Computation processing device for identifying position of buried elongate object from GPR data from array-type ground penetrating radar device

Abstract

The present invention accurately identifies a burial position and an elongation direction even when the vertex position in a hyperbolic reflection image is not positioned directly below a data acquisition point.　From GPR data acquired by an array-type ground penetrating radar device of a first analysis line, a second analysis line, and a third analysis line that extend in mutually different directions and are composed of data acquisition points, a first angle formed by the first analysis line and the second analysis line, and a second angle formed by the second analysis line and the third analysis line, the present invention calculates the vertex position of a hyperbola of the GPR data in the first analysis line, and a first virtual propagation speed, a second virtual propagation speed, and a third virtual propagation speed of radio waves in the substance that is below the first analysis line, the second analysis line, and the third analysis line. The present invention calculates the skew angle formed by the first analysis line and a fourth straight line obtained by projecting an elongate object onto the ground surface, the inclination angle formed by the elongate object and the ground surface, the burial depth from a first point positioned directly above the elongate object on the first analysis line to the elongate object directly therebelow, and the position of the first point, with which the present invention identifies the burial position and the elongation direction of the elongate object.

Description

Processing device for identifying the position of a buried long object from GPR data of an array-type underground radar device

[0001] The present invention relates to the field of array-type ground-penetrating radar, which irradiates electromagnetic waves into the ground and detects the reflected waves to scan the ground, and in particular to a method and system suitable for identifying the location of a buried long object from GPR data acquired using an array-type ground-penetrating radar device. This invention claims priority to Japanese Patent Application No. 2023-196346, filed on November 20, 2023, and the contents of that application are incorporated by reference into this application in designated states where incorporation by reference of documents is permitted.

[0002] In order to avoid damaging existing buried pipes and power lines during ground excavation work, there is a strong demand at construction and building sites to identify their locations. However, underground utilities may be located in different positions than those shown on drawings when the pipes are installed, so it is necessary to identify the location of the utilities in advance from above ground using ground-penetrating radar.

[0003] When scanning the ground using a ground penetrating radar (GPR), electromagnetic waves are emitted into the ground and the reflected waves are detected. The data of the reflected waves acquired at this time is hereinafter referred to as GPR data. The GPR data is data that associates location information regarding the location where the reflected waves are received, the reflection time from the emission of the electromagnetic waves until the reflected waves are received, and information on the intensity of the reflected waves. When applied as a ground penetrating radar, it is characterized by emitting electromagnetic waves omnidirectionally or at a wide angle, and an integrated electromagnetic wave transmitter / receiver is often used. In GPR data obtained using an integrated electromagnetic wave transmitter / receiver, point-like buried objects such as pebbles and scrap iron, as well as long buried objects such as pipes, power lines, and rebar, are detected as hyperbolic reflected images. The buried locations of the point-like buried objects or long buried objects can be identified by analyzing these reflected images.

[0004] An example of such technology using underground radar is described in Patent Document 1. Patent Document 1 discloses a radar main body including an electromagnetic wave transmitter that transmits electromagnetic waves underground and an electromagnetic wave receiver that receives reflected waves of the transmitted electromagnetic waves, and a method for detecting buried objects underground using received wave data based on the electromagnetic waves received by the electromagnetic wave receiver. The method identifies the buried object's location by the apex of an arc-shaped reflected waveform that appears in the detection results. When the buried object is a point-like object or a long object parallel to the ground, when the underground radar is positioned directly above the buried object, the distance to the buried object directly below is the shortest distance between the underground radar and the buried object, and thus the buried object's location can be identified.

[0005] Non-Patent Document 1 describes a technology using underground radar, and states that in a radar profile equivalent to GPR data obtained by underground radar, the horizontal axis is the horizontal position of the antenna and the vertical axis is the reflected wave time, which corresponds to depth, so that a pseudo vertical cross section of the underground can be obtained, making it possible to determine the underground structure and detect buried objects.The document also discloses that the location of buried pipes is possible because the location of buried pipes appears at the apex of a hyperbola.

[0006] Furthermore, Non-Patent Document 2 discloses a CMP (Common Mid Point) stacking method that is well known in elastic wave and ground penetrating radar.

[0007] Non-Patent Document 3 describes the acquisition of underground data using an array-type underground radar device. An array-type underground radar device is an underground radar device that has multiple transmitting antennas and multiple receiving antennas arranged in a line. By scanning this underground radar device in a direction perpendicular to the line in which the multiple transmitting and receiving antennas are arranged, it is possible to acquire GPR data for multiple measurement lines.

[0008] The following describes the GPR data of an array-type underground radar device, which is the prerequisite technology. This GPR data is data at the data acquisition points of an array-type underground radar device as shown in Figure 1. As described in Non-Patent Document 3, an array-type underground radar device corresponds to a linear array in which multiple transmitting and receiving antennas are arranged in a straight line, and by moving this, GPR data is acquired at the data acquisition points as shown in Figure 1. The GPR data includes reflected wave data acquired by the transmitting and receiving antennas.

[0009] 1 is a top view showing a schematic diagram of a data acquisition point of an array-type underground radar device. A data acquisition point 101 is a position where a transmitting / receiving antenna mounted on the array-type underground radar device irradiates electromagnetic waves into the ground and acquires reflected wave data. The information at the data acquisition point 101 includes information about the data acquisition position, information about the time it takes for the electromagnetic waves to be irradiated into the ground and reflected back, and information about the intensity of the reflected waves.

[0010] The dotted frame 102 is a projection of the long object directly above (on the surface of a specified material, such as the ground surface). First, we will describe the GPR data on the analysis line, which is a collection of data acquisition points surrounded by the solid frame 103. Hereinafter, the linear collection of data acquisition points surrounded by the solid frame 103 will be referred to as the analysis line. The analysis line is set so as to cross the dotted frame 102, which is a projection of the long object directly above.

[0011] Figure 2 shows a cross section of the analysis line indicated by the solid line frame 103. Here, it is assumed that the buried object (e.g., long object 202) is parallel to the ground, and the radius of the long object is negligibly small compared to the buried depth. The x-axis 201 corresponds to the analysis line, and is an axis with an arbitrary point on the analysis line as the origin and the direction indicated by the arrow on the x-axis 201 as the positive direction. Point 200 indicates the origin. x = x ｉ And x = x ０ represents the position of the data acquisition point on the analysis line. ０ The point where x=x is the position of the data acquisition point (directly above point) on the x-axis 201 located directly above the long object. ｉ is the position of any other data acquisition point on the x-axis 201. ０The time it takes for the electromagnetic waves irradiated from the position to reach the long object is t ０ Expressed as x = x ｉ The time it takes for the electromagnetic waves irradiated from the position to reach the long object is t ｉ In this case, if the true propagation speed of electromagnetic waves underground is expressed as v, then x = x ０ The distance from the position of the long object 202 to the position of the long object 202 is vt ０ is equal to x = x ｉ The distance from the position of the long object 202 to the position of the long object 202 is vt ｉ Therefore, according to the Pythagorean theorem, the following (Equation 1) holds.

[0012] ...(Formula 1)

[0013] (Equation 1) to ｉ The effective propagation speed v of electromagnetic waves underground is calculated by multiplying the speed of light c ０ , relative permittivity of the earth ε ｒ Using this, v = c ０ / √(ε ｒ ) and can be converted into the right term of (Equation 2).

[0014] ...(Formula 2)

[0015] Next, a method for calculating the electromagnetic wave propagation velocity v in Equation 2 based on GPR data will be described. In this method, first, Kirchhoff migration processing is performed on the acquired radar image to determine the electromagnetic wave propagation velocity at which the hyperbola converges to a point. Kirchhoff migration processing will be described with reference to Figures 3A and 3B.

[0016] 3A and 3B are schematic diagrams of examples of radar images. The x-axis 301 in FIGS. 3A and 3B corresponds to the x-axis 201, and the vertical axis 302 represents the arrival time t of electromagnetic waves from the ground. The radar image is composed of a plurality of pixels 303 arranged in a matrix. As shown in FIG. 3A, each pixel 303 is associated with an x-coordinate and an arrival time t. For example, pixel 304 has a time t=t ｉ , x=x ｉ The pixel corresponds to the data acquisition position x ｉ The arrival time is t ｉThe amplitude of the reflected wave at this time is expressed as a value corresponding to the brightness of pixel 303, and a radar image is obtained by performing this processing on all pixels.

[0017] As shown in FIG. 3B, in (Equation 2), the relative dielectric constant ε ｒ Or, if the propagation speed of electromagnetic waves is defined as v, then (x ｉ , t ｉ The hyperbola 305 with the vertex at (x ) is obtained. The average brightness of each pixel on the hyperbola 305 is calculated by multiplying the average brightness of the pixel on the hyperbola 305 by the average brightness of the pixel on the same size image after processing (x ｉ , t ｉ ) is the brightness of pixel 304. This Kirchhoff migration process is similar to the CMP polymerization method described in Non-Patent Document 2.

[0018] For example, x = x ｉ Centered at x = x ｉ The case where Kirchhoff migration processing is performed within the range of ±d will be explained. In this case, x = x ｉ -d and pixel 306 corresponding to x=x ｉ The average brightness of all pixels on the hyperbola 305 between the pixel 307 corresponding to the pixel 307 and the pixel 307 corresponding to the pixel 307 is calculated, and this is used as the average brightness of the pixel 307 in the image after Kirchhoff migration (x ｉ , t ｉ ) is the brightness of pixel 304. This process is performed for all pixels, which is the Kirchhoff migration process. Here, selectable values ​​for d depend on the resolution, but values ​​corresponding to, for example, several tens to several hundreds of pixels are assumed.

[0019] By performing the Kirchhoff migration process described above, the propagation velocity v of the electromagnetic wave or the relative dielectric constant ε ｒ By appropriately selecting , the hyperbola 305 converges to a point. An example is shown in Figures 4A and 4B.

[0020] FIG. 4A is an example of a radar image before Kirchhoff migration processing, and FIG. 4B is an example of the image after Kirchhoff migration processing.

[0021] As shown in box 401 in Fig. 4A, a hyperbola appears on the radar image before Kirchhoff migration processing. On the other hand, as shown in box 402 in Fig. 4B, after Kirchhoff migration processing, the hyperbola converges to an approximately point-like shape. By performing Kirchhoff migration processing and finding the point where the hyperbola converges to an approximately point-like shape, it is possible to determine the appropriate electromagnetic wave propagation velocity v or the underground relative permittivity ε. ｒ can be identified.

[0022] In this case, when the direction of extension of the buried elongated object 202 is parallel to the ground, the distance from the radar device to the reflection point of the elongated object is smallest when the radar device is located directly above the elongated object, and the apex of the hyperbola corresponds to the buried position. In FIG. 3B, pixel 304 corresponds to the apex position of the hyperbola, and x = x ｉ is the position of the point directly above the long object, and t = t ｉ corresponds to the time it takes for the electromagnetic wave to reach the reflection point of a long object directly below the ground. Therefore, if the propagation speed v of the electromagnetic wave in the ground can be determined by the Kirchhoff migration process, then x = x ｉ From the position of depth vt ｉ It can be seen that there is a long object in the location.

[0023] However, when a one-dimensional elongated object is not parallel to the ground, the reflection point will not be located directly below the data acquisition point even if it is located directly above the elongated object as shown in Figure 5. Analysis line 501 is an analysis line extracted from the data acquisition points in Figure 1. Line 503 represents the elongated object that is not parallel to the ground as a straight line, and line 502 is the line obtained by projecting line 503 onto the ground directly above. The plane including analysis line 501 and line 502 corresponds to the surface (ground).

[0024] A dashed triangular prism 504 represents the positional relationship between the analysis line 501, the line 502, and the line 503. A data acquisition point 507 is a data acquisition point located at the intersection of the analysis line 501 and the line 502, and a point 505 is a point on the line 503 directly below the data acquisition point 507. Furthermore, a point 506 is the foot of a perpendicular line dropped from the data acquisition point 507 to the line 503.

[0025] When straight line 503 corresponding to the long object is parallel to the ground, point 506 coincides with point 505, and the reflection point of the electromagnetic wave at the position of data acquisition point 507 is point 505. However, when straight line 503 is not parallel to the ground, the electromagnetic wave is reflected perpendicular to straight line 503, so the reflection point is point 506, which is not located directly below the radar device. Therefore, an error occurs in the propagation distance and burial depth calculated from the arrival time of the electromagnetic wave at the vertex position of the hyperbola.

[0026] JP 2012-103212 A

[0027] Motoyuki Sato, "Underground Imaging with Ground Penetrating Radar," IEICE Transactions on Geophysical Exploration (C), Vol. J85-C, No. 7, 2020, pp. 520-530; JOGMEC, "Oil Development and Stockpiling: A Guide to Seismic Reflection Exploration: CMP Polymerization and Imaging Technology," October 1997; Kazunori Takahashi, Hai Liu, Christian Koyama, Tomohiro Komakino, Motoyuki Sato, "Examples of the Use of Ground Penetrating Radar in the Reconstruction of Japan after the Great East Japan Earthquake," Geophysical Exploration, Vol. 69, No. 3, 2016, pp. 185-194

[0028] In GPR data, the conventional method of identifying the position of a buried long object from the apex position of a hyperbolic reflected image is effective when the long object is parallel to the ground, but when the buried long object is not parallel to the ground, the apex position of the hyperbolic reflected image is not located directly below the data acquisition point, resulting in a discrepancy between the apex position and the buried position of the long object. Therefore, as in Patent Document 1 and Non-Patent Document 1, if the apex position of the hyperbolic reflected image is taken as the buried position of the long object, an error will occur compared to the actual buried position when the long object is not parallel to the ground, making it difficult to estimate the extension direction of the long object.

[0029] The present application includes multiple means for solving at least part of the above-mentioned problems, examples of which are as follows. A processing device according to one aspect of the present invention for solving the above-mentioned problems uses the processing device to identify the position of an elongated object buried in a material from GPR data acquired by an array-type ground-penetrating radar device that can move along the surface of the material while irradiating electromagnetic waves into the material. The GPR data is data in which position information regarding the position at which a reflected wave is received, reflection time from when the electromagnetic wave is emitted until the reflected wave is received, and information on the intensity of the reflected wave are associated with each other. The processing device is composed of a virtual propagation velocity analysis unit, an oblique intersection / inclination angle calculation unit, a buried depth calculation unit, and a buried object directly above point position calculation unit. First, for the GPR data acquired using the array-type ground-penetrating radar device, GPR data corresponding to first, second, and third analysis lines, which are straight lines extending in different directions and consisting of data acquisition points, are input to the virtual propagation velocity analysis unit. Next, for the input GPR data, the virtual propagation velocity analysis unit outputs information on the vertex position of the hyperbola of the GPR data on the first analysis line, and information on the first virtual propagation velocity, the second virtual propagation velocity, and the third virtual propagation velocity of the electromagnetic wave in the material below the first analysis line, the second analysis line, and the third analysis line. Next, the oblique intersection / inclination angle calculation unit receives information on the first angle formed by the first analysis line and the second analysis line and information on the second angle formed by the second analysis line and the third analysis line as input, and calculates information on the oblique angle formed by the first analysis line and a fourth line obtained by projecting the elongated object onto the ground, and information on the inclination angle formed by the elongated object and the ground, from the first virtual propagation velocity, the second virtual propagation velocity, and the third virtual propagation velocity of the electromagnetic wave. Next, the burial depth calculation unit calculates information on the burial depth from the point directly above the long object on the first analysis line to the long object directly below it, based on information on the oblique angle between the fourth straight line and the first analysis line, information on the inclination angle between the long object and the ground, and information on the vertex position of the hyperbola of the GPR data on the first analysis line.Finally, the buried object directly above point position calculation unit calculates information on the position of the first point from information on the oblique angle formed by the fourth straight line and the first analysis line, information on the inclination angle which is the angle formed by the elongated object and the ground, information on the apex position of the hyperbola of the GPR data on the first analysis line, and information on the burial depth from the first point located directly above the elongated object on the first analysis line to the elongated object directly below. In this way, information on the oblique angle, inclination angle, burial depth, and position of the point directly above the elongated object is calculated to identify the buried position of the elongated object.

[0030] Even if a buried long object is not parallel to the ground, analyzing the GPR data from the array-type ground penetrating radar device has the effect of determining the position and extension direction of the buried object. In particular, it is possible to accurately determine the slope at which the long object is buried underground.

[0031] Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

[0032] FIG. 1 is a top view showing an example of data acquisition points when GPR data is acquired by an array-type underground radar device. FIG. 2 is an example of a cross-sectional view at an analysis line. FIG. 3A is a diagram showing an example of a pixel of a radar image, and FIG. 3B is a diagram showing an example of a hyperbola of the radar image. FIG. 4A is a diagram showing an example of a radar image before Kirchhoff migration processing is performed, and FIG. 4B is a diagram showing an example of an image after Kirchhoff migration processing is performed. FIG. 5 is a diagram showing an example of the positional relationship between the extension direction of a long object and an analysis line when the buried long object is not parallel to the ground. FIG. 6A is a diagram showing an example of an inclination angle φ, FIG. 6B is a diagram showing an example of an oblique angle θ, and FIG. 6C is a diagram showing an example of a positional relationship between the extension direction of the long object and the analysis line when the buried long object is not parallel to the ground. ｄFIG. 7 is a diagram showing an example of selecting analysis lines in multiple directions from data acquisition points of GPR data. FIG. 8 is a diagram showing an example of the positional relationship of selected analysis lines. FIG. 9 is a diagram showing an example of the overall configuration of a calculation processing device according to the first embodiment. FIG. 10 is a diagram showing a computer system as an example of a hardware configuration capable of realizing the calculation processing device according to the first embodiment. FIG. 11 is a diagram showing an example of the overall configuration of a calculation processing device according to the second embodiment. FIG. 12 is a diagram showing an example of an intersection angle of analysis lines. FIG. 13 is a diagram showing a computer system as an example of a hardware configuration capable of realizing the calculation processing device according to the second embodiment. FIG. 14 is a diagram showing an example of the overall configuration of a calculation processing system according to the third embodiment. FIG. 15 is a diagram showing an example of displaying information output in the first and second embodiments. FIG. 16 is a diagram showing an example of the overall configuration of a calculation processing system according to the fourth embodiment. FIG. 17 is a flow chart showing an example of the overall configuration of a calculation processing method according to the fifth embodiment.

[0033] An embodiment of the present invention will be described below with reference to the drawings. In all drawings used to describe the embodiment, the same components are generally designated by the same reference numerals, and repeated description thereof will be omitted where appropriate. It goes without saying that, in the following embodiments, the components (including element steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. It goes without saying that when a term "consists of A," "composed of A," "having A," or "including A" is used, it does not exclude other elements unless otherwise specified to include only that element. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., it is intended to include those that are substantially similar or similar to the shape, etc., unless otherwise specified or considered to be clearly essential in principle.

[0034] In the following embodiment, the buried position of a buried elongated object is identified from GPR data on analysis lines in multiple directions, even when the buried elongated object is not parallel to the ground.

[0035] [First Embodiment] In the first embodiment, a processing device and a processing method for identifying the buried position of a buried elongated object when the buried elongated object is not parallel to the ground will be described.

[0036] 6A is a diagram showing an example of the inclination angle φ. Specifically, it is a cross-sectional view showing an example of the relationship between an elongated object 602 and the ground surface assumed in this embodiment. The elongated object 602 is, for example, a pipe, and the angle formed between the extension direction of the elongated object 602 and the ground surface 601 is represented by the inclination angle φ.

[0037] 6B is a diagram showing an example of the oblique angle θ. Specifically, it is a perspective view showing an example of the relationship between the elongated object and the ground assumed in this embodiment. The x-axis 603 corresponds to the analysis line, has an arbitrary point as the origin, and is an axis with the direction indicated by the arrow along the analysis line as the positive direction. In FIG. 6B, the oblique angle θ represents the angle formed by the x-axis 603 and a dashed line 604 that projects the extension direction of the elongated object 602 onto the ground 601 directly above.

[0038] FIG. 6C shows the buried depth z ｄ 6C is a perspective view showing an example of the distance between the x-axis 603 and the elongated object 602. In FIG. 6C, the x-coordinate of a point 605 on the x-axis 603, which corresponds to the position of the point directly above the elongated object 602, is expressed as x ０ The z-axis 606 is an axis extending vertically downward from the point 605. The point 607 is a point on the elongated object 602 directly below the point 605. The distance between the points 605 and 607 is the buried depth z ｄ It is expressed as:

[0039] The inclination angle φ, the oblique angle θ, and the buried depth z shown in FIG. ｄ and x, which is the x coordinate of the point directly above the long object. ０ can be calculated when the diameter of the long object is small enough to be ignored, and in this embodiment, the calculation method will be described.

[0040] In addition, in an embodiment of the present invention, calculating angles such as the inclination angle φ and the oblique angle θ includes not only directly determining each angle, but also calculating information that can identify angles such as cos φ, cos θ, sin φ, sin θ, tan φ, and tan θ.

[0041] First, the formula of the hyperbola for the assumed reflected image will be described. The formula of the hyperbola shown in the above (Equation 2) is when the long object 602 is parallel to the ground (φ=0°), θ=90°, z ｄ = vt ０ The inclination angle φ, the oblique angle θ, and the buried depth z in Figs. ｄ When this is taken into consideration, the equation of the hyperbola can be expressed as (Equation 3).

[0042] ...(Formula 3)

[0043] In (Equation 3), f(θ,φ) is a function consisting of θ and φ, and g(θ,φ,z ｄ ) and h(θ,φ,z ｄ ) is θ, φ, z ｄ It is a function consisting of f(θ,φ), g(θ,φ,z ｄ ), h(θ,φ,z ｄ ) is, when the long object 602 is buried parallel to the ground (φ=0°), f(θ,φ)=1 and g(θ,φ,z)=1 when θ=90°. ｄ ) = 0, h(θ, φ, z ｄ ) = t ０ ２ For example, when the diameter of a long object is negligibly small, f(θ,φ) and g(θ,φ,z ｄ ), h(θ,φ,z ｄ ) can be expressed in order as (Equation 4) to (Equation 6).

[0044] ...(Formula 4)

[0045] ...(Formula 5)

[0046] ...(Formula 6)

[0047] From the above calculations, if the diameter of the long object is small enough to be ignored, t ｉ Next, a method for calculating each parameter from GPR data on analysis lines in multiple directions will be described.

[0048] 7 is a diagram showing an example of selecting analysis lines in multiple directions from data acquisition points of GPR data. Specifically, it is a diagram showing an example of a method for selecting analysis lines in multiple directions from a top view of data acquisition points of GPR data. Solid-line frames 701, 702, and 703 represent data acquisition points that constitute the first analysis line, the second analysis line, and the third analysis line, respectively. The positional relationship of such first analysis line, second analysis line, and third analysis line is schematically shown in FIG. 8.

[0049] Fig. 8 is a diagram showing an example of the positional relationship of selected analysis lines. Specifically, it is a diagram showing the positional relationship of the analysis lines selected in Fig. 7 in the first embodiment. First, each parameter is calculated from the analysis lines consisting of a first analysis line 801, a second analysis line 802, and a third analysis line 803 from the acquired GPR data. At this time, it is assumed that the first analysis line 801, the second analysis line 802, and the third analysis line 803 extend in different directions and are not parallel to each other.

[0050] The first analysis line 801, the second analysis line 802, and the third analysis line 803 intersect with a fourth line 604, which is a projection of the elongated object 602 onto the ground 601, in a top view. The intersections of the first analysis line 801, the second analysis line 802, and the third analysis line 803 with the fourth line 604 in a top view are points directly below the elongated object 602. Hereinafter, these points will be represented by R, S, and T, respectively. The points R, S, and T are the points at which x = x when the first analysis line 801, the second analysis line 802, and the third analysis line 803 are set on the x-axis. ０ Point R corresponds to the position of the first analysis line 801 (the point directly above in FIG. 6C ). Point R corresponds to the first point located directly above the elongated object on the first analysis line 801. Here, an arbitrary point on each of the first analysis line 801, the second analysis line 802, and the third analysis line 803 is taken as the origin, and the direction of the arrow along each analysis line is taken as the positive direction to form an axis.

[0051] In the following, the first analysis line 801 set on the x-axis is referred to as the x １ Similarly, the second analysis line 802 set on the x-axis is called the x ２ The third analysis line 803 set on the x-axis is called the x-axis. ３ This is called the axis. x at point R １ The position on the axis is x = x ０１The intersection of the first analysis line 801 and the second analysis line 802 is represented by point V, and the intersection of the second analysis line 802 and the third analysis line 803 is represented by point W.

[0052] Furthermore, ∠VRS=θ １ , ∠VST=θ ２ , ∠WTS=θ ３ , ∠RVS=α １２ , ∠SWT=α ２３ It is expressed as θ １ is an example of an oblique angle formed between the fourth straight line 604 projected onto the ground of the long object and the first analysis line 801. １ , θ ２ , θ ３ are different values. １２ is an example of a first angle, and α ２３ is an example of the second angle.

[0053] From the above, θ １ , φ, z ｄ１ , x ０１ By determining these parameters, the underground buried position and extension direction of the long object 602 can be uniquely identified.

[0054] FIG. 9 shows the oblique angle θ １ , inclination angle φ, burial depth z ｄ１ , the position x of the point directly above the long object ０１ 9 is a diagram showing the overall configuration of a processing unit 900 that calculates the following: First, the processing of the processing unit 900 in FIG.

[0055] The arithmetic processing device 900 has a virtual propagation velocity analysis unit 902, an oblique intersection / inclination angle calculation unit 903, a buried depth calculation unit 904, and a buried object directly above point position calculation unit 905. The arithmetic processing device 900 also receives as input GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, GPR data 911c of the third analysis line, first angle information 912a, and second angle information 912b, and outputs oblique intersection angle information 923a, inclination angle information 923b, buried depth information 924, and buried object directly above point position information 925.

[0056] The GPR data 911a for the first analysis line, the GPR data 911b for the second analysis line, and the GPR data 911c for the third analysis line are data in which position information on the position where the reflected wave was received, the reflection time from when the electromagnetic wave was emitted until the reflected wave was received, and information on the reflected wave intensity of the reflected wave are respectively associated with each other. Note that the position information on the positions where the reflected wave of the GPR data on the first analysis line, the second analysis line, and the third analysis line was received includes information on the relative position of the data acquisition points on the same analysis line, and does not need to include information on the positional relationship with data acquisition points on different analysis lines.

[0057] The first angle information 912a is a first angle α １２ In addition to the value of cosα １２ , sin α １２ , tanα １２ The same applies to the second angle information 912b, the oblique angle information 923a, and the inclination angle information 923b. The buried depth information 924 is z ｄ１ On the first analysis line, the information on the distance from the first point located directly above the long object to the long object directly below corresponds to the information on the position of the point directly above the buried object 925, which is expressed as x ０１ The above-mentioned information on the position of the first point corresponds to the above-mentioned information on the position of the first point.

[0058] The virtual propagation velocity analysis unit 902 calculates hyperbola vertex position information 921, first virtual propagation velocity information 922a, second virtual propagation velocity information 922b, and third virtual velocity information 922c using GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, and GPR data 911c of the third analysis line. The hyperbola vertex position information 921 corresponds to information on the hyperbola vertex position of the GPR data on the first analysis line. The first virtual propagation velocity information 922a, second virtual propagation velocity information 922b, and third virtual velocity information 922c correspond to information on the velocity of the electromagnetic wave. Here, the velocity of the electromagnetic wave is obtained by converging the hyperbola to an approximate point by the Kirchhoff migration process in the material below the first analysis line, second analysis line, and third analysis line.

[0059] The oblique / tilt angle calculation unit 903 calculates oblique angle information 923a and tilt angle information 923b using first angle information 912a and second angle information 912b given as input, and first virtual propagation velocity information 922a, second virtual propagation velocity information 922b, and third virtual velocity information 922c generated by the virtual propagation velocity analysis unit 902.

[0060] The buried depth calculation unit 904 calculates buried depth information 924 using information 921 of the vertex position of the hyperbola, information 923a of the oblique angle, and information 923b of the inclination angle.

[0061] The buried object directly above point position calculation unit 905 calculates information 925 of the position directly above the buried object using information 921 of the vertex position of the hyperbola, information 923a of the oblique angle, information 923b of the inclination angle, and information 924 of the buried depth.

[0062] The processing of the virtual propagation speed analysis unit 902, the oblique intersection / inclination angle calculation unit 903, the buried depth calculation unit 904, and the buried object directly above point position calculation unit 905 will be described in detail below.

[0063] The virtual propagation velocity analysis unit 902 identifies the vertex position of the hyperbola using the GPR data of the first analysis line 801, the second analysis line 802, and the third analysis line 803. Since the vertex position of the hyperbola corresponds to pixel 304 in FIG. 3B, the virtual propagation velocity analysis unit 902 can identify the vertex position in the GPR data of the first analysis line 801, and here, (x ０１ ',t ０１ ').

[0064] The virtual propagation velocity of the electromagnetic wave when the hyperbola obtained from the radar image on the first analysis line 801 converges to a point by Kirchhoff migration processing is defined as v １ Similarly, the virtual propagation velocities of the electromagnetic waves when the hyperbolic curves of the radar images on the second analysis line 802 and the third analysis line 803 converge to a point by Kirchhoff migration processing are respectively defined as v ２ ',v ３ 'Let's say.

[0065] The vertex position of the first analysis line 801 in the GPR data (x ０１ ',t０１ The virtual propagation velocity v ′) corresponds to the information 921 of the vertex position of the hyperbola, and is transferred to the buried depth calculation unit 904 and the buried object directly above point position calculation unit 905. １ ',v ２ ',v ３ ' correspond to first virtual propagation speed information 922 a, second virtual propagation speed information 922 b, and third virtual speed information 922 c, respectively, and are passed to the oblique intersection / tilt angle calculation unit 903.

[0066] The virtual propagation velocity analysis unit 902 outputs the vertex positions in the GPR data to generate information required by the buried depth calculation unit 904 and the buried object directly above point position calculation unit 905. The virtual propagation velocity analysis unit 902 also generates first virtual propagation velocity information 922a, second virtual propagation velocity information 922b, and third virtual velocity information 922c, which are required for the oblique intersection / tilt angle calculation unit 903 to calculate oblique angle information 923a and tilt angle information 923b.

[0067] Next, the process in the oblique / tilt angle calculation unit 903 will be described. １２ and α ２３ The oblique angle calculation unit 903 receives as input the information on the first angle and the second angle as follows: １ ',v ２ ',v ３ The virtual propagation speed information 922a, the virtual propagation speed information 922b, and the virtual propagation speed information 922c are received. １ ',v ２ ',v ３ The relationship between ' and the effective underground propagation velocity v of the electromagnetic wave can be expressed as (Equation 7).

[0068] ...(Formula 7)

[0069] Furthermore, since the sum of the interior angles of triangles VRS and WTS in FIG. 8 is 180 degrees, equations (8) and (9) hold true.

[0070] ...(Formula 8)

[0071] ...(Formula 9)

[0072] where α １２ and α ２３ is given as input as first angle information 912a and second angle information 912b. １ ',v ２ ',v ３ The virtual propagation velocity analysis unit 902 delivers the first virtual propagation velocity information 922a, the second virtual propagation velocity information 922b, and the third virtual velocity information 922c to the electromagnetic wave analysis unit 902. Therefore, by using the three equations (7) and the two equations (8) and (9), the effective underground propagation velocity v, φ, and θ of the electromagnetic wave in a predetermined material (underground) can be calculated. １ , θ ２ , θ ３ The five parameters can be calculated. １ , θ ２ , θ ３ In order to calculate the parameters, in addition to directly calculating each angle, cosφ, cosθ １ , cosθ ２ , cosθ ３ , sinφ, sinθ １ , sinθ ２ , sinθ ３ , tanφ, tanθ １ , tanθ ２ , tanθ ３ It is also envisioned that information that can identify angles such as the above may be calculated.

[0073] As described above, the oblique / tilt angle calculation unit 903 calculates v, φ, and θ from the GPR data in three directions using mathematical expressions. １ , θ ２ , θ ３ Calculate the oblique angle θ １ The inclination angle φ corresponds to the oblique angle information 923a and the inclination angle information 923b, and is passed to the buried depth calculation unit 904 and the buried object directly above point position calculation unit 905, and at the same time, becomes part of the output of the calculation processing unit 900.

[0074] The oblique / tilt angle calculation unit 903 mathematically calculates the oblique angle θ from the GPR data in three directions. １ and the inclination angle φ can be calculated, and the inclination angle and the respective oblique angles when the buried elongated object is not parallel to the ground can be obtained.

[0075] Next, a process of calculating the buried depth by the buried depth calculation unit 904 will be described. The buried depth calculation unit 904 receives the vertex position (x ０１ ',t ０１ The oblique angle calculation unit 903 receives information 921 about the vertex position of the hyperbola such as θ １ and information 923b of the inclination angle such as φ.

[0076] The vertex position (x ０１ ',t ０１ ') about t ０１ ' can be expressed as (Equation 10) based on (Equation 3).

[0077] ...(Formula 10)

[0078] t in (Equation 10) ０１ ' is calculated from the virtual propagation speed analysis unit 902, and the oblique angle θ １ and the inclination angle φ are given from the oblique intersection / inclination angle calculation unit 903 and are therefore known. ｄ１ is calculated. ｄ１ corresponds to buried depth information 924, and is passed to the buried object directly above point position calculation unit 905, and at the same time, becomes part of the output of the arithmetic processing unit 900.

[0079] Based on (Equation 3), the buried depth calculation unit 904 can determine the buried depth from the point directly below the buried elongated object on the analysis line even when the buried elongated object is not parallel to the ground.

[0080] Next, the processing of the buried object directly above point position calculation unit 905 will be described. The buried object directly above point position calculation unit 905 receives the vertex position (x ０１ ',t ０１ The buried object directly above point position calculation unit 905 receives as input information 921 of the vertex position of the hyperbola such as θ １and information 923b on the inclination angle such as φ. Furthermore, the buried object directly above point position calculation unit 905 receives information 923a on the oblique angle such as φ from the buried depth calculation unit 904. ｄ１ The buried object directly above point position calculation unit 905 receives information 924 of the buried depth such as the above x ０１ ' can be expressed as (Equation 11) based on (Equation 3).

[0081] ...(Formula 11)

[0082] x in (Equation 11) ０１ ' is calculated from the virtual propagation speed analysis unit 902 by the oblique angle θ １ and the inclination angle φ are calculated from the oblique intersection / inclination angle calculation unit 903 and the buried depth z ｄ１ is given from the buried depth calculation unit 904 and is therefore known, and the directly above point position x ０１ is calculated. ０１ corresponds to information 925 on the position of the point directly above the buried object, and is part of the output of the arithmetic processing device 900.

[0083] The buried object directly above point position calculation unit 905 can identify the directly above point of the elongated object 602 shown in FIG. 6C on the first analysis line. This directly above point corresponds to the position of point R in FIG. 8. In addition, the buried object directly above point position calculation unit 905 can calculate the buried depth z ｄ１ From this, it is possible to identify where the elongated object 602 is located relative to each analysis line.

[0084] The arithmetic processing device 900 shown in FIG. 9 receives information 923a on the oblique angle, information 923b on the inclination angle, and information z ｄ１ and the information 924 of the buried depth, such as ０１ Since the information 925 of the position directly above the buried object is output, the underground buried position and extension direction of the long object 602 can be uniquely identified.

[0085] Note that x of point S shown in FIG. ２ The position on the axis is x = x ０２ The distance from point S to the long object 602 directly below is z ｄ２ When this is the case, z ｄ２ , x ０２ The parameters of z can be calculated in the same way. ｄ１, x ０１ and Z ｄ２ , x ０２ It is also expected that by calculating the parameters and clarifying the positions of the two points through which the long object passes, it will be possible to uniquely identify the underground buried position and extension direction of the long object.

[0086] FIG. 10 is a diagram illustrating a computer system as an example of a hardware configuration capable of realizing the arithmetic processing device according to the first embodiment. In the computer system 1200, a processor 1201 reads a program stored in a memory resource 1204 to perform various processes, including data generation, transmission, and reception, and the like. The processor 1201 then executes a process for identifying the buried location of an elongated object from GPR data 1213. The computer system 1200 may be, for example, a personal computer, a tablet terminal, a smartphone, a server computer, a blade server, or a cloud server, and is a system including at least one of these computers. In other words, the computer system 1200 also encompasses a system including, for example, a cloud server and a display computer (e.g., a tablet terminal or a smartphone). The computer system 1200 may also be a controller that controls or manages some device including the processor 1201 and the memory resource 1204.

[0087] 10 , the computer system 1200 includes one or more processors 1201, one or more memory resources 1204, one or more UI (User Interface) devices 1202, and one or more NI (Network Interface) devices 1203. Note that the computer system 1200 may include components other than these. The processor 1201, the UI device 1202, the NI device 1203, and the memory resource 1204 are connected to each other via a bus 1205.

[0088] The processor 1201 is an arithmetic device that reads various programs stored in the memory resource 1204 and executes processing corresponding to each program. An example of such a program is an operating system (OS). The processor 1201 may be, for example, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), a quantum processor, or any other semiconductor device capable of executing calculations.

[0089] The memory resource 1204 is a storage device that stores a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, a buried object directly above point calculation program 1212, GPR data 1213, analysis information 1214, and analysis line intersection angle data 1215. The memory resource 1204 is, for example, a non-volatile memory and / or a volatile memory. An example of the volatile memory is a random access memory (RAM). An example of the non-volatile memory may be a rewritable storage medium such as a flash memory, a hard disk, a read-only memory (ROM), or an SSD (solid state drive), or may be a universal serial bus (USB) memory, a memory card, or a hard disk. Furthermore, RAMs such as MRAM (Magnetoresistive RAM), PRAM (Phase change RAM), and ReRAM (Resistive RAM) may be regarded as non-volatile memories. The processor 1201 may provide a service of distributing various programs stored in the memory resource 1204 (e.g., a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, and a buried object directly above point calculation program 1212) to other computers.

[0090] The UI device 1202 is an input device that inputs instructions from a user (or an operator) to the computer system 1200, and an output device that outputs information generated by the computer system 1200. Examples of input devices include a keyboard, a touch panel, a pointing device such as a mouse, and an audio input device such as a microphone. Unless otherwise specified below, input and output of information between the computer system 1200 and the user is performed via the UI device 1202. The UI device 1202 may be only an input device or only an output device. Examples of output devices include a display device such as an LCD display, a projector that projects information onto a screen, AR glasses, a printer that prints on paper, a smartphone, a smartwatch, etc.

[0091] The NI device 1203 is a communication device that communicates information with external devices. The NI device 1203 communicates information with a radar device 1207, which is an array-type underground radar device that can move along the surface of a material, and underground data 1208, which stores GPR data, via a predetermined communication network 1206, such as the Internet or a local area network (LAN). The underground data 1208 includes GPR data 1213 previously acquired by the underground radar, and is a data storage environment stored on a server that can be accessed via the cloud or online. The GPR data 1213 acquired by the radar device 1207 can be stored in the underground data 1208 by wirelessly connecting the radar device 1207. Alternatively, the GPR data 1213 stored in the radar device 1207 can be stored in a non-volatile memory and transferred to the underground data 1208 for data storage.

[0092] Unless otherwise specified below, information communication between the computer system 1200 (or the processor 1201) and an external device such as the radar device 1207 is performed via the NI device 1203.

[0093] This computer system 1200 executes various programs, namely, a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, and a buried object directly above point calculation program 1212, thereby performing the processing of the arithmetic processing device 900 shown in FIG. 9.

[0094] The GPR data 1213 is GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, and GPR data 911c of the third analysis line stored in the memory resource 1204. The analysis line intersection angle data 1215 is first angle information 912a and second angle information 912b stored in the memory resource 1204. The GPR data 1213 and analysis line intersection angle data 1215 are imported from the radar device 1207 or underground data 1208 via the NI device 1203 or the bus 1205. The GPR data 1213 and analysis line intersection angle data 1215 can also be imported into the memory resource 1204 via the bus 1205 by the user directly inputting or uploading data from the UI device 1202.

[0095] A virtual propagation velocity analysis program 1209 causes the processor 1201 to perform the processing of the virtual propagation velocity analysis unit 902. Similarly, an oblique intersection / inclination angle calculation program 1210 causes the processor 1201 to perform the processing of the oblique intersection / inclination angle calculation unit 903, and a buried depth calculation program 1211 causes the processor 1201 to perform the processing of the buried depth calculation unit 904. A buried object directly above point calculation program 1212 causes the processor 1201 to perform the processing of the buried object directly above point position calculation unit 905.

[0096] The GPR data 1213 corresponds to the GPR data on the first analysis line 801 to the third analysis line 803, and the analysis line intersection angle data 1215 corresponds to the first angle and the second angle that are the angles formed between the analysis lines. The GPR data 1213 and the analysis line intersection angle data 1215 include information acquired from the radar device 1207 and the underground data 1208 via the NI device 1203 and the communication network 1206. The GPR data 1213 corresponds to the GPR data acquired as input for analysis by the computer system 1200 among the data stored in the underground data 1208. Similarly, the analysis line intersection angle data 1215 corresponds to information on the analysis line intersection angle that is necessary as input to the computer system 1200 among the data stored in the underground data 1208.

[0097] The analysis information 1214 corresponds to values ​​of various parameters calculated by executing various programs, namely, a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, and a buried object directly above point calculation program 1212. Specifically, the virtual propagation velocity v １ ',v ２ ',v ３ ', the effective underground propagation velocity of the electromagnetic wave v, the vertex position in the GPR data (x ０１ ',t ０１ '), oblique angle θ １ , inclination angle φ, burial depth z ｄ１ , the position x of the point directly above the long object ０１ Among these pieces of information, the information necessary to identify the buried position of the elongated object is displayed by the UI device 1202.

[0098] In addition, by executing various programs, namely, a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, and a buried object directly above point calculation program 1212, a parameter θ that can uniquely identify the underground buried position and extension direction can be calculated. １ , φ, z ｄ１ , x ０１is calculated, the processor 1201 uses this to display the information of the analysis information 1214 on the UI device 1202. This allows the user to understand the state in which the long object is buried.

[0099] When the UI device 1202 is a display device, AR glasses, a smartphone, a smart watch, or the like, the processor 1201 can display the analysis information 1214 on these devices. When the UI device 1202 is a printer, the processor 1201 prints the analysis information 1214 on paper.

[0100] Instead of outputting to the user using the UI device 1202 described above, data required for outputting to the user may be transmitted to an external processor system via the NI device 1203. Examples of such data include, but are not limited to, the data to be output itself or data for generating output data in another processor system. For example, the data may be a program or web data describing a process for outputting to the user in the external processor system. For example, the radar device 1207 may receive the output via the NI device 1203 or the communication network 1206 and display it on a monitor on the radar device 1207.

[0101] Instead of receiving input or operations from a user using the UI device 1202 described above, data indicating user input or operations may be received from an external processor system via the NI device 1203. From another perspective, the meaning of outputting data to a user may include not only performing the data output by the computer system 1200 itself but also having another entity other than the computer system 1200 output the data (using the computer system 1200 to do so). Furthermore, the meaning of receiving input or operations from a user may include not only direct output or reception to the user by the UI device 1202 of the computer system 1200 but also indirect reception by the computer system 1200.

[0102] In the embodiment described above, even if the long object 602 is not buried parallel to the ground surface 601, it is possible to determine the parameters of the oblique angle, inclination angle, burial depth, and the position of the point directly above the long object. This makes it possible to identify the buried position and extension direction of the long object.

[0103] 11 is a diagram showing an example of the overall configuration of a processing device 1000 according to embodiment 2. The processing device 1000 is configured to be able to obtain the same output as the processing device 900 shown in FIG. 9 according to embodiment 1 by inputting position information of each analysis line, without inputting first angle information 912a and second angle information 912b.

[0104] The calculation processing device 1000 has a virtual propagation speed analysis unit 902, an oblique intersection / inclination angle calculation unit 903, a buried depth calculation unit 904, and a buried object directly above point position calculation unit 905, which are provided in the calculation processing device 900, as well as a direction vector calculation unit 1002 of the analysis line and an intersection angle calculation unit 1003 of the analysis line.

[0105] The calculation processing device 1000 receives as input GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, GPR data 911c of the third analysis line, and position information 1011a of the first analysis line, position information 1011b of the second analysis line, and position information 1011c of the third analysis line, and outputs oblique angle information 923a, inclination angle information 923b, buried depth information 924, and information 925 of the position of the point directly above the buried object.

[0106] The position information 1011a of the first analysis line is information on the position coordinates of data acquisition points on the first analysis line, the position information 1011b of the second analysis line is information on the position coordinates of data acquisition points on the second analysis line, and the position information 1011c of the third analysis line is information on the position coordinates of data acquisition points on the third analysis line. The position information 1011a of the first analysis line, the position information 1011b of the second analysis line, and the position information 1011c of the third analysis line may be, for example, position coordinates obtained by GPS or coordinate information of data acquisition points on each analysis line in the same coordinate plane, and may be information that indicates the positional relationship with respect to data acquisition points on different analysis lines.

[0107] The analysis line direction vector calculation unit 1002 receives position information 1011a of the first analysis line, position information 1011b of the second analysis line, and position information 1011c of the third analysis line as input, generates direction vector information 1021a of the first analysis line, direction vector information 1021b of the second analysis line, and direction vector information 1021c of the third analysis line, and passes them to the analysis line intersection angle calculation unit 1003. The direction vector information 1021a of the first analysis line, direction vector information 1021b of the second analysis line, and direction vector information 1021c of the third analysis line are information for specifying the directions in which the first analysis line, second analysis line, and third analysis line extend on the ground, respectively.

[0108] The analysis line intersection angle calculation unit 1003 calculates first angle information 912a and second angle information 912b using direction vector information 1021a of the first analysis line, direction vector information 1021b of the second analysis line, and direction vector information 1021c of the third analysis line, and passes them to the oblique intersection / tilt angle calculation unit 903.

[0109] Next, the details of the processing in the analysis line direction vector calculation unit 1002 and the analysis line intersection angle calculation unit 1003 will be described with reference to FIG.

[0110] First, the calculation of the direction vectors of the first and second analysis lines will be described. The analysis lines 1101 and 1102 are not parallel to each other, and are designated as the first and second analysis lines, respectively. Two points are selected from the data acquisition points that make up the analysis line 1101 and designated as points A and B. Two points are also selected from the data acquisition points that make up the analysis line 1102 and designated as points C and D. Here, the two points can be selected randomly or by selecting the two points that are furthest apart. If the coordinates of point A are (x Ａ ,y Ａ ), the coordinates of point B are (x Ｂ ,y Ｂ ), the coordinates of point C are (x Ｃ ,y Ｃ ), the coordinates of point D are (x Ｄ ,y Ｄ )

[0111] The analysis line direction vector calculation unit 1002 calculates the direction vector of the analysis line 1101 as (x Ｂ -xＡ ,y Ｂ -y Ａ ), the direction vector of the analysis line 1102 is (x Ｄ -x Ｃ ,y Ｄ -y Ｃ ) is calculated as follows. (x Ｂ -x Ａ ,y Ｂ -y Ａ ) corresponds to the information 1021a of the direction vector of the first analysis line, and (x Ｄ -x Ｃ ,y Ｄ -y Ｃ ) corresponds to the information 1021b of the direction vector of the second analysis line. The analysis line direction vector calculation unit 1002 similarly calculates the information 1021c of the direction vector of the third analysis line. In addition to calculating the direction vector in this manner, the analysis line direction vector calculation unit 1002 may also calculate a regression line from the coordinates of multiple data acquisition points and calculate the direction vector from the slope.

[0112] The analysis line direction vector calculation unit 1002 calculates the direction vector of the first analysis line (x Ｂ -x Ａ ,y Ｂ -y Ａ ) and the information 1021b of the direction vector of the second analysis line (x Ｄ -x Ｃ ,y Ｄ -y Ｃ ) to the analysis line intersection angle calculation unit 1003. The analysis line direction vector calculation unit 1002 also calculates information 1021c of the direction vector of the third analysis line in the same way as the direction vectors of the first analysis line and the second analysis line, and passes it to the analysis line intersection angle calculation unit 1003.

[0113] The analysis line intersection angle calculation unit 1003 calculates the direction vector information 1021a of the first analysis line (x Ｂ -x Ａ ,y Ｂ -y Ａ ) and the information 1021b of the direction vector of the second analysis line (x Ｄ -x Ｃ ,y Ｄ -y Ｃ) to obtain the first angle α １２ is calculated using (Equation 12). １２ corresponds to the first angle information 912a shown in Fig. 11. Similarly, the analysis line intersection angle calculation unit 1003 calculates the second angle α ２３ is also calculated using the information 1021b of the direction vector of the second analysis line and the information 1021c of the direction vector of the third analysis line. １２ and the second angle α ２３ is passed to the oblique / tilt angle calculation unit 903.

[0114] ...(Formula 12)

[0115] The analysis line intersection angle calculation unit 1003 calculates the first angle α １２ , second angle α ２３ is calculated, the processing of the virtual propagation velocity analysis unit 902, the oblique intersection / inclination angle calculation unit 903, the buried depth calculation unit 904, and the buried object directly above point position calculation unit 905 of the arithmetic processing device 1000 can be executed in the same manner as in the first embodiment, in combination with the GPR data on the first analysis line, the second analysis line, and the third analysis line.

[0116] The arithmetic processing device 1000 shown in FIG. 11 can obtain the same output as the arithmetic processing device 900 shown in FIG. 9 without inputting the first angle information 912a and the second angle information 912b, as long as it has GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, GPR data 911c of the third analysis line, and position information 1011a of the first analysis line, position information 1011b of the second analysis line, and position information 1011c of the third analysis line.

[0117] 13 is a diagram showing a computer system as an example of a hardware configuration capable of realizing a processing device according to the second embodiment. The computer system 1300 is basically the same as the computer system 1200 shown in the first embodiment. Differences will be mainly described below. The memory resource 1304 is a storage device that stores an analysis line direction vector calculation program 1301, an analysis line intersection angle calculation program 1302, a hypothetical propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, a buried object directly above point calculation program 1212, analysis line position information 1303, GPR data 1213, and analysis information 1314.

[0118] The position information 1303 of the analysis lines is obtained by storing the position information 1011a of the first analysis line, the position information 1011b of the second analysis line, and the position information 1011c of the third analysis line in the memory resource 1304, and is imported from the radar device 1207 or the underground data 1208 via the NI device 1203 or the bus 1205. The GPR data 1213 can also be imported into the memory resource 1304 via the bus 1205 by the user directly inputting or uploading the data from the UI device 1202.

[0119] The analysis line direction vector calculation program 1301 causes the processor 1201 to perform the processing of the analysis line direction vector calculation unit 1002 shown in Fig. 11. Similarly, the analysis line intersection angle calculation program 1302 causes the processor 1201 to perform the processing of the analysis line direction vector calculation unit 1002 shown in Fig. 11. The direction vector calculated by the analysis line direction vector calculation program 1301 and the values ​​of the first angle and second angle calculated by the analysis line intersection angle calculation program 1302 are saved in analysis information 1314.

[0120] The analysis information 1314 is the values ​​of various parameters calculated by executing various programs, namely, the analysis line direction vector calculation program 1301, the analysis line intersection angle calculation program 1302, the virtual propagation velocity analysis program 1209, the oblique intersection / inclination angle calculation program 1210, the buried depth calculation program 1211, and the buried object directly above point calculation program 1212. Specifically, the analysis information 1314 includes the first angle α １２ and the second angle α ２３ , virtual propagation velocity v １ ',v ２ ',v ３ ', the true underground propagation velocity of electromagnetic waves v, the vertex position in the GPR data (x ０１ ',t ０１ '), oblique angle θ １ , θ ２ , θ ３ , inclination angle φ, burial depth z ｄ１ , the position x of the point directly above the long object ０１ Among these pieces of information, information necessary for identifying the buried position of the long object can be displayed on the UI device 1202.

[0121] This computer system 1300 can perform the processing of the processing device 1000 shown in Figure 11 by executing various programs, namely, an analysis line direction vector calculation program 1301, an analysis line intersection angle calculation program 1302, a virtual propagation velocity analysis program 1209, an oblique intersection / inclination angle calculation program 1210, a buried depth calculation program 1211, and a buried object direct above point calculation program 1212.

[0122] 14 is a diagram showing an example of the overall configuration of a data processing system according to a third embodiment. The data processing system 1400 is basically the same as the data processing device 900 shown in FIG. 9 of the first embodiment, but there are some differences. The data processing system 1400 includes a display unit 1401 that can display output.

[0123] The arithmetic processing system 1400 includes a processing device 900 that receives as input GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, GPR data 911c of the third analysis line, first angle information 912a, and second angle information 912b, and a display unit 1401. The display unit 1401 displays oblique angle information 923a, inclination angle information 923b, buried depth information 924, and buried object directly above point position information 925, which are output from the processing device 900.

[0124] Here, the display unit 1401 displays the oblique angle θ output by the arithmetic processing unit 900. １ , inclination angle φ, burial depth z ｄ１ , the position x of the point directly above the long object ０１ A means for displaying this information to the user as the buried location of the long object will now be described.

[0125] 15 is a diagram showing an example of the display of information output in the first and second embodiments. A display screen 1500 shows an example of the display on the display unit 1401. The display screen 1500 displays in 3D the positional relationship between the first analysis line 801, the second analysis line 802, the third analysis line 803, the elongated object 602 buried underground, the ground 601, and a dashed line 604 projecting the elongated object 602 onto the ground 601. The dashed line 1501 is an extension of the elongated object 602, and the angle formed between the dashed line 1501 and the dashed line 604 is the inclination angle φ. The angle formed between the first analysis line 801 and the dashed line 604 is the oblique angle θ. １ and the buried depth directly below the elongated object 602 at point R is z ｄ１ and are respectively shown on the display screen 1500. Point O is the origin of the first analysis line 801, and may be hidden depending on the settings, if necessary.

[0126] The display unit 1401 constituting the arithmetic processing system 1400 shown in FIG. 14 can be realized by, for example, displaying a display screen 1500 using the UI device 1202 of the computer system 1200 shown in FIG. 10. The processor 1201 shown in FIG. 10 may display a diagram, such as a 2D diagram or a 3D diagram, showing the actual state of a long object buried underground on the UI device 1202. For example, if the UI device 1202 is a display device, AR glasses, a smartphone, a smartwatch, or the like, the display screen 1500 can be displayed on these devices. Furthermore, if the UI device 1202 is a printer, the diagram can also be printed on paper.

[0127] According to the arithmetic processing system 1400 described above with reference to FIG. 14, the user can visually grasp the state in which the long object is buried based on the results output by the arithmetic processing device 900.

[0128] 16 is a diagram showing an example of the overall configuration of a processing system according to a fourth embodiment. The processing system 1402 is basically the same as the processing device 1000 shown in FIG. 11 of the second embodiment, but there are some differences. The processing system 1402 includes a display unit 1401 that can display output.

[0129] The calculation processing system 1402 includes a calculation processing device 1000 that receives as input GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, GPR data 911c of the third analysis line, and position information 1011a of the first analysis line, position information 1011b of the second analysis line, and position information 1011c of the third analysis line, and a display unit 1401. As described in the third embodiment, the display unit 1401 displays oblique angle information 923a and inclination angle information 923b output from the oblique intersection / inclination angle calculation unit 903, as well as buried depth information 924 and information 925 on the position of the point directly above the buried object.

[0130] The display unit 1401 constituting the arithmetic processing system 1402 shown in FIG. 16 can be realized by displaying the display screen 1500 shown in FIG. 15 via the UI device 1202 of the computer system 1300 in FIG.

[0131] According to the arithmetic processing system 1402, the user can visually grasp the state in which the long object is buried based on the results output by the arithmetic processing device 1000.

[0132] [Embodiment 5] Fig. 17 in embodiment 5 is a diagram explaining the calculations explained in embodiment 1 for each processing step. Fig. 17 is a flow diagram showing each step of a calculation processing method for outputting information on the oblique angle and inclination angle, information on the buried depth, and information on the position of the point directly above the buried object, using GPR data and information on the first angle and the second angle.

[0133] First, in a virtual propagation velocity analysis step S902, the virtual propagation velocity analysis unit 902 uses GPR data including the first analysis line, the second analysis line, and the third analysis line to generate information on the vertex position of the hyperbola on the first analysis line and information on the virtual propagation velocities of each analysis line. Here, as described with reference to Fig. 9 in the first embodiment, the virtual propagation velocity analysis step S902 corresponds to a processing step in which the virtual propagation velocity analysis unit 902 converts GPR data 911a of the first analysis line, GPR data 911b of the second analysis line, and GPR data 911c of the third analysis line into information 921 on the vertex position of the hyperbola, information 922a of the first virtual propagation velocity, information 922b of the second virtual propagation velocity, and information 922c of the third virtual velocity.

[0134] Next, in the oblique / tilt angle calculation step S903, the oblique / tilt angle calculation unit 903 uses the information on the first angle and the second angle given as input and the information on the virtual propagation speeds on each analysis line to generate information on the oblique angle between the fourth line and the first analysis line and the tilt angle between the elongated object and the ground. As described in Figure 9 of the first embodiment, the oblique / tilt angle calculation step S903 corresponds to a processing step in which the oblique / tilt angle calculation unit 903 converts the first angle information 912a, the second angle information 912b, the first virtual propagation speed information 922a, the second virtual propagation speed information 922b, and the third virtual speed information 922c into oblique angle information 923a and tilt angle information 923b.

[0135] Furthermore, in burial depth calculation step S904, the burial depth calculation unit 904 generates burial depth information, which is the distance from a first point located directly above the elongated object on the first analysis line to the elongated object directly below, using the oblique angle information, the inclination angle information, and the information on the vertex position of the hyperbola of the GPR data on the first analysis line. Burial depth calculation step S904 corresponds to the processing step in which the burial depth calculation unit 904 converts the information 921 on the vertex position of the hyperbola, the oblique angle information 923a, and the inclination angle information 923b into burial depth information 924, as described in FIG. 9 of the first embodiment.

[0136] Then, in step S905, information on the position of the point directly above the buried object is generated using the information on the oblique angle, the information on the inclination angle, the information on the vertex position of the hyperbola of the GPR data on the first analysis line, and the information on the buried depth. As described in Figure 9 of the first embodiment, step S905 corresponds to a processing step in which the buried object directly above point position calculation unit 905 converts information 921 on the vertex position of the hyperbola, information 923a on the oblique angle, information 923b on the inclination angle, and information 924 on the buried depth into information 925 on the position of the point directly above the buried object.

[0137] As described above, by following the flow of the calculation processing method shown in Figure 17, which outputs information on the oblique angle and inclination angle, burial depth, and the position of the point directly above the buried object from the GPR data and information on the first and second angles, the information on the oblique angle and inclination angle, burial depth, and the position of the point directly above the buried object can be output, and the underground buried position and extension direction of the elongated object 602 can be uniquely identified. Furthermore, even if the elongated object 602 is not parallel to the ground, the buried position and extension direction of the elongated object can be determined by analyzing the GPR data of the array-type underground radar device. The effects described in this specification are merely examples and are not limited thereto, and other effects may also be obtained.

[0138] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described components. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0139] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that implements each function. Information such as the program, decision table, and files that implement each function can be stored in a memory, a storage device such as an HDD or SSD, or a recording medium such as an IC (Integrated Circuit) card, an SD (Secure Digital) card, or a DVD (Digital Versatile Disc). Furthermore, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily represent all control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0140] 101...data acquisition point, 102...dotted frame, 103...solid frame, 200...point, 201...x-axis, 202...elongated object, 301...x-axis, 302...vertical axis, 303...pixel, 304...pixel, 305...hyperbola, 306...pixel, 307...pixel, 401...frame, 402...frame, 501...analysis line, 502...straight line, 503...straight line, 504...dashed triangular prism, 505...point, 506...point, 507...data acquisition point, 601...ground, 602...elongated object, 603...x-axis, 604...dashed line, 605...point, 606...z-axis, 607...point, 701...solid frame, 702...solid frame, 703...solid frame, 801...first analysis Line, 802...second analysis line, 803...third analysis line, 900...arithmetic processing device, 902...virtual propagation velocity analysis section, 903...oblique intersection / inclination angle calculation section, 904...burial depth calculation section, 905...buried object directly above point position calculation section, 911a...GPR data of first analysis line, 911b...GPR data of second analysis line, 911c...GPR data of third analysis line, 912a...first angle information, 912b...second angle information, 921...information on vertex position of hyperbola, 922a...information on first virtual propagation velocity, 922b...information on second virtual propagation velocity, 922c...information on third virtual propagation velocity, 923a...oblique intersection angle information of the buried object, 923b...information on the inclination angle, 924...information on the buried depth, 925...information on the position of the point directly above the buried object, 1000...processing device, 1002...direction vector calculation unit of the analysis line, 1003...intersection angle calculation unit of the analysis line, 1011a...position information of the first analysis line, 1011b...position information of the second analysis line, 1011c...position information of the third analysis line, 1021a...information on the direction vector of the first analysis line, 1021b...information on the direction vector of the second analysis line, 1021c...information on the direction vector of the third analysis line, 1101...analysis line, 1102...analysis line, 1200...computer system, 1 201...processor, 1202...UI device, 1203...NI device, 1204...memory resource, 1205...bus, 1206...communication network, 1207...underground radar device, 1208...underground data, 1209...virtual propagation speed analysis program, 1210...oblique intersection / inclination angle calculation program, 1211...burial depth calculation program, 1212...directly above buried object calculation program, 1213...GPR data, 1214...analysis information, 1215...intersection angle data of analysis line, 1300...computer system, 1301...analysis line direction vector calculation program,1302...analysis line intersection angle calculation program, 1303...analysis line position information, 1304...memory resource, 1314...analysis information, 1400...arithmetic processing system, 1401...display unit, 1402...arithmetic processing system, 1500...display screen, 1501...dashed line, S902...hypothetical propagation velocity analysis step, S903...oblique intersection / inclination angle calculation step, S904...burial depth calculation step, S905...buried object directly above point position calculation step.

Claims

1. A processing device that identifies the position of a long object in a material from GPR data in which position information on the position at which an array-type underground radar device capable of moving along the surface of a material receives a reflected wave acquired by irradiating an electromagnetic wave inside the material while moving, the reflection time from irradiating the electromagnetic wave until the reflected wave is received, and information on the reflected wave intensity of the reflected wave are associated with each other, the device having a virtual propagation velocity analysis unit that accepts input of the GPR data corresponding to a first analysis line, a second analysis line, and a third analysis line, which are straight lines consisting of data acquisition points and extend in different directions, and outputs information on the apex position of the hyperbola of the GPR data on the first analysis line and the propagation velocity of the electromagnetic wave in the material below as information on a first virtual propagation velocity, a second virtual propagation velocity, and a third virtual propagation velocity for each of the first analysis line, the second analysis line, and the third analysis line, respectively; an oblique / inclination angle calculation unit that receives as an input information on a first angle between the first analysis line and the second analysis line and information on a second angle between the second analysis line and the third analysis line, and calculates information on an oblique angle between the first analysis line and a fourth straight line projected onto a surface of the material of the elongated object, and information on an inclination angle which is an angle between the elongated object and the surface of the material, using the first virtual propagation velocity, the second virtual propagation velocity, and the third virtual propagation velocity of the electromagnetic wave; a burial depth calculation unit that calculates information on a burial depth from a first point located directly above the elongated object on the first analysis line to the elongated object directly below, using information on the oblique angle between the fourth straight line and the first analysis line, information on the inclination angle between the elongated object and the surface of the material, and information on a vertex position of a hyperbola of the GPR data on the first analysis line; and a buried object directly above point position calculation unit that calculates information on the position of the first point using information on the oblique angle, information on the inclination angle, information on the vertex position, and information on the buried depth, and outputs information on the oblique angle, the inclination angle, the buried depth, and the directly above point position of the long object for identifying the buried position of the long object.

2. A processing device according to claim 1, further comprising: an analysis line direction vector calculation unit which receives as input the GPR data for analysis lines in a plurality of directions and analysis line position information, which is information on the coordinates of data acquisition points on each of the first analysis line, the second analysis line, and the third analysis line, and calculates information on direction vectors of the first analysis line, the second analysis line, and the third analysis line using information on the data acquisition points constituting each analysis line; and an intersection angle calculation unit which calculates information on the first angle and the second angle using information on the direction vectors of the analysis lines, and provides the information on the oblique intersection / tilt angle calculation unit.

3. A calculation processing system which acquires the position of a long object buried in a substance using an array-type underground radar device which can move along the surface of the substance while irradiating electromagnetic waves into the interior of the substance, and which identifies and displays the buried position of the long object from GPR data which corresponds to position information relating to the position where the reflected wave is received, the reflection time from when the electromagnetic wave is irradiated until the reflected wave is received, and information on the reflected wave intensity of the reflected wave, characterized in having the calculation processing device described in claim 1, and a display unit which displays on a screen an analysis line and the positional relationship between the surface of the substance and the buried long object using the output information on the oblique angle, the inclination angle, the buried depth, and the position of the point directly above the long object.

4. A calculation processing system which acquires the position of a long object buried in a substance using an array-type underground radar device which can move along the surface of the substance while irradiating electromagnetic waves into the interior of the substance, and which identifies and displays the buried position of the long object from GPR data which corresponds to position information relating to the position where the reflected wave is received, the reflection time from when the electromagnetic wave is irradiated until the reflected wave is received, and information on the reflected wave intensity of the reflected wave, characterized in having the calculation processing device described in claim 2, and a display unit which displays on a screen an analysis line and the positional relationship between the surface of the substance and the buried long object using the output information on the oblique angle, the inclination angle, the buried depth, and the position of the point directly above the long object.

5. A calculation processing method for identifying the position of a long object in a material by a calculation processing device from GPR data in which position information on the position at which an array-type underground radar device capable of moving along the surface of a material receives a reflected wave acquired by irradiating an electromagnetic wave inside the material while moving, a reflection time from irradiating the electromagnetic wave until receiving the reflected wave, and information on the reflected wave intensity of the reflected wave are associated with each other, wherein the calculation processing device receives input of GPR data corresponding to a first analysis line, a second analysis line, and a third analysis line which are straight lines formed from data acquisition points and extend in different directions, and outputs information on the apex position of the hyperbola of the GPR data on the first analysis line and the propagation speed of the electromagnetic wave in the material below as information on a first virtual propagation speed, a second virtual propagation speed, and a third virtual propagation speed for each of the first analysis line, the second analysis line, and the third analysis line; an oblique / inclination angle calculation step of receiving as an input information on a first angle formed by the first analysis line and the second analysis line and information on a second angle formed by the second analysis line and the third analysis line, and calculating information on an oblique angle formed between the first analysis line and a fourth straight line projected onto the surface of the material of the elongated object, and information on an inclination angle which is an angle formed between the elongated object and the surface of the material, using the first virtual propagation velocity, the second virtual propagation velocity, and the third virtual propagation velocity of the electromagnetic wave; a burial depth calculation step of calculating information on a burial depth from a first point located directly above the elongated object on the first analysis line to the elongated object directly below, using information on the oblique angle formed by the fourth straight line and the first analysis line, information on the inclination angle which is an angle formed between the elongated object and the surface of the material, and information on a vertex position of a hyperbola of GPR data on the first analysis line; A buried object directly above point position calculation step calculates information on the position of the first point using information on the oblique angle, information on the inclination angle, information on the vertex position, and information on the buried depth; and an output step outputs information on the oblique angle, the inclination angle, the buried depth, and the directly above point position of the long object to identify the buried position of the long object.

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