the relative coordinates of the pipeline 1 without converting the relative coordinates of the pipeline 1 to latitude / longitude / elevation.

[0036] The plotting unit 159 plots, on the plane rectangular coordinate system, the relative coordinates after correction by the distance correcting unit 157, starting from the position of the opening 22A or the opening 22B in the plane rectangular coordinate system. Specifically, the plotting unit 159 plots, on the plane rectangular coordinate system, the relative coordinates after correction by the distance correcting unit 157, for example, so that the position of the opening 22A in the plane rectangular coordinate system coincides with the end of the pipeline 1 corresponding to the opening 22A.

[0037] The absolute coordinate calculation unit 150 calculates the absolute position (latitude, longitude, and altitude) of each point plotted on the plane rectangular coordinate system by the plotting unit 159 .

[0038] The positions of openings 22A and 22B correspond to the positions of one end and the other end of pipeline 1. The absolute coordinates of openings 22A and 22B can be calculated from the absolute coordinates of iron covers 21A and 21B, the positional relationship between iron cover 21A and opening 22A, and the positional relationship between iron cover 21B and opening 22B. Pipeline position calculation unit 15 can determine the absolute coordinates of one end and the other end of pipeline 1 by performing angle correction and distance correction on the relative coordinates of pipeline 1 based on the absolute coordinates of openings 22A and 22B. By determining the absolute coordinates of one end and the other end of pipeline 1, whose relative coordinates are known, the absolute coordinates of the entire pipeline 1 can be calculated.

[0039] Next, an operation of the coordinate calculation device 10 according to this embodiment will be described. Fig. 12 is a flowchart showing an example of the operation of the coordinate calculation device 10 according to this embodiment, and is a diagram for explaining a coordinate calculation method by the coordinate calculation device 10 according to this embodiment.

[0040] The opening position calculation unit 14 calculates the absolute coordinates of the openings 22A and 22B provided in the manholes 2A and 2B based on the iron cover position data input to the iron cover position data input unit 12 and the iron cover-opening positional relationship data input to the positional relationship data input unit 13 (step S11). Here, the iron cover position data is data indicating the absolute coordinates of the iron covers 21A and 21B of the manholes 2A and 2B. The iron cover-opening positional relationship data is data indicating the positional relationship between the iron cover 21A of the manhole 2A and the opening 22A provided in the manhole 2A that connects to the pipeline 1, and the positional relationship between the iron cover 21B of the manhole 2B and the opening 22B provided in the manhole 2B that connects to the pipeline 1.

[0041] The pipeline position calculation unit 15 calculates the absolute coordinates of the pipeline 1 based on the absolute coordinates of the openings 22A and 22B calculated by the opening position calculation unit 14 and the pipeline position data input to the pipeline position data input unit 11 (step S12). Here, the pipeline position data is data indicating the relative coordinates of the pipeline 1 with an arbitrary point as the origin.

[0042] FIG. 13 is a flowchart showing an example of the operation of the pipeline position calculation unit 15.

[0043] The pipeline position calculation unit 15 (plotting unit 151) plots the relative coordinates of the pipeline 1 in a Cartesian coordinate system, starting from the origin of the Cartesian coordinate system (step S121).

[0044] The pipeline position calculation unit 15 (first angle calculation unit 152) calculates an angle θ between a line connecting one end of the pipeline 1 and the other end of the pipeline 1 and one axis of the orthogonal coordinate system. １ is calculated (step S122).

[0045] The pipeline position calculation unit 15 (second angle calculation unit 153) calculates an angle θ between the line connecting the opening 22A and the opening 22B and a direction corresponding to one axis of the Cartesian coordinate system.２ is calculated (step S123).

[0046] The pipeline position calculation unit 15 (angle correction unit 154) calculates the relative coordinates of the pipeline 1 plotted with the origin as the starting point in the Cartesian coordinate system by calculating an angle θ １ and angle θ ２ The difference between (θ １ -θ ２ ) (step S124).

[0047] The pipeline position calculation unit 15 (first distance calculation unit 155) calculates the first distance, which is the distance between one end and the other end of the pipeline 1, based on the relative coordinates of the pipeline 1 after rotation (step S125).

[0048] The pipeline position calculation unit 15 (second distance calculation unit 156) calculates the second distance, which is the distance between the opening 22A and the opening 22B, based on the absolute coordinates of the openings 22A and 22B (step S126).

[0049] The pipeline position calculation unit 15 (distance correction unit 157) corrects the relative coordinates of the rotated pipeline 1 in the Cartesian coordinate system based on the ratio of the second distance to the first distance (step S127).

[0050] The pipeline position calculation unit 15 (plotting unit 159) plots the relative coordinates of the pipeline 1 after correction by the distance correction unit 157 in the plane rectangular coordinate system, starting from the position of the opening 22A or opening 22B in the plane rectangular coordinate system (step S128).

[0051] The pipeline position calculation unit 15 (absolute coordinate calculation unit 150) calculates the absolute coordinates of each point plotted in the plane rectangular coordinate system (step S129).

[0052] As described above, the coordinate calculation device 10 according to this embodiment includes an opening position calculation unit 14 and a pipeline position calculation unit 15. The opening position calculation unit 14 calculates the absolute coordinates of the openings 22A and 22B based on the absolute coordinates of the iron covers 21A and 21B of the manholes 2A and 2B, the positional relationship between the iron cover 21A of the manhole 2A and the opening 22A provided in the manhole 2A that connects to the pipeline 1, and the positional relationship between the iron cover 21B of the manhole 2B and the opening 22B provided in the manhole 2B that connects to the pipeline 1. The pipeline position calculation unit 15 calculates the absolute coordinates of the pipeline 1 based on the absolute coordinates of the openings 22A and 22B and the relative coordinates of the pipeline 1 with an arbitrary point as the origin.

[0053] The positions of the openings 22A and 22B correspond to the positions of one end and the other end of the pipeline 1. The absolute coordinates of the openings 22A and 22B can be calculated from the absolute coordinates of the iron covers 21A and 21B, the positional relationship between the iron cover 21A and the opening 22A, and the positional relationship between the iron cover 21B and the opening 22B. The absolute coordinates of one end and the other end of the pipeline 1 can be determined based on the absolute coordinates of the openings 22A and 22B. By determining the absolute coordinates of one end and the other end of the pipeline 1, whose relative coordinates are known, the absolute coordinates of the entire pipeline 1 can be calculated. Here, in this embodiment, there is no need to perform exploration using underground radar or satellite positioning. Therefore, according to the present disclosure, the absolute coordinates of an underground buried object, whose relative coordinates are known, can be calculated regardless of the buried location of the underground buried object.

[0054] As described above, the pipeline position data can be obtained, for example, from an existing drawing related to the pipeline 1. However, there are cases where the existing drawing does not include coordinate data for the pipeline 1. In this case, for example, the pipeline position data may be obtained by image recognition using image recognition AI (Artificial Intelligence). For example, the pipeline position data may be obtained by image recognition of a plan view and a longitudinal section view showing the layout of the pipeline 1. In this way, the pipeline position data can be obtained even from a drawing that has not been digitized.

[0055] Furthermore, the position of the pipeline 1 may change due to crustal movement, etc. In this case, the absolute coordinates of the entire pipeline 1 can be updated by updating the absolute position of the opening 22 of the manhole 2 based on publicly known crustal movement data that indicates the movement of the ground due to crustal movement. Note that as the crustal movement data described above, for example, data provided by the Geospatial Information Authority of Japan can be used.

[0056] 14, there are cases where multiple pipelines 1 are laid along the same route (multiple pipelines). In this case, the positional relationship between one pipeline 1 and the other pipelines 1 among the multiple pipelines is fixed (known). The pipeline position calculation unit 15 may calculate the absolute coordinates of one pipeline 1, and then calculate the absolute coordinates of the other pipelines 1 based on the calculated absolute coordinates of the one pipeline 1 and the positional relationship between the one pipeline 1 and the other multiple pipelines 1. In this way, the absolute coordinates of each of the multiple pipelines 1 can be efficiently calculated.

[0057] The coordinate calculation apparatus 10 described above can be realized by a computer 30 shown in FIG. 15 . A program for causing the computer 30 to function as the coordinate calculation apparatus 10 may be provided. The program may be stored in a storage medium or provided via a network. FIG. 15 is a block diagram showing a schematic configuration of a computer 30 functioning as the coordinate calculation apparatus 10. The computer 30 may be a general-purpose computer, a dedicated computer, a workstation, a PC (Personal Computer), an electronic notepad, or the like. The program instructions may be program code, code segments, or the like for executing necessary tasks.

[0058] 15 , a computer 30 includes a processor 31, a read-only memory (ROM) 32, a random access memory (RAM) 33, a storage 34, an input unit 35, a display unit 36, and a communication interface (I / F) 37. Each component is communicably connected to one another via a bus 29. The processor 31 is specifically a central processing unit (CPU), a micro processing unit (MPU), a graphics processing unit (GPU), a digital signal processor (DSP), a system on a chip (SoC), or the like, and may be configured with multiple processors of the same type or different types.

[0059] The processor 31 is a control unit that controls each component and performs various arithmetic processing. That is, the processor 31 reads a program from the ROM 32 or the storage 34 and executes the program using the RAM 33 as a work area. The processor 31 controls each component and performs various arithmetic processing according to the program stored in the ROM 32 or the storage 34. In this embodiment, the ROM 32 or the storage 34 stores a program for operating the computer 30 as the coordinate calculation device 10 according to the present disclosure. The program is read and executed by the processor 31 to realize each component of the coordinate calculation device 10, such as the opening position calculation unit 14 and the pipeline position calculation unit 15.

[0060] The program may be provided in a form stored on a non-transitory storage medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), a USB (Universal Serial Bus) memory, etc. The program may also be provided in a form downloaded from an external device via a network.

[0061] The ROM 32 stores various programs and various data. The RAM 33 temporarily stores programs or data as a working area. The storage 34 is configured with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs including the operating system and various data.

[0062] The input unit 35 includes a pointing device such as a mouse and a keyboard, and is used to input various data. The input unit 35 constitutes, for example, the pipeline position data input unit 11, the iron cover position data input unit 12, and the positional relationship data input unit 13.

[0063] The display unit 36 ​​is, for example, a liquid crystal display, and displays various information. The display unit 36 ​​may employ a touch panel system and function as the input unit 35. The display unit 36 ​​displays, for example, the calculation results of the absolute coordinates of the pipeline 1.

[0064] The communication interface 37 is an interface for communicating with other devices, for example, an interface for a LAN.

[0065] The following additional notes are provided regarding the above-described embodiments.

[0066] [Supplementary Item 1] A coordinate calculation device that calculates absolute coordinates of a pipeline buried underground that connects a first manhole and a second manhole, comprising a control unit, wherein the control unit calculates the absolute coordinates of the first opening and the second opening based on the absolute coordinates of the iron covers of the first manhole and the second manhole, the positional relationship between the iron cover of the first manhole and a first opening that is provided in the first manhole and connects to the pipeline, and the positional relationship between the iron cover of the second manhole and a second opening that is provided in the second manhole and connects to the pipeline, and calculates the absolute coordinates of the pipeline based on the absolute coordinates of the first opening and the second opening and the relative coordinates of the pipeline with an arbitrary point as the origin.

[0067] [Supplementary Item 2] In the coordinate calculation device described in Supplementary Item 1, the control unit plots relative coordinates of the pipeline in a Cartesian coordinate system, starting from an origin of the Cartesian coordinate system; calculates a first angle between a line connecting one end of the pipeline and an axis of the Cartesian coordinate system in the Cartesian coordinate system; calculates a second angle between a line connecting the first opening and the second opening and a direction corresponding to the axis of the Cartesian coordinate system; rotates the relative coordinates of the pipeline, plotted starting from the origin, around the origin by a difference between the first angle and the second angle; calculates a first distance that is a distance between one end of the pipeline and the other end based on the relative coordinates of the pipeline after the rotation; and calculates a second distance that is a distance between the first opening and the second opening based on absolute coordinates of the first opening and the second opening. a coordinate calculation device that corrects relative coordinates of the pipeline after the rotation in the Cartesian coordinate system based on the ratio of the second distance to the first distance; plots the corrected relative coordinates of the pipeline in the planar Cartesian coordinate system using the position of the first opening or the second opening in the planar Cartesian coordinate system as a starting point; and calculates absolute coordinates of each point plotted in the planar Cartesian coordinate system.

[0068] [Supplementary Item 3] In the coordinate calculation device described in Supplementary Item 1 or 2, the pipeline is one of a plurality of pipelines laid in multiple lines along the same route, the positional relationship between the one pipeline and the other pipelines laid in multiple lines is known, and the control unit calculates the absolute coordinates of the other pipelines based on the calculated absolute coordinates of the one pipeline and the positional relationship between the one pipeline and the other pipelines laid in multiple lines.

[0069] [Supplementary Item 4] A coordinate calculation method using a coordinate calculation device that calculates absolute coordinates of a pipeline buried underground that connects a first manhole and a second manhole, the coordinate calculation method comprising: calculating the absolute coordinates of the first opening and the second opening based on the absolute coordinates of the iron covers of the first manhole and the second manhole, the positional relationship between the iron cover of the first manhole and a first opening that is provided in the first manhole and connects to the pipeline, and the positional relationship between the iron cover of the second manhole and a second opening that is provided in the second manhole and connects to the pipeline; and calculating the absolute coordinates of the pipeline based on the absolute coordinates of the first opening and the second opening and the relative coordinates of the pipeline with an arbitrary point as the origin.

[0070] [Supplementary Item 5] A non-transitory storage medium storing a program executable by a computer, the non-transitory storage medium storing the program causing the computer to operate as the coordinate calculation device according to any one of Supplementary Items 1 to 3.

[0071] Although the above-described embodiments have been described as typical examples, it will be apparent to those skilled in the art that many modifications and substitutions can be made within the spirit and scope of the present disclosure. Therefore, the present invention should not be interpreted as being limited by the above-described embodiments, and various modifications and alterations are possible without departing from the scope of the claims. For example, multiple building blocks shown in the block diagrams of the embodiments can be combined into one, or one building block can be divided.

[0072] REFERENCE SIGNS LIST 1 Pipe 2, 2A, 2B Manhole 21, 21A, 21B Iron cover 22, 22A, 22B Opening 10 Coordinate calculation device 11 Pipe position data input unit 12 Iron cover position data input unit 13 Positional relationship data input unit 14 Opening position calculation unit (first calculation unit) 15 Pipe position calculation unit (second calculation unit) 16 Pipe position output unit 30 Computer 31 Processor 32 ROM 33 RAM 34 Storage 35 Input unit 36 ​​Display unit 37 Communication I / F 39 Path 151, 159 Plot unit 152 First angle calculation unit 153 Second angle calculation unit 154 Angle correction unit 155 First distance calculation unit 156 Second distance calculation unit 157 Distance correction unit 158 ​​Coordinate conversion unit 150 Pipe position calculation unit

Claims

1. A coordinate calculation device that calculates absolute coordinates of a pipeline buried underground connecting a first manhole and a second manhole, comprising: a first calculation unit that calculates absolute coordinates of the first opening and the second opening based on absolute coordinates of the iron covers of the first manhole and the second manhole, a positional relationship between the iron cover of the first manhole and a first opening provided in the first manhole that connects to the pipeline, and a positional relationship between the iron cover of the second manhole and a second opening provided in the second manhole that connects to the pipeline; and a second calculation unit that calculates absolute coordinates of the pipeline based on the absolute coordinates of the first opening and the second opening and the relative coordinates of the pipeline with an arbitrary point as the origin.

2. A coordinate calculation device according to claim 1, wherein the second calculation unit: plots relative coordinates of the pipeline in an orthogonal coordinate system starting from an origin of the orthogonal coordinate system; calculates a first angle between a line connecting one end and the other end of the pipeline and one axis of the orthogonal coordinate system in the orthogonal coordinate system; calculates a second angle between a line connecting the first opening and the second opening and a direction corresponding to the one axis of the orthogonal coordinate system; rotates the relative coordinates of the pipeline plotted starting from the origin in the orthogonal coordinate system by the difference between the first angle and the second angle, around the origin as a center; calculates a first distance between the one end and the other end of the pipeline based on the relative coordinates of the pipeline after the rotation; and calculates a second distance between the first opening and the second opening based on the absolute coordinates of the first opening and the second opening. a coordinate calculation device that corrects relative coordinates of the pipeline after the rotation in the Cartesian coordinate system based on a ratio of the second distance to the first distance; plots the corrected relative coordinates of the pipeline in the Cartesian coordinate system using the position of the first opening or the second opening in the Cartesian coordinate system as a starting point; and calculates absolute coordinates of each point plotted in the Cartesian coordinate system.

3. A coordinate calculation device as claimed in claim 1, wherein the pipeline is one of a plurality of pipelines laid in multiple rows along the same route, the positional relationship between the one pipeline and the other pipelines laid in multiple rows is known, and the second calculation unit calculates the absolute coordinates of the other pipelines based on the calculated absolute coordinates of the one pipeline and the positional relationship between the one pipeline and the other pipelines laid in multiple rows.

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