Search system

Abstract

According to the present disclosure, an information processing device 40 and an information processing method using the information processing device 40 link position data of a plurality of arbitrary positions underground with search data obtained by searching, at the plurality of arbitrary positions underground by using transmission waves, for an object subject to searching, and calculate the position, in an underground space, of the object subject to searching.

Description

Exploration System

[0001] The present disclosure relates to a technique for detecting buried objects underground.

[0002] When excavating for utility pole construction, etc., it is necessary to non-destructively locate and confirm the location of underground buried objects (such as water pipes) to avoid damaging them. Since there may be multiple underground buried objects laid in a small area, it is desirable to grasp the laying situation in three dimensions.

[0003] Patent Document 1 discloses a configuration in which a cylindrical casing is provided on an earth auger for excavation, and a vibration sensor is provided inside the casing to measure collisions with underground buried objects. In Patent Document 1, the presence of an underground buried object is detected in response to a collision between the underground buried object and the casing.

[0004] Patent Document 2 discloses a configuration in which a transmission wave is emitted from a transmitting antenna on the ground toward the ground and a receiving antenna receives the reflected wave from an underground buried object. In Patent Document 2, a wideband transmission wave is used and the reflected wave is measured at multiple measurement points on a receiving plane, thereby detecting the location of the underground buried object in a planar manner.

[0005] However, the technology disclosed in Patent Document 1 can only determine whether or not there is an underground buried object in contact with the casing, and it is difficult to perform three-dimensional exploration of underground buried objects. Also, the technology disclosed in Patent Document 2 has difficulty performing high-precision three-dimensional exploration when multiple underground buried objects are overlapping underground.

[0006] Patent No. 3211574 Publication Special Publication No. 03-061915

[0007] In order to solve the above-mentioned problems, an object of the present disclosure is to provide an information processing device, an exploration system, and an information processing method that enable three-dimensional exploration of underground buried objects.

[0008] In order to achieve the above objectives, the information processing device, exploration system, and information processing method disclosed herein employ a technique of linking location data of any plurality of locations underground with exploration data obtained by exploring an object to be explored at any plurality of locations underground using transmitted waves.

[0009] Specifically, the information processing device of the present disclosure links position data of any multiple locations underground with exploration data obtained by exploring an object to be explored at any multiple locations underground using transmission waves, and calculates the position of the object to be explored in underground space.

[0010] In addition, the exploration system of the present disclosure includes the above-mentioned information processing device and an exploration device that transmits transmission waves at any of a plurality of positions underground, receives reflected waves from the object to be explored, and explores the object to be explored at any of a plurality of positions underground.

[0011] The above-mentioned exploration system may further include a position estimation device that estimates the underground position of the exploration device, and the information processing device may combine exploration data of the exploration target based on the result of the estimation of the position of the exploration device by the position estimation device and calculate the position of the exploration target in the underground space.

[0012] The information processing method of the present disclosure also links position data of any plurality of positions underground with exploration data of exploration objects at any plurality of positions underground, and calculates the positions of the exploration objects in underground space.

[0013] The position estimation device, exploration device, and computer disclosed herein can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a network. The program disclosed herein is a program for causing a computer to realize each function of the position estimation device, exploration device, and computer disclosed herein, and is a program for causing a computer to execute each procedure of the method executed by the position estimation device, exploration device, and computer disclosed herein.

[0014] The above disclosures can be combined as much as possible.

[0015] According to the present disclosure, it is possible to provide an exploration device, an exploration system, and an exploration method that enable three-dimensional exploration of underground buried objects.

[0016] FIG. 1 is a diagram illustrating a configuration of an exploration system according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating underground exploration by an exploration device. FIG. 3 is a diagram illustrating buried object exploration m1 at the self-position (x1, y1, z1). FIG. 4 is a diagram illustrating buried object exploration m2 at the self-position (x1, y1, z2). FIG. 5 is a diagram illustrating buried object exploration m3 at the self-position (x2, y2, z1). FIG. 6 is a diagram illustrating buried object exploration m4 at the self-position (x2, y2, z3). FIG. 7 is a diagram illustrating calculation of a mining range. FIG. 8 is a flowchart illustrating processing of the exploration system according to an embodiment of the present disclosure.

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings indicate the same components.

[0018] (Configuration of Prospecting System) An exploration system 100 according to a first embodiment of the present disclosure will be described with reference to Figures 1 and 2. The exploration system 100 includes a dynamic press-fitting device 10, a position estimation device 20, an exploration device 30, and an information processing device 40. The position estimation device 20, the exploration device 30, and the information processing device 40 are electrically connected by signal lines or cables.

[0019] The dynamic injection device 10 is a small-diameter dynamic injection device having a cylindrical shape, and houses a position estimation device 20 and an exploration device 30 therein. The dynamic injection device 10 is an apparatus that inserts the entire apparatus (the position estimation device 20 and the exploration device 30) into the ground. In this embodiment, an underground buried object, which is an exploration target, is explored while the dynamic injection device 10 is injected into the ground. In particular, in this embodiment, the underground buried object is explored in three dimensions while the dynamic injection device 10 is injected at a plurality of points. Note that the underground buried object in the present disclosure includes any object buried in the ground. For example, the underground buried object may be an underground pipe or cable, or underground bedrock or minerals.

[0020] Here, various methods for dynamically injecting the dynamic injection apparatus 10 into the ground include: a sensor for detecting contact with an underground buried object provided in the dynamic injection apparatus 10; and the dynamic injection apparatus 10 may be injected into the ground by any method or any device while detecting contact between the apparatus main body and the underground buried object. Furthermore, methods for dynamically injecting the dynamic injection apparatus 10 into the ground include both a case where the user himself / herself monitors the status of the dynamic injection apparatus 10 while injecting the dynamic injection apparatus 10, and a case where another device is used to automatically monitor the status of the dynamic injection apparatus 10 while injecting the dynamic injection apparatus 10. Thus, in this embodiment, by dynamically injecting the apparatus, even if the apparatus main body comes into contact with an underground buried object (such as a water pipe), it is possible to prevent the underground buried object from being destroyed.

[0021] The position estimation device 20 is a device that estimates the underground position and orientation of the exploration device 30. In this embodiment, the position estimation device 20 is an inertial measurement unit (IMU) fixed inside the dynamic press-in device 10, and measures inertial motion in three-dimensional space.

[0022] Specifically, the position estimation device 20 has a built-in triaxial acceleration sensor and a triaxial gyro sensor, and measures the translational and rotational motion (acceleration and angular velocity) of the exploration device 30 fixed inside the dynamic press-fitting apparatus 10. Then, the position estimation device 20 estimates the position and attitude of the exploration device 30 based on the measurement results of such inertial motion. Note that the position estimation device 20 may estimate the position and attitude of itself (the position estimation device 20) and the exploration device 30 in addition to detecting the position and attitude of the exploration device 30.

[0023] The estimation results (position data) of the position and orientation of each device are sent to the information processing device 40. However, the position estimation device 20 may measure the translational and rotational motion of each device, and the information processing device 40 may estimate the position and orientation of each device.

[0024] As described above, in this embodiment, the acceleration and angular velocity of the exploration device 30 are measured with high accuracy, thereby making it possible to detect the position and behavior (attitude and trajectory) of the exploration device 30. The exploration system 100 may be configured to control the dynamic press-in device 10, the position estimation device 20, or the exploration device 30 based on the measurement results of the inertial motion and the detection results of the position and behavior. For example, the information processing device 40 may be configured to send a control signal for controlling the dynamic press-in device 10, the position estimation device 20, or the exploration device 30 based on the measurement results of the inertial motion and the detection results of the position and behavior.

[0025] The exploration device 30 is a device that explores underground buried objects. Specifically, the exploration device 30 is a ground-penetrating radar for non-destructively exploring underground buried objects. As shown in Fig. 2 , the exploration device 30 includes a transmitting antenna 31 and a receiving antenna 32. The exploration device 30 transmits transmission waves at any of a plurality of positions underground, receives reflected waves from the objects to be explored, and explores the objects to be explored at any of a plurality of positions underground.

[0026] The transmitting antenna 31 emits a transmission wave T in any direction. The emission of the transmission wave T may be performed based on a control signal from the information processing device 40. The receiving antenna 32 receives a reflected wave R reflected by the surface of an underground object. The exploration device 30 calculates the position and distance of the underground object from the intensity of the received reflected wave R and the time it takes for the reflected wave R to return. This method makes it possible to measure the position and distance of an underground object in three dimensions, regardless of the material or shape of the underground object. The results of the calculation of the position and distance of the underground object by the exploration device 30 are sent to the information processing device 40.

[0027] The position and distance of the underground buried object may be calculated by the information processing device 40. In this case, the exploration device 30 may convert the reflected wave R into an electrical signal and then send the electrical signal to the information processing device 40. The method of exploring underground buried objects is not limited to methods using electromagnetic waves. For example, underground buried objects may be detected using vibrations. Metals may also be detected using electromagnetic induction or any other metal detection method.

[0028] Returning to Figure 1, the information processing device 40 associates and manages the position estimation results of the exploration device 30 obtained by the position estimation device 20 with the exploration results (three-dimensional exploration data) of underground buried objects obtained by the exploration device 30 at the estimated position. Using the position estimation results of the exploration device 30 obtained by the position estimation device 20, the information processing device 40 combines the three-dimensional exploration data of multiple underground buried objects explored at arbitrary positions by the exploration device 30 to create one piece of three-dimensional data.

[0029] Specifically, the information processing device 40 and the information processing method using the information processing device 40 link position data of any plurality of positions underground with exploration data obtained by exploring an exploration target at any plurality of positions underground using a transmission wave, and calculates the position of the exploration target in the underground space. Furthermore, the information processing device 40 combines the exploration data of the exploration target and calculates the position of the exploration target in the underground space based on the result of estimation of the position of the exploration device 30 by the position estimation device 20.

[0030] Furthermore, the information processing device 40 calculates, from the created piece of three-dimensional data, the position and angle at which excavation can be performed using an auger, a rotary plate, or the like without destroying the buried object.

[0031] The exploration system 100 according to this embodiment can convert the location of an underground buried object into three dimensions and calculate the excavation position and angle without destroying the underground buried object. Furthermore, the location of the underground buried object can be explored in three dimensions without destroying the underground buried object. In particular, according to this embodiment, the exploration device 30 is moved to explore underground buried objects at multiple positions, so that highly accurate three-dimensional exploration can be performed even when multiple underground buried objects are overlapping each other underground.

[0032] (Exploration Example) Next, an example of exploration of an underground buried object will be described with reference to Figs. 3 to 7. As shown in Figs. 3 to 6, the dynamic press-in device 10 is pressed into an arbitrary position in the ground G by an arbitrary method. Fig. 3 shows a case where the dynamic press-in device 10 is pressed into the ground G, and the exploration device 30 is located at a position (x1, y1, z1) in three-dimensional coordinates. Fig. 4 shows a case where the exploration device 30 is located at a position (x1, y1, z2) in three-dimensional coordinates. Fig. 5 shows a case where the exploration device 30 is located at a position (x2, y2, z1) in three-dimensional coordinates. Fig. 6 shows a case where the exploration device 30 is located at a position (x2, y2, z3) in three-dimensional coordinates. These positions are estimated by the position estimation device 20. In addition, the position estimation device 20 may estimate the position and change in position of the exploration device 30 during the pressing process of the dynamic pressing device 10 by measuring with high accuracy the acceleration and angular velocity of the exploration device 30 during the process of reaching each of the above positions.

[0033] The exploration device 30 also emits transmission waves in any direction at any position to explore buried objects. Fig. 3 shows a buried object exploration m1 at a position (x1, y1, z1). Fig. 4 shows a buried object exploration m2 at a position (x1, y1, z2). Fig. 5 shows a buried object exploration m3 at a position (x2, y2, z1). Fig. 6 shows a buried object exploration m4 at a position (x2, y2, z3). The exploration device 30 may continue to explore until it reaches each of the above positions.

[0034] The information processing device 40 uses the position estimation results of the exploration device 30 by the position estimation device 20 to combine three-dimensional exploration data of multiple underground buried objects explored at arbitrary positions by the exploration device, and creates one three-dimensional data.

[0035] Then, as shown in Fig. 7, the information processing device 40 calculates, from the created single piece of three-dimensional data, the position and angle at which excavation can be performed using an auger, a rotating plate, or the like without destroying the underground buried object O. In particular, even when multiple underground buried objects O are overlapping each other underground as shown in Fig. 7, highly accurate three-dimensional exploration can be performed.

[0036] (Flowchart) Next, a processing flow of the exploration system 100 according to an embodiment of the present disclosure will be described with reference to FIG.

[0037] First, the dynamic press-in device 10 is pressed (inserted) into the ground at an arbitrary position on the ground surface by an arbitrary method (step S1).

[0038] During the above-described pressurization process of the dynamic pressurization apparatus 10, while the dynamic pressurization apparatus 10 is being pressed into the ground, the position estimation device 20 continuously estimates the position of the exploration device 30, and the exploration device 30 continuously explores underground buried objects (step S2).

[0039] The dynamic press-in device 10 is pressed into the ground until it reaches a position that is deep enough from the ground surface (step S3). For example, when exploring for underground buried objects during construction of communication facilities, the dynamic press-in device 10 is pressed into the ground until the exploration device 30 reaches a position that is necessary for exploring the depth that is necessary for installing the communication facilities.

[0040] While the exploration device 30 continues to explore the underground buried objects, the dynamic press-in device 10 is pressed in until it reaches a required position, and then the dynamic press-in device 10 is removed from the ground by any method (step S4).

[0041] The dynamic press-in device 10 is pressed (inserted) into the ground at an arbitrary position different from the previous position by an arbitrary method (step S5). The flow from steps S1 to S5 is repeated until the exploration of underground buried objects in the required range is completed. For example, when the exploration of underground buried objects is performed during the construction of communication facilities, steps S1 to S5 are repeated until the exploration of underground buried objects in the range required to install the communication facilities is completed.

[0042] The information processing device 40 associates and manages the position estimation result of the exploration device 30 by the position estimation device 20 with the exploration result (three-dimensional exploration data) of underground buried objects at the estimated position by the exploration device 30. Using the position estimation result of the exploration device 30 by the position estimation device 20, the information processing device 40 combines the three-dimensional exploration data of multiple underground buried objects explored at arbitrary positions by the exploration device 30 to create one three-dimensional data (step S6).

[0043] The information processing device 40 calculates the position and angle at which excavation can be performed using an auger, a rotating plate, or the like without destroying the buried object from the created one piece of three-dimensional data (step S7). In this case, information on the equipment used for excavation (blade diameter, length, etc.) may be input to the information processing device 40 from an external source, and the position and angle at which excavation can be performed may be calculated based on this information (step S8). The information processing device 40 may previously store information on the equipment used for excavation.

[0044] The position estimation device 20, exploration device 30, and information processing device 40 of the present disclosure can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a network. The program of the present disclosure is a program for causing a computer to realize each function of the position estimation device 20, exploration device, and information processing device 40 according to the present disclosure, and is a program for causing a computer to execute each procedure of the method executed by the position estimation device 20, exploration device, and information processing device 40 according to the present disclosure.

[0045] The exploration system of the present disclosure can be applied to a system for exploring underground buried objects used during construction of communication facilities.

[0046] 10: Dynamic press-in device 20: Position estimation device 30: Exploration device 40: Information processing device 100: Exploration system

Claims

1. An information processing device that links location data of any multiple underground locations with exploration data obtained by exploring an object to be explored at any multiple underground locations using transmitted waves, and calculates the underground location of the object to be explored.

2. An exploration system comprising: the information processing device according to claim 1; and an exploration device that transmits transmission waves at any of a plurality of positions underground, receives reflected waves from the object to be explored, and explores the object to be explored at any of a plurality of positions underground.

3. The exploration system according to claim 2, further comprising a position estimation device that estimates the underground position of the exploration device, wherein the information processing device combines exploration data of the exploration target and calculates the underground position of the exploration target based on the result of the estimation of the position of the exploration device by the position estimation device.

4. An information processing method that links position data of any plurality of positions underground with exploration data of an object to be explored at any plurality of positions underground, and calculates the position of the object to be explored in underground space.

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