Measurement device and measurement system

Abstract

A measurement device (20) that can move inside a conduit (14) that has been buried underground comprises a body (21), a plurality of wheels (22) that allow the body (21) to move in a direction that is parallel to a center axis of the body (21), and a plurality of sensors (23) that are installed on the body (21) so as to be distributed in a circle around the center axis of the body (21) and measure the respective travel distances thereof.

Description

Measuring equipment and systems

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

[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] "Under-road 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 provision 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 pipelines, including approximately 600,000 km of communication pipelines, exist throughout Japan, and some of these pipelines are located at depths of 2 m or more or where satellite positioning is not possible. Therefore, with the conventional technologies disclosed in Non-Patent Document 1 or Non-Patent Document 2, it is difficult to convert the positions of underground pipelines located throughout Japan into absolute coordinates regardless of their installation environment. In other words, it is difficult to achieve standardized, highly accurate buried pipeline 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 measuring device according to one embodiment is capable of moving inside a pipeline buried underground, and comprises a main body, a plurality of wheels for propelling the main body in a direction parallel to the central axis of the main body, and a plurality of sensors attached to the main body and distributed around the central axis of the main body, each measuring the distance traveled.

[0008] According to the present disclosure, it becomes possible to confirm the position of a pipeline regardless of the installation environment, such as depth.

[0009] 1 is a diagram showing the configuration of a measurement system according to an embodiment; FIG. 2 is a diagram showing the configuration of a measurement device as viewed from above; FIG. 3 is a diagram showing the configuration of a measurement device as viewed from a side; FIG. 4 is a diagram showing the configuration of a measurement device as viewed from a front; FIG. 5 is a block diagram showing the configuration of a data processing device; FIG. 6 is a diagram showing the procedure of a measurement method; FIG. 7 is a diagram showing the rotation angle of the measurement device as viewed from above; FIG. 8 is a diagram showing the rotation angle of the measurement device as viewed from a side; FIG. 9 is a diagram showing the rotation angle of the measurement device as viewed from above;

[0010] An embodiment will be described below with reference to the drawings.

[0011] 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.

[0012] The configuration of a measurement system 10 according to this embodiment will be described with reference to FIG.

[0013] The measurement system 10 includes a measurement device 20 and a data processing device 30 .

[0014] The measuring device 20 is a device that can move inside a conduit 14 buried underground. 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 smaller ones are 10 cm or less. A duct 13A that leads to a manhole 11A is formed at one end of the conduit 14. A duct 13B that leads to another manhole 11B is formed at the other end of the conduit 14.

[0015] 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.

[0016] In this embodiment, the measurement system 10 further includes a positioning device 40 .

[0017] 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.

[0018] In this embodiment, the buried position of the pipeline 14 is calculated using the following procedure: 1. The measuring device 20 is inserted into the pipeline 14 and moves along the entire length of the pipeline 14. 2. The data processing device 30 acquires the movement distance of the measuring device 20 in each of the up, down, left, and right directions, and calculates the attitude of the measuring device 20 from the difference. 3. The data processing device 30 calculates the movement trajectory of the measuring device 20 as the alignment of the pipeline 14 from the attitude and movement distance of the measuring device 20 and the inner diameter of the pipeline 14. 4. The data processing device 30 converts the alignment of the pipeline 14 into absolute coordinates based on the coordinates of each manhole. The absolute coordinates are three-dimensional coordinates including latitude, longitude, and altitude.

[0019] 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 as the coordinates of the manhole 11A 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 as the coordinates of the manhole 11B 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.

[0020] As described above, this embodiment can provide a system that converts the line shape of the pipeline 14 into absolute coordinates by scanning the entire length of the pipeline 14 with the measuring device 20. According to this embodiment, by directly measuring the inside of the pipeline 14, it is possible to calculate the buried position of the pipeline 14 regardless of the installation environment, such as depth. As a result, it is possible to improve the efficiency of the design of buried objects, construction consultations, trial excavation, and construction attendance.

[0021] The configuration of the measurement device 20 according to this embodiment will be described with reference to FIGS.

[0022] The measuring device 20 includes a main body 21 , a plurality of wheels 22 , and a plurality of sensors 23 .

[0023] The wheels 22 propel the main body 21 in a direction parallel to the central axis of the main body 21. The central axis of the main body 21 is, for example, an axis that passes through the center of the main body 21 and extends in the left-right direction in Figures 2 and 3. The propulsion direction of the main body 21 is, for example, either the left or right direction in Figures 2 and 3.

[0024] The plurality of sensors 23 are attached to the main body 21. The plurality of sensors 23 are arranged in a dispersed manner on a circumference around the central axis of the main body 21. Each of the plurality of sensors 23 measures a moving distance. Each of the sensors 23 included in the plurality of sensors 23 is, for example, an optical sensor, but may be another type of sensor capable of measuring a moving distance, such as an acceleration sensor. In this embodiment, the sensors 23 are attached to the top, bottom, left, and right of the main body 21, but the number of sensors 23 is not limited to four, and may be three, or five or more. The moving distance measured by each sensor 23 is input to the data processing device 30 by any method.

[0025] In this embodiment, the measurement device 20 further includes a plurality of other sensors 24 .

[0026] A plurality of sensors 24 are also attached to the main body 21. The plurality of sensors 24 measure the distance from each of the sensors 23 included in the plurality of sensors 23 to the inner wall surface 16 of the pipeline 14 while the measurement device 20 moves inside the pipeline 14. Each of the sensors 24 included in the plurality of sensors 24 is a distance measurement sensor of any type, such as an optical sensor, an ultrasonic sensor, or a radar. The sensor 23 for acquiring the travel distance and the sensor 24 for measuring the distance from the sensor 23 for acquiring the travel distance to the inner wall surface 16 of the pipeline 14 are paired. In this embodiment, the number of pairs is four, but may be three, five, or more. The distances measured by each sensor 24 are input to the data processing device 30 by any method.

[0027] In this embodiment, the measurement device 20 further includes a vehicle body 25 and a joint 26 .

[0028] The joint 26 connects the main body 21 and the car body 25. In this embodiment, a car body 25 is provided at the front and rear of the main body 21, and each car body 25 is connected to the main body 21 by the joint 26. However, as a modified example, a car body 25 may be provided only at either the front or rear of the main body 21, and this car body 25 may be connected to the main body 21 by the joint 26. As another modified example, instead of connecting the car body 25 to the main body 21 by the joint 26, the car body 25 may be integrated with the main body 21. It is desirable that the joint 26 has a function to measure the orientation of the main body 21 in the roll direction so that the trajectory of the measurement device 20 can be accurately coordinated even if the orientation of the main body 21 changes. The orientation measured by the joint 26 is input to the data processing device 30 by any method.

[0029] The plurality of wheels 22 are attached to a car body 25. The plurality of wheels 22 are arranged in a dispersed manner around the central axis of the car body 25. In this embodiment, a car body 25 is provided at the front and rear of the main body 21, and three wheels 22 are attached to each car body 25. However, in one variation, two or four or more wheels 22 may be attached to each car body 25, or in another variation, a car body 25 may be provided only at the front or rear of the main body 21, and three or four or more wheels 22 may be attached to this car body 25. It is desirable that the plurality of wheels 22 be equipped with a suspension mechanism so that stable scanning is possible even at the connection portion of the pipeline 14.

[0030] The vehicle body 25 is also provided with a power source such as a motor for driving each wheel 22. A computer for controlling each wheel 22, the power source, and other equipment mounted on the vehicle body 25 may be provided inside the vehicle body 25. Results of calculations by the computer may be input to the data processing device 30 by any method. A recording medium for storing data to be input to the computer and data output from the computer may further be provided inside the vehicle body 25. Data stored on the recording medium may be input to the data processing device 30 by any method. In this embodiment, wheels 22 are attached to the vehicle bodies 25 at the front and rear of the main body 21, but only the wheels 22 attached to one of the vehicle bodies 25 may be driven, or both the wheels 22 attached to both of the vehicle bodies 25 may be driven.

[0031] According to this embodiment, it is possible to prevent errors caused by spinning or lifting of the wheels 22 when measuring the travel distance. The measuring device 20 can stably scan the inner surface of the cylindrical pipeline 14 using three or more wheels 22 per vehicle body 25. No manual towing or other work is required. The measuring device 20 may be remotely controlled. The measuring device 20 is configured so that the main body 21 maintains a constant gap with the inner wall surface 16 of the pipeline 14, but even if errors occur due to changes in the distance between a sensor 23 such as an optical sensor and the inner wall surface 16 of the pipeline 14, the errors can be corrected by a sensor 24 such as a distance sensor.

[0032] The configuration of a data processing device 30 according to this embodiment will be described with reference to FIG.

[0033] 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 .

[0034] 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.

[0035] 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 .

[0036] 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. 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.

[0037] 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.

[0038] 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).

[0039] 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.

[0040] 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.

[0041] 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 something 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."

[0042] 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.

[0043] The procedure of the measurement method according to this embodiment will be described with reference to FIG.

[0044] In S1, the control unit 31 of the data processing device 30 acquires distance data. The distance data is data indicating each travel distance measured by the multiple sensors 23 of the measurement device 20 per unit time. For example, the control unit 31 receives the distance data from the multiple sensors 23 via the communication unit 33. The control unit 31 inputs the acquired distance data into the processing in S2.

[0045] In S2, the control unit 31 of the data processing device 30 calculates the attitude of the measurement device 20 for each unit time based on the distance data acquired in S1. For example, the control unit 31 calculates the attitude of the main body 21 of the measurement device 20 based on the movement distances measured by the multiple sensors 23 for each unit time, which are indicated by the distance data. The control unit 31 inputs the calculated attitude of the measurement device 20 for each unit time into the processing in S4.

[0046] In S3, the control unit 31 of the data processing device 30 calculates the movement distance of the center of the measurement device 20 per unit time based on the distance data acquired in S1. For example, the control unit 31 calculates the movement distance of the center of the main body 21 of the measurement device 20 based on the movement distances measured by the multiple sensors 23 per unit time, which are indicated by the distance data. The control unit 31 inputs the calculated movement distance of the center of the measurement device 20 per unit time into the processing of S4.

[0047] In S4, the control unit 31 of the data processing device 30 calculates the movement trajectory of the center of the measurement device 20 as relative coordinates of the pipeline 14 based on the inner diameter of the pipeline 14, the attitude of the measurement device 20 per unit time calculated in S2, and the movement distance of the center of the measurement device 20 per unit time calculated in S3. The inner diameter of the pipeline 14 is known and may be stored in advance in the memory unit 32, acquired from an external device via the communication unit 33, or input by the operator 15 via the input unit 34. For example, as shown in FIGS. 7 and 8 , if the inner diameter of the pipeline 14 is D and the movement distances per unit time measured by the four sensors 23 are L1, L2, L3, and L4, respectively, the movement distance L of the center of the measurement device 20 is given by L = (L1 + L2 + L3 + L4) / 4. The rotation angle θ in the planar direction Ｈ , that is, the rotation angle θ in the yaw direction Ｈ is θ Ｈ = (L1-L2) / D. Vertical turning angle θ Ｖ , that is, the pitch direction turning angle θ Ｖ is θ Ｖ = (L3 - L4) / D. Each component of the relative coordinates of the center of the main body 21 of the measuring device 20 is X = L cos θ Ｈ ・cosθ Ｖ, Y=L·sinθ Ｈ ・cosθ Ｈ , and Z=L・sinθ Ｖ The control unit 31 inputs the calculated relative coordinates of the pipeline 14 to the process of S8.

[0048] If the number of sensors 23 is three instead of four, it is conceivable to attach the sensors 23 at 120° intervals on a circumference around the central axis of the main body 21. In such an example, if the inner diameter of the conduit 14 is D, the distance d between adjacent points taken at 120° intervals on the cross section of the conduit 14 is d = D√3 / 2. As shown in Figures 9 and 10, if the movement distances per unit time measured by the three sensors 23 are L1, L2, and L3, respectively, the movement distance L of the center of the measuring device 20 is L = (L1 + L2 + L3) / 3. The rotation angle θ in the planar direction Ｈ , that is, the rotation angle θ in the yaw direction Ｈ is θ Ｈ = (L1-L2) / d = 2(L1-L2) / D√3. Vertical turning angle θ Ｖ , that is, the pitch direction turning angle θ Ｖ is θ Ｖ = (L3 - L) / (D / 2) = 2 (L3 - L) / D. Similarly to the case where the number of sensors 23 is four, each component of the relative coordinates of the center of the main body 21 of the measuring device 20 is expressed as X = L cos θ Ｈ ・cosθ Ｖ , Y=L·sinθ Ｈ ・cosθ Ｈ , and Z=L・sinθ Ｖ This becomes:

[0049] In S5, 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 S7.

[0050] In S6, 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 S7.

[0051] In S7, the control unit 31 of the data processing device 30 calculates the positions of each of the ducts 13A and 13B. 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 S5 and the positional relationships between the iron cover 12A and the duct 13A and between the iron cover 12B and the duct 13B indicated by the data acquired in S6, thereby calculating the absolute coordinates of each of the ducts 13A and 13B. The control unit 31 inputs the calculated positions of each of the ducts 13A and 13B into the processing of S8.

[0052] In S8, 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 S4 and the absolute coordinates of each of the ducts 13A and 13B calculated in S7.

[0053] In S9, the control unit 31 of the data processing device 30 transmits the absolute coordinates of the pipeline 14 calculated in S8 to an external device via the communication unit 33, or outputs them to the operator 15 via the output unit 35.

[0054] As described above, in this embodiment, the data processing device 30 determines the coordinates of the pipeline 14 by calculating the changes in position and attitude of the measuring device 20 per unit time based on the inner diameter of the pipeline 14 and the respective movement distances measured by the multiple sensors 23 per unit time.

[0055] In this embodiment, multiple sensors 23 capable of measuring the distance traveled along the inner wall surface 16 of the pipeline 14 are mounted on the circumference of the measurement device 20, and the trajectory of the measurement device 20 is calculated from the distance traveled acquired by these sensors 23. If the pipeline 14 is straight, the distance traveled measured by each sensor 23 will be equal. If the pipeline 14 is curved, the distance traveled measured by the outer sensor 23 will be longer than the distance traveled by the inner sensor 23. Because the inner diameter of the pipeline 14 is known, the angle of rotation, i.e., the change in attitude of the measurement device 20, can be calculated from the difference in the distance traveled per unit time. The average value of the distances traveled by the multiple sensors 23 is the distance traveled by the center of the measurement device 20. The coordinates of the trajectory can be calculated from the attitude and distance traveled of the measurement device 20.

[0056] The following additional notes are provided regarding the above-described embodiments.

[0057] (Supplementary Item 1) A measuring device capable of moving inside a pipeline buried underground, comprising: a main body; a plurality of wheels for propelling the main body in a direction parallel to the central axis of the main body; and a plurality of sensors attached to the main body, distributed around the central axis of the main body, and measuring the distances traveled by each of the sensors. (Supplementary Item 2) The measuring device according to Supplementary Item 1, further comprising a plurality of other sensors attached to the main body, measuring the distance from each of the sensors included in the plurality of sensors to the inner wall surface of the pipeline while the measuring device moves inside the pipeline. (Supplementary Item 3) The measuring device according to Supplementary Item 1 or 2, further comprising: a vehicle body; and a joint connecting the main body and the vehicle body, wherein the plurality of wheels are attached to the vehicle body and distributed around the central axis of the vehicle body. (Supplementary Item 4) A measurement system comprising: the measurement device according to any one of Supplementary Items 1 to 3; and a data processing device that determines the coordinates of the pipeline by calculating changes in position and attitude of the measurement device per unit time based on the inner diameter of the pipeline and the respective movement distances measured by the multiple sensors per unit time.

[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 Inner wall surface 20 Measurement device 21 Main body 22 Wheels 23, 24 Sensor 25 Vehicle body 26 Joint 30 Data processing device 31 Control unit 32 Memory unit 33 Communication unit 34 Input unit 35 Output unit 40 Positioning device

Claims

1. A measuring device capable of moving inside a pipeline buried underground, comprising: a main body; a plurality of wheels for propelling the main body in a direction parallel to the central axis of the main body; and a plurality of sensors attached to the main body and distributed around the central axis of the main body, for measuring the distance traveled by each sensor.

2. The measurement device according to claim 1, further comprising a plurality of other sensors attached to the main body, which measure the distance from each of the sensors included in the plurality of sensors to the inner wall surface of the pipeline while the measurement device moves inside the pipeline.

3. The measuring device described in claim 1, further comprising: a vehicle body; and a joint connecting the main body and the vehicle body, wherein the plurality of wheels are attached to the vehicle body and are distributed around a circumference around the central axis of the vehicle body.

4. A measurement system comprising: a measurement device according to any one of claims 1 to 3; and a data processing device that determines the coordinates of the pipeline by calculating the changes in position and attitude of the measurement device per unit time based on the inner diameter of the pipeline and the respective movement distances measured by the multiple sensors per unit time.

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