Measurement system and program

Abstract

A measurement system (10) comprising: a measurement device (20) that comprises one or more movable joint portions (21) having an angle meter, and two or more rod portions (22) joined to each other by the one or more joint portions (21); and a data processing device (30) that acquires angle data representing the joining angle of the two or more rod portions (22) measured via the angle meter while the measurement device (20) is set up from one end to another end of a pipeline (14) which is buried underground, length data representing the respective lengths of the two or more rod portions (22), and coordinate data representing the coordinates of both ends of the pipeline (14), and on the basis of the acquired angle data, length data, and coordinate data, calculates the coordinates of the pipeline (14).

Description

Measurement system and program

[0001] The present disclosure relates to a measurement system and a program.

[0002] Traditionally, the locations of underground utilities have been managed relative to a reference location such as a road boundary. Information about the location of underground utilities is held by each utility, and confirming their relative positions requires checking multiple drawings created by each utility. However, because the creation dates and location standards for each drawing vary, it is not possible to determine the exact location, which can result in significant time spent on design and consultation for road construction work and can even lead to accidents that damage utilities during excavation work. Therefore, there is a need for standardized, highly accurate management of buried utility locations.

[0003] Non-Patent Document 1 introduces a service that uses a subsurface cavity detection vehicle equipped with a ground-penetrating radar to non-destructively detect cavities that exist under roads. Non-Patent Document 2 proposes a method that measures the positions of underground buried objects using ground-penetrating radar detection and satellite positioning, and visualizes the underground buried objects on a map.

[0004] "Underground Cavity Exploration Service," [online], OYO Corporation, [Retrieved July 4, 2024], Internet <URL: https: / / www.oyo.co.jp / services / infrastructure-maintenance / udevisuraiza-by-the-road-under-exploration / > Wataru Miyazaki and four others, "Underground Buried Object Location Providing Technology," [online], March 2020, 82nd National Convention of the Information Processing Society of Japan, 5G-01, [Retrieved June 30, 2024], Internet <URL: https: / / ipsj.ixsq.nii.ac.jp / ej / ?action=repository_uri&item_id=205781&file_id=1&file_no=1>

[0005] Ground-penetrating radar exploration is limited to a depth of about 2 m. Satellite positioning becomes impossible when signals are blocked by obstacles such as trees or buildings. A huge number of underground buried objects, including approximately 600,000 km of communication conduits, exist throughout Japan, and some of these buried objects are located at depths of 2 m or more or where satellite positioning is not possible. Therefore, with the conventional technology disclosed in Non-Patent Document 1 or Non-Patent Document 2, it is difficult to convert the locations of underground buried objects located throughout Japan into absolute coordinates regardless of the installation environment. In other words, it is difficult to achieve standardized, highly accurate buried object location management.

[0006] The purpose of the present disclosure, which has been made in consideration of such circumstances, is to make it possible to confirm the position of a pipeline regardless of the installation environment, such as depth.

[0007] A measurement system according to one embodiment comprises: a measurement device including one or more movable joint parts having a goniometer and two or more rod parts connected to each other by the one or more joint parts; and a data processing device that acquires angle data indicating the connection angle of the two or more rod parts measured by the goniometer while the measurement device is installed from one end to the other end of a pipeline buried underground, length data indicating the lengths of each of the two or more rod parts, and coordinate data indicating the coordinates of both ends of the pipeline, and calculates the coordinates of the pipeline based on the acquired angle data, length data, and coordinate data.

[0008] A program according to one embodiment causes a computer to perform operations including: acquiring angle data indicating the connection angle of the two or more rod sections measured by the angle meter while a measuring device including one or more movable joint sections having a goniometer and two or more rod sections connected to each other by the one or more joint sections is installed from one end to the other end of a pipeline buried underground; length data indicating the lengths of each of the two or more rod sections; and coordinate data indicating the coordinates of both ends of the pipeline; and calculating the coordinates of the pipeline based on the acquired angle data, length data, and coordinate data.

[0009] According to the present disclosure, it becomes possible to confirm the position of a pipeline regardless of the installation environment, such as depth.

[0010] FIG. 10 is a diagram showing the configuration of a measurement system according to one embodiment; FIG. 11 is a diagram showing a method for identifying the position of a pipeline; FIG. 12 is a graph showing the relationship between the thickness and length of the rod portion of the measurement device; FIG. 13 is a diagram showing an example of a lightweight resin rod; FIG. 14 is a diagram showing an example of the connection angle of the rod portion; FIG. 15 is a block diagram showing the configuration of a data processing device; FIG. 16 is a diagram showing the procedure of a measurement method; FIG. 17 is a diagram showing a modified example of the configuration of the measurement device; FIG. 18 is a diagram showing an example of buried objects around a pipeline; FIG. 19 is a diagram showing the procedure of a measurement method corresponding to the modified example shown in FIG.

[0011] An embodiment will be described below with reference to the drawings.

[0012] In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0013] The configuration of a measurement system 10 according to this embodiment will be described with reference to FIG.

[0014] The measurement system 10 includes a measurement device 20 and a data processing device 30 .

[0015] The measurement device 20 includes one or more movable joints 21 each having a goniometer, and two or more rods 22 connected to each other by the one or more joints 21. When the number of joints 21 is N, the number of rods 22 is N+1. N may be any integer equal to or greater than 1, but is equal to or greater than 2 in this embodiment. That is, in this embodiment, the measurement device 20 includes two or more joints 21 each having a goniometer, and three or more rods 22 connected to each other by the two or more joints 21. Each joint 21 is movable in three dimensions. The goniometer included in each joint 21 is digital. Each rod 22 is linear and has a constant length.

[0016] In this embodiment, the measurement device 20 further includes a transmission cable 23 for transmitting data from the goniometer, but if the data from the goniometer is transmitted wirelessly, the measurement device 20 does not need to include the transmission cable 23. In this embodiment, since there are two or more joints 21, each joint 21 is assigned a unique identifier such as an identification number, and data acquired by each goniometer is transmitted with the identifier via the transmission cable 23 to the data processing device 30.

[0017] The data processing device 30 is a computer used by the worker 15 inside the manhole 11A. The data processing device 30 may be a general-purpose computer such as a PC, or may be a dedicated computer. "PC" is an abbreviation for personal computer.

[0018] The data processing device 30 acquires angle data, length data, and coordinate data. Based on the acquired angle data, length data, and coordinate data, the data processing device 30 calculates the coordinates of the underground buried conduit 14. The conduit 14 is, for example, a communication conduit through which a communication cable passes, or a power transmission conduit through which a power transmission line passes. The diameter of the conduit 14 is, for example, 1 m or less, and even a small diameter of 10 cm or less. A duct 13A leading to a manhole 11A is formed at one end of the conduit 14. A duct 13B leading to another manhole 11B is formed at the other end of the conduit 14.

[0019] The angle data is data indicating the connection angle of two or more rod portions 22, measured by a goniometer with the measurement device 20 installed from one end to the other of the pipeline 14. In the present embodiment, since the number of joint portions 21 is two or more, the angle data includes data indicating the connection angle of a corresponding pair of rod portions 22, linked to an identifier assigned to each joint portion 21 and measured by a goniometer with the measurement device 20 installed from one end to the other of the pipeline 14. For example, the angle data acquired by the goniometer of the joint portion 21 with identifier "1" includes data linked to the identifier "1" and indicating the connection angle of the pair of rod portions 22 connected by the joint portion 21 with identifier "1". This angle data is transmitted from the goniometer of the joint portion 21 with identifier "1" to the data processing device 30 via the transmission cable 23.

[0020] The length data is data indicating the respective lengths of two or more rod portions 22. If all of the rod portions 22 have a common length, the length data includes data indicating that common length. On the other hand, if the lengths of the rod portions 22 vary depending on the rod portions 22, for example, the length data includes data indicating the lengths of the corresponding rod portions 22, linked to identifiers assigned to each rod portion 22. The length data may further include data indicating the identifiers of the corresponding pair of rod portions 22, linked to the identifiers of each joint portion 21. The length data may be stored in advance in the data processing device 30, may be input into the data processing device 30 by the operator 15, or may be transmitted to the data processing device 30 from an external device such as a cloud server.

[0021] The coordinate data is data indicating the coordinates of both ends of the pipeline 14. For example, as shown in FIG. 2, the coordinate data is the absolute coordinates (X ０ , Y ０ , Z ０ ) and the absolute coordinates of the manhole 11B (X １ , Y １ , Z １) The absolute coordinates are three-dimensional coordinates including latitude, longitude, and altitude. The absolute coordinates of the manhole 11A are specifically the absolute coordinates of the duct 13A. The absolute coordinates of the manhole 11B are specifically the absolute coordinates of the duct 13B. The coordinate data may be stored in advance in the data processing device 30, may be input to the data processing device 30 by the worker 15, or may be transmitted to the data processing device 30 from an external device such as a cloud server, but in this embodiment, the coordinate data is acquired by the data processing device 30 based on satellite positioning results, as will be described later.

[0022] In this embodiment, the measurement system 10 further includes a positioning device 40 .

[0023] The positioning device 40 is a GNSS receiver. "GNSS" is an abbreviation for global navigation satellite system. Examples of GNSS include GPS, QZSS, BDS, GLONASS, and Galileo. "GPS" is an abbreviation for Global Positioning System. "QZSS" is an abbreviation for Quasi-Zenith Satellite System. QZSS satellites are called quasi-zenith satellites. "BDS" is an abbreviation for BeiDou Navigation Satellite System. "GLONASS" is an abbreviation for Global Navigation Satellite System.

[0024] In this embodiment, the buried position of the pipeline 14 is calculated using the following procedure: 1. The measuring device 20 is installed in the pipeline 14 over the entire length without any sagging. 2. The data processing device 30 acquires angle data from the angle meters of each joint 21 while the measuring device 20 is stationary. 3. The data processing device 30 calculates the shape of the measuring device 20 as the alignment of the pipeline 14 based on each joint angle indicated by the angle data and each rod length indicated by the length data. 4. The data processing device 30 converts the alignment of the pipeline 14 into absolute coordinates based on the coordinates of each manhole indicated by the coordinate data, as shown in FIG. 2.

[0025] The coordinates of each manhole are calculated by the data processing device 30. Specifically, a positioning device 40 is installed on the iron cover 12A of the manhole 11A and measures the absolute coordinates of the iron cover 12A in advance using satellite positioning. The data processing device 30 then calculates the absolute coordinates of the duct 13A based on the absolute coordinates of the iron cover 12A and the positional relationship between the iron cover 12A and the duct 13A. The positional relationship between the iron cover 12A and the duct 13A may be known or may be measured on-site. Similarly, a positioning device 40 is installed on the iron cover 12B of the manhole 11B and measures the absolute coordinates of the iron cover 12B in advance using satellite positioning. The data processing device 30 then calculates the absolute coordinates of the duct 13B based on the absolute coordinates of the iron cover 12B and the positional relationship between the iron cover 12B and the duct 13B. The positional relationship between the iron cover 12B and the duct 13B may be known or may be measured on-site.

[0026] As described above, in this embodiment, since the inside of the pipeline 14 is directly measured, it is possible to calculate the buried position of the pipeline 14 regardless of the installation environment such as depth. Since the alignment of the long pipeline 14 is measured at once, no cumulative error occurs due to repetition or connecting work, and highly accurate measurements are possible.

[0027] In this embodiment, a system can be provided in which a measuring device 20 is inserted throughout the entire length of the interior space of a pipeline 14, and the absolute coordinates of the pipeline's linear shape are calculated based solely on the length and connection angle of the measuring device 20's components. The measuring device 20 includes multiple rods 22 of a fixed length connected by multiple three-dimensionally movable joints 21, with a transmission cable 23 running through the rods. Each joint 21 is assigned a unique identification number, and data with the identification number acquired at each joint 21 is transmitted to a data processing device 30 via the transmission cable 23. The data processing device 30 integrates the data from each joint 21 to calculate the linear shape of the pipeline 14. The data processing device 30 further obtains absolute coordinates of the pipeline's linear shape based on satellite positioning results for the positions of manholes at both ends of the pipeline 14.

[0028] According to this embodiment, the alignment of the pipeline 14 can be measured with high accuracy using only the lengths and connection angles of the components of the measuring device 20. The position of the pipeline 14 can be calculated even if the pipeline 14 is installed at a depth of 2 m or more or in a location where satellite positioning is not possible. As a result, it is possible to achieve standardized, highly accurate buried location management based on absolute coordinates including latitude, longitude, and altitude obtained by satellite positioning.

[0029] Each rod portion 22 is preferably cylindrical in shape to minimize interference within the conduit 14. The material of each rod portion 22 is preferably lightweight and has a smooth surface, with a certain degree of rigidity to avoid interference with curved portions of the conduit 14, taking into account friction during insertion. The thickness and length of each rod portion 22 can be flexibly set depending on the measurement target, but it is desirable to consider the relationship shown in Figure 3 . That is, the thinner and longer the rod portion 22, the greater the possibility of insufficient strength, and the thicker and shorter the rod portion 22, the greater the possibility of difficulty in insertion. As an application example, if the measurement target is a communication conduit with a diameter of approximately 8 cm, a length of 100 m to 200 m, a cylindrical shape that combines straight and curved portions, and a maximum radius of the curved portion of 3 m, it is possible to adopt a lightweight resin rod with a diameter of approximately 5 cm and a length of approximately 50 cm, as shown in Figure 4.

[0030] Each joint 21 has a function of measuring three-dimensional angle changes, and is structured to be movable in the horizontal and vertical directions like a universal joint, or to be movable in a spherical shape. When the angle of each joint 21 changes to match the shape of the pipeline 14, the connection angle is measured by a goniometer built into each joint 21. For example, as shown in Figure 5, if there is no angle change, the connection angle is 0°, and if there is an angle change, the connection angle is an angle corresponding to the degree of bending from a straight shape, such as 30°.

[0031] The configuration of a data processing device 30 according to this embodiment will be described with reference to FIG.

[0032] The data processing device 30 includes a control unit 31 , a storage unit 32 , a communication unit 33 , an input unit 34 , and an output unit 35 .

[0033] The control unit 31 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for field-programmable gate array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 31 executes processing related to the operation of the data processing device 30 while controlling each part of the data processing device 30.

[0034] The storage unit 32 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM, a ROM, or a flash memory. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. Flash memory is, for example, an SSD. "SSD" is an abbreviation for solid-state drive. Magnetic memory is, for example, an HDD. "HDD" is an abbreviation for hard disk drive. The storage unit 32 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores data used in the operation of the data processing device 30 and data obtained by the operation of the data processing device 30 .

[0035] The communication unit 33 includes at least one communication module. The communication module is, for example, a module that complies with an electrical communication standard or an optical communication standard. The communication unit 33 communicates with the measurement device 20. In this embodiment, the transmission cable 23 is connected to the communication unit 33. The communication unit 33 receives data used in the operation of the data processing device 30 and transmits data obtained by the operation of the data processing device 30.

[0036] The input unit 34 includes at least one input device. The input device is, for example, a physical key, a capacitive key, a pointing device, a touch screen integrated with a display, a visible light camera, or a microphone. The input unit 34 accepts an operation to input data used for the operation of the data processing device 30. The input unit 34 may be connected to the data processing device 30 as an external input device instead of being provided in the data processing device 30. As a connection interface, an interface compatible with standards such as USB, HDMI (registered trademark), or Bluetooth (registered trademark) can be used. "USB" is an abbreviation for Universal Serial Bus. "HDMI (registered trademark)" is an abbreviation for High-Definition Multimedia Interface.

[0037] The output unit 35 includes at least one output device. The output device is, for example, a display or a speaker. The display is, for example, an LCD or an organic EL display. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electroluminescent. The output unit 35 outputs data obtained by the operation of the data processing device 30. The output unit 35 may be connected to the data processing device 30 as an external output device instead of being provided in the data processing device 30. The connection interface may be an interface compatible with standards such as USB, HDMI (registered trademark), or Bluetooth (registered trademark).

[0038] The functions of the data processing device 30 are realized by executing a program according to this embodiment on a processor serving as the control unit 31. That is, the functions of the data processing device 30 are realized by software. The program causes a computer to execute the operations of the data processing device 30, thereby causing the computer to function as the data processing device 30. That is, the computer functions as the data processing device 30 by executing the operations of the data processing device 30 in accordance with the program.

[0039] The program can be stored on a non-transitory computer-readable medium. Examples of the non-transitory computer-readable medium include flash memory, magnetic recording devices, optical disks, magneto-optical recording media, and ROMs. The program can be distributed by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs that store the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the storage of a server and transferring it from the server to another computer. The program can also be provided as a program product.

[0040] A computer temporarily stores a program stored on a portable medium or transferred from a server in its main storage device. The computer then reads the program stored in the main storage device with its processor and executes processing in accordance with the read program. The computer may also read the program directly from the portable medium and execute processing in accordance with the program. The computer may also execute processing in accordance with the received program each time a program is transferred from the server to the computer. Processing may also be executed using a so-called ASP-type service that realizes functions simply by issuing execution instructions and obtaining results, without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. A program is information used for processing by a computer and includes anything equivalent to a program. For example, data that is not a direct instruction to a computer but has properties that define computer processing falls under the category of "something equivalent to a program."

[0041] Some or all of the functions of the data processing device 30 may be realized by a programmable circuit or a dedicated circuit as the control unit 31. In other words, some or all of the functions of the data processing device 30 may be realized by hardware.

[0042] The procedure of the measurement method according to this embodiment will be described with reference to FIG.

[0043] In S1, the control unit 31 of the data processing device 30 acquires angle data. Specifically, the control unit 31 receives the angle data from the goniometer of each joint unit 21 via the communication unit 33. The control unit 31 inputs the acquired angle data into the processing of S3.

[0044] In S2, the control unit 31 of the data processing device 30 acquires length data. Specifically, the control unit 31 reads the length data from the storage unit 32, accepts input of the length data from the operator 15 via the input unit 34, or receives the length data from an external device via the communication unit 33. The control unit 31 inputs the acquired length data into the process of S3.

[0045] In S3, the control unit 31 of the data processing device 30 calculates the relative coordinates of the pipeline 14 based on the angle data and length data acquired in S1 and S2, respectively. Specifically, the control unit 31 calculates the relative coordinates of the measurement device 20 as the relative coordinates of the pipeline 14 based on the joint angles indicated by the angle data and the rod lengths indicated by the length data. The control unit 31 inputs the calculated relative coordinates of the pipeline 14 into the processing of S7.

[0046] In S4, the control unit 31 of the data processing device 30 acquires the absolute coordinates of the iron covers 12A and 12B of the manholes 11A and 11B. Specifically, the control unit 31 receives the absolute coordinates of the iron covers 12A and 12B from the positioning device 40 via the communication unit 33. The control unit 31 inputs the acquired absolute coordinates of the iron covers 12A and 12B into the processing of S6.

[0047] In S5, the control unit 31 of the data processing device 30 acquires data indicating the positional relationship between the iron cover 12A and the duct 13A and data indicating the positional relationship between the iron cover 12B and the duct 13B. Specifically, the control unit 31 acquires data indicating the positional relationship between the iron cover 12A and the duct 13A by referring to the specifications of the manhole 11A or the results of measuring the vertical distance, horizontal distance, and position angle from the iron cover 12A to the duct 13A using any method. Similarly, the control unit 31 acquires data indicating the positional relationship between the iron cover 12B and the duct 13B by referring to the specifications of the manhole 11B or the results of measuring the vertical distance, horizontal distance, and position angle from the iron cover 12B to the duct 13B using any method. The control unit 31 inputs the acquired data into the processing of S6.

[0048] In S6, the control unit 31 of the data processing device 30 acquires coordinate data. Specifically, the control unit 31 calculates the absolute coordinates of each of the ducts 13A and 13B based on the absolute coordinates of each of the iron covers 12A and 12B acquired in S4 and the positional relationships between the iron cover 12A and the duct 13A, and between the iron cover 12B and the duct 13B, respectively, indicated by the data acquired in S5, thereby acquiring data indicating the absolute coordinates of each of the ducts 13A and 13B as coordinate data. The control unit 31 inputs the acquired coordinate data into the processing of S7.

[0049] In S7, the control unit 31 of the data processing device 30 calculates the absolute coordinates of the pipeline 14 based on the relative coordinates of the pipeline 14 calculated in S3 and the absolute coordinates of each of the ducts 13A and 13B indicated by the coordinate data acquired in S6. The control unit 31 may transmit the calculated absolute coordinates of the pipeline 14 to an external device via the communication unit 33, or may output them to the operator 15 via the output unit 35.

[0050] A modified example of the configuration of the measuring device 20 will be described with reference to FIG.

[0051] The measurement device 20 may further include one or more sensors 24. In such an example, the data processing device 30 further acquires position data. The position data is data indicating the relative positions of buried objects 16 around the pipeline 14, measured by the one or more sensors 24 with the measurement device 20 installed from one end to the other end of the pipeline 14. The data processing device 30 calculates the coordinates of the buried objects 16 based on the acquired position data and the results of calculating the coordinates of the pipeline 14.

[0052] The sensor 24 may be installed at any position within the configuration range of the measurement device 20. For example, the sensor 24 may be built into any of the rod portions 22. Alternatively, the sensor 24 may be built into any of the joint portions 21. The sensor 24 measures the relative position of a buried object 16, such as another pipeline, installed in the vicinity from inside the pipeline 14. As shown in FIG. 9 , any method capable of penetrating the components of the pipeline 14 and detecting the buried object 16 can be used to measure the relative position of the buried object 16, such as electromagnetic wave radiation, sonic wave radiation, or radar. Examples of buried objects 16 include pipes for electricity, water, gas, etc.

[0053] In this example, a system can be provided in which the measuring device 20 is inserted throughout the entire length of the interior space of the pipeline 14 to measure the relative position of the buried object 16 around the pipeline 14. According to this example, the position of the buried object 16 can be calculated even if the buried object 16 is installed at a depth of 2 m or more or in a location where satellite positioning is not possible. As a result, the efficiency of the design, construction consultation, trial excavation, and construction attendance for the buried object 16 can be improved.

[0054] According to this example, it is possible to visualize the situation around the pipeline 14. Furthermore, it is possible to precisely identify the positions of not only the pipeline 14 into which the measuring device 20 is inserted, but also various infrastructure facilities, which can contribute to improving the efficiency of work such as the construction or maintenance of social infrastructure.

[0055] The procedure of the measurement method according to this example will be described with reference to Fig. 10. The processes from S1 to S7 are the same as those shown in Fig. 7, and therefore the description will be omitted.

[0056] In S8, the control unit 31 of the data processing device 30 acquires position data. Specifically, the control unit 31 receives the position data from the sensor 24 via the communication unit 33. The position data may be transmitted to the data processing device 30 via the transmission cable 23, similar to the angle data. The control unit 31 inputs the acquired position data into the processing of S9. The position data does not have to be the data received directly from the sensor 24, and may be, for example, data calculated by the control unit 31 indicating the relative coordinates of the buried object 16 with the pipeline 14 at the center.

[0057] In S9, the control unit 31 of the data processing device 30 calculates the absolute coordinates of the buried object 16 based on the position data acquired in S8 and the absolute coordinates of the pipeline 14 calculated in S7. The control unit 31 may transmit the calculated absolute coordinates of the buried object 16 to an external device via the communication unit 33, or may output them to the worker 15 via the output unit 35.

[0058] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks shown in the block diagram may be integrated, or one block may be divided. Two or more steps shown in the flowchart may be executed in parallel or in a different order, instead of being executed in chronological order as described, depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible within the scope of the present disclosure.

[0059] REFERENCE SIGNS LIST 10 Measurement system 11A, 11B Manhole 12A, 12B Iron cover 13A, 13B Duct 14 Pipe 15 Worker 16 Buried object 20 Measurement device 21 Joint part 22 Rod part 23 Transmission cable 24 Sensor 30 Data processing device 31 Control part 32 Memory part 33 Communication part 34 Input part 35 Output part 40 Positioning device

Claims

1. A measurement system comprising: a measuring device having one or more movable joints with a goniometer and two or more rods connected to each other by said one or more joints; and a data processing device that acquires angle data indicating the connecting angle of said two or more rods, length data indicating the lengths of each of said two or more rods, and coordinate data indicating the coordinates of both ends of said pipeline, measured by said goniometer while said measuring device is installed from one end to the other of an underground pipeline, and calculates the coordinates of said pipeline based on the acquired angle data, length data, and coordinate data.

2. The measurement system of claim 1, wherein the measurement device further comprises one or more sensors, and the data processing device further acquires position data indicating the relative positions of buried objects around the pipeline measured by the one or more sensors with the measurement device installed from one end of the pipeline to the other, and calculates the coordinates of the buried objects based on the acquired position data and the results of calculating the coordinates of the pipeline.

3. The measurement system according to claim 1 or 2, wherein the one or more joint parts include two or more joint parts each having the goniometer, the two or more rod parts include three or more rod parts connected to each other by the two or more joint parts, and the angle data includes data indicating the connection angle of a corresponding pair of rod parts, linked to an identifier assigned to each joint part and measured by the goniometer with the measurement device installed from one end of the pipeline to the other.

4. A program that causes a computer to perform operations including: acquiring angle data indicating the connecting angle of the two or more rod sections measured by the angle meter while a measuring device comprising one or more movable joint sections with a goniometer and two or more rod sections connected to each other by the one or more joint sections is installed from one end of a pipeline buried underground to the other end; length data indicating the length of each of the two or more rod sections; and coordinate data indicating the coordinates of both ends of the pipeline; and calculating the coordinates of the pipeline based on the acquired angle data, length data, and coordinate data.

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