JP2014077698A - Mapping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mapping device capable of inexpensively and highly accurately specifying the arrangement position of a linear object arranged at an arbitrary place.SOLUTION: A mapping device 10 includes: a stereo-camera 21 for photographing a linear object represented by a linear sensor 51 arranged in a field 55 as an arbitrary place as a three-dimensional image expressed with three-dimensional coordinates; and a mapping processing part 11 for performing processing of associating the positions of height, width and breadth of the place where the linear object is arranged with the three-dimensional image of the linear object photographed by the stereo-camera 21, and recognizably expressing the arrangement position of the height, width and breadth in the three-dimensional image of the linear object.

Description

  The present invention relates to a mapping device that specifies an arrangement position of a line-shaped object (line-shaped object).

  Conventionally, there is a measuring device 50 shown in FIG. 6 as a device for measuring the amount of radiation emitted from the ground. The measuring device 50 includes a line sensor 51 that is a string-like line object, and a line sensor measuring instrument 52 to which the line sensor 51 is connected.

  Although the line-shaped sensor 51 has various lengths, it is assumed here that the length is, for example, 10 m. The line-shaped sensor 51 is placed by a person on the field 55 which is a radiation measurement site, and the radiation is detected. The line-shaped sensor 51 uses one or more PSFs (plastic scintillation fibers) that are optical fibers that emit light upon sensing radiation on the shaft core, and these are covered with a clad that is a resin material and further covered with an outer cover. Cable structure. The principle is that the emitted light is detected at both ends of the optical fiber that emits light (emits light at the incident position) upon incidence of radiation, and the light emitting position (detection point) in the line-shaped sensor 51 is specified. In this example, it is assumed that the detection point interval of the line sensor 51 is set to the minimum detection interval of 10 cm.

  Therefore, since the total length from the starting point 51a of the line-shaped sensor 51 shown in FIG. 6 and the distance to each detection point are known in the line-shaped sensor measuring instrument 52, each detection is performed as shown in FIG. 7B. Radiation measurement data is acquired by associating a point {position in the length direction (%)} with a radiation dose L that is a measurement value at the point. In the example of FIG. 7B, the length direction position (%) from the starting point 51a (see FIG. 6) to the radiation dose detection point in the line sensor 51 and the length direction position (%). The radiation dose is associated.

  In this way, the radiation dose at an arbitrary position in the field 55 is measured. At this time, as shown in FIG. 7B, when there is a peak Lp of the radiation dose exceeding the allowable standard, as shown in FIGS. 7A and 7C, as shown in FIGS. It is necessary to know whether there is a peak Lp at 55a (also referred to as a geographical detection position). However, although each detection point in the line-shaped sensor 51 is known, it is not known at which position in the geographic radiation dose. Therefore, a person measures the geographical detection position 55a with a surveying instrument or measures with a GPS (Global Positioning System), and performs mapping that associates the geographical detection position 55a with the radiation detection point of the line sensor 51. As this type of mapping apparatus, there is a technique described in Patent Document 1.

JP 2011-113364 A

However, when mapping is performed as described above, when a person measures the actual position of the field 55, the radiation dose peak Lp only needs to be one, but when there are many peaks Lp, It takes time and labor to measure the upper detection position 55a. Further, the field 55 is not only a plane, but also has undulations as shown in the sectional view of the field 55 in FIG. 7C, that is, there are irregularities on the top and bottom, as shown in the plan view in FIG. The concave and convex portions meander from side to side. For this reason, measurement by a person becomes difficult, and it takes extra time and labor to measure each geographically detected position 55a. In other words, there is a problem that the cost for mapping becomes high.
Moreover, when measuring with GPS, since the resolution of GPS is low compared with about 5 m and several tens of centimeters, there is a problem that the position of the detection point in units of 10 cm cannot be specified accurately.

  This invention is made in view of such a situation, and it aims at providing the mapping apparatus which can pinpoint the arrangement position of the line-shaped object arrange | positioned in arbitrary places at low cost with high precision. To do.

  In order to solve the above-described problems, the present invention provides a stereo camera that captures a line-shaped object arranged at an arbitrary place as a three-dimensional image represented by three-dimensional coordinates, and a line shape captured by the stereo camera. A process of associating the vertical and horizontal height position of the place where the line-shaped object is arranged with the three-dimensional image of the object and recognizing the arrangement position of the vertical and horizontal height in the three-dimensional image of the line-shaped object is performed. And a mapping processing unit.

  ADVANTAGE OF THE INVENTION According to this invention, the mapping apparatus which can pinpoint the arrangement position of the line-shaped object arrange | positioned in arbitrary places with high precision at low cost can be provided.

It is a block diagram which shows the structure of the mapping apparatus which concerns on embodiment of this invention. The mapping process process by the mapping process part of the mapping apparatus of this embodiment is shown, (a) is process explanatory drawing of a line 3D conversion part and a line length corresponding | compatible part, (b) is 3D image by the process of a line length corresponding | compatible part. FIG. 4C is a 3D image diagram obtained by processing of the position / measurement data synthesis processing unit, and FIG. 5D is a 3D image diagram obtained by processing of the coordinate conversion processing unit. It is a block diagram which shows the example of 1 structure of a mapping process part. It is a flowchart for demonstrating the operation | movement of the mapping process by the mapping apparatus of this embodiment. FIG. 5A is a perspective view showing a configuration of a sensor moving device provided in the mapping device of the present embodiment, and FIG. 5B is a plan view showing a configuration of a sensor installation base of the sensor moving device. It is a figure which shows arrangement | positioning and a structure of the line-shaped sensor of a measuring device. 5A is a plan view of an arrangement field 55 of a line sensor, FIG. 5B is a level diagram of radiation measured by the line sensor measurement device, and FIG. 5C is a cross-sectional view of the arrangement field 55 of the line sensor.

Embodiments of the present invention will be described below with reference to the drawings.
<Configuration of Embodiment>
FIG. 1 is a block diagram showing a configuration of a mapping apparatus 10 according to the embodiment of the present invention.
The mapping device 10 performs mapping between the line-shaped sensor (line-shaped object) 51 of the measuring device 50 described in the background art described above and the geographical position where the line-shaped sensor 51 in the field 55 is arranged. A mapping processing unit 11, an input operation unit 20 such as a keyboard and a mouse, a stereo camera 21, and a GPS compass 22 are configured.
However, the geographical position in this example is a position where the latitude and longitude on the earth intersect, and an altitude such as several meters above sea level is taken into account.

The stereo camera 21 arranges two lenses with the same performance on the left and right at predetermined intervals, and images the line sensor 51, which is the same subject, on the two screens at the same time with the two lenses. A stereo image of the line sensor 51 to be obtained is obtained. This stereo image is associated with the camera coordinates shown in FIG. 2A by the line 3D conversion unit 12 described later, and each pixel constituting the image is also associated with a physical vertical and horizontal height distance. It is done.
Here, the camera coordinates are a three-dimensional coordinate system represented by the Xc axis, Yc axis, and Zc axis shown in FIG. 2A that the stereo camera 21 has, and the focal position of an arbitrary lens of the stereo camera 21. , The right (or left) direction is the Yc axis direction, the upper (or lower) direction is the Zc axis direction, and the shooting direction (depth) of the stereo camera 21 is the Xc axis direction. The scale of the coordinates of each Xc, Yc, Zc axis corresponds to the absolute distance from the origin.

  Returning to FIG. 1, the GPS compass 22 is an azimuth sensor that mounts two antennas in the bow direction and measures the azimuth from the relative positional relationship between the two antennas. In this embodiment, a stereo camera is used. The azimuth that is the shooting direction of 21 and the geographical position of the stereo camera 21 are measured. That is, the GPS compass 22 is arranged in a pair with the stereo camera 21 (for example, arranged in contact with each other), and the two antennas of the GPS compass 22 are arranged on a straight line facing the shooting direction of the stereo camera 21. ing.

  The mapping processing unit 11 includes a line 3D (three dimensions) unit 12, a line length association unit 13, a position / measurement data synthesis processing unit (also simply referred to as a synthesis processing unit) 14, a GPS compass processing unit 15, The coordinate conversion processing unit 16 and a map data DB (Data Base) unit 17 are provided.

  The line 3D conversion unit 12 is connected to the stereo camera 21 and the input operation unit 20, and receives stereo image information captured by the stereo camera 21 so that a stereoscopic image in the input stereo image information can be recognized by a display (not shown). Processing for obtaining three-dimensional image data that can be displayed is performed. More specifically, the line 3D conversion unit 12 converts the data captured by the stereo camera 21 (including the background) into a plurality of data based on the degree of similarity according to the difference in luminance (gradation) and the difference in color. Clustering is performed, line-like continuous data is extracted from the obtained clustering data, and recognized as a line-like object (line-like sensor 51). The captured image obtained in this way may not be recognized by the line 3D conversion unit 12.

  Therefore, the line 3D conversion unit 12 interpolates a captured image that cannot be recognized. For this interpolation, as shown in FIG. 1, a person marks the starting point 51a and the end point of the line-shaped sensor 51 as a 3D line image displayed on the display by the input operation unit 20, and further between the starting point 51a and the end point. A plurality of marks 51m are marked at arbitrary positions.

  When the marking is completed, the line 3D conversion unit 12 recognizes the start point 51a and the end point, and a plurality of marks 51m, as shown on the broken line 51b in FIG. Further, the start point 51a and the end point are connected by performing interpolation processing including the start point 51a and the end point, each mark 51m, and the data before and after. For example, since the line sensor 51 itself has elasticity, an interpolation process is performed using a spline function connected by a curve. If the above recognition is impossible, photographing with the stereo camera 21 may be performed again several times.

  By this process, a 3D line image 51b of the recognizable line sensor 51 continuously connected from the start point 51a to the end point is obtained. The 3D line image data 12d shown in FIG. 1, which is data of the 3D line image 51b (also simply referred to as data 12d), is output to the line length association unit 13.

The 3D line image 51b based on the data 12d is associated with a geographical physical distance as described above, but may not be accurate. Therefore, the line length association unit 13 associates the length with the 3D line image 51b.
That is, the line length association unit 13 obtains the distance by tracing the line from the starting position of the 3D line image 51b to an arbitrary position. As a result, as shown in FIG. 2A, it can be associated with a one-dimensional line length coordinate (1D) corresponding to the physical length in the field 55 (the length of the international unit system). By this association, a three-dimensional line length image in which the 3D line image 51b is associated with the physical length as shown by a one-dot chain line 51c in FIG. 2B is obtained. The 3D line length image data 13d shown in FIG. 1, which is the data of the 3D line length image 51c (also simply referred to as data 13d), is output to the position / measurement data composition processing unit 14.

  The position / measurement data synthesis processing unit 14 expresses radiation measurement data (explained in the background art) 52d obtained by the line sensor measurement device 52 by superimposing the 3D line length image data 13d on FIG. The 3D line position measurement image 51L in which the radiation amount L as the measurement value is associated is obtained on the 3D line length image 51c as shown in FIG. That is, the synthesis processing unit 14 adds 3D line position measurement image data 14d by adding information on the measured radiation dose L to information on pixels indicating the detection point of the line sensor 51 among the pixels of the 3D line length image data 13d. (Simply referred to as data 14d) is generated and output to the coordinate conversion processing unit 16.

In the data 14d, as described above, the radiation dose L is associated with the 3D line length image 51c associated with the three-dimensional physical length. However, since the data 14d is not associated with the actual latitude / longitude and altitude, it is unknown whether the line-shaped sensor 51 is arranged in which direction on which position on the actual topography (geographically). ing.
Therefore, the GPS compass processing unit 15 and the coordinate conversion processing unit 16 perform processing for associating the data 14d with the world coordinates of the entire earth space as follows.

The GPS compass processing unit 15 acquires the geographic coordinates of the position of the stereo camera 21 measured by the GPS compass 22 and the direction of the shooting direction, converts them into world coordinate data 15 d, and outputs them to the coordinate conversion processing unit 16. . However, the world coordinates are coordinates used when displaying an image with geographical coordinates on the display, and correspond to the geographical coordinates. The world coordinate data 15d is data including the world coordinates and direction.
The map data DB unit 17 has a search function including map data having actual geographical latitude / longitude and altitude information in regions such as the earth and Japan. The map data DB unit 17 searches the map data for the altitude at the position of the latitude and longitude requested from the coordinate conversion processing unit 16 as will be described later, and outputs this to the coordinate conversion processing unit 16 as altitude information 17d.

The coordinate conversion processing unit 16 converts the 3D line position measurement image 51L of the camera coordinates represented by the 3D line position measurement image data 14d based on the world coordinates by the world coordinate data 15d according to the principle described later. This is expressed in world coordinates of 51 positions.
This principle will be described. The world coordinates by the world coordinate data 15d are the world coordinates of the position of the stereo camera 21, and are not the coordinates of the arrangement position of the line sensor 51 photographed by the stereo camera 21. The coordinates of the arrangement position of the line-shaped sensor 51 are currently camera coordinates, and have information on the height and width, but do not have information on latitude and longitude and altitude. However, the world coordinates of the stereo camera 21 are measured by the GPS compass 22 as described above, and the direction of the shooting direction is also measured by the GPS compass 22. In the stereo camera 21, the distance to the line sensor 51 is obtained by photographing, and is represented by each pixel of the three-dimensional image of the line sensor 51.
From this, since the world coordinates of the position of the stereo camera 21 and the azimuth and distance from the stereo camera 21 to the line sensor 51 can be known, the world coordinates of the arrangement position of the line sensor 51 can be obtained. As a result, the three-dimensional image of the line sensor 51 represented by the camera coordinates can be represented by the world coordinates of the arrangement position of the line sensor 51.
Further, the coordinate conversion processing unit 16 outputs the position of the latitude and longitude of the portion of the 3D line position measurement image 51L represented by the world coordinates to the map data DB unit 17, and the map data DB unit 17 outputs the altitude of the position. Information 17d is acquired. A process of aligning the portion of the 3D line position measurement image 51L represented by world coordinates with the height of the acquired height information 17d is performed. By this process, as shown in FIG. 2D, a 3D line measurement coordinate image 51LW expressed in world coordinates (3D) is obtained. The data of the 3D line measurement coordinate image 51LW is obtained by the mapping processing unit 11 as the mapping data 16d.

  That is, the 3D line measurement coordinate image 51LW in which the mapping data 16d is displayed on the display is associated with the 3D line length image 51c in which the radiation dose L is associated with the physical length of the geographical position. It is associated with geographical latitude and longitude and altitude. Therefore, from the 3D line measurement coordinate image 51LW, the geographical latitude and longitude and the altitude position of the line sensor 51, which is a 3D image, are known, and the radiation dose at the detection point of the line sensor 51 at this position is known. .

  However, as shown in FIG. 3, the mapping processing unit 11 includes a CPU (Central Processing Unit) 101a, a ROM (Read Only Memory) 101b, a RAM (Random Access Memory) 101c, and a storage device (HDD: Hard Disk Drive, etc.) 101d. And 101a to 101d are connected to the bus 102 in a general configuration. In such a configuration, for example, the CPU 101a executes the program 101f written in the ROM 101b to realize the processing of the mapping processing unit 11 described above.

<Operation of Embodiment>
Next, the operation of the mapping process by the mapping apparatus 10 of this embodiment will be described with reference to the flowchart shown in FIG.
In step S1, when the line-shaped sensor 51 arranged in the field 55 that is the measurement target is photographed by the stereo camera 21 shown in FIG. 1, the stereo image of the photographed line-shaped sensor 51 is converted into the line 3D conversion unit 12. Is input.
In step S <b> 2, the geographical position including the orientation of the stereo camera 21 is measured by the GPS compass 22.

Next, in step S3, after the stereo image is converted into a three-dimensional image by the line 3D conversion unit 12, it is determined whether or not the line image as the line sensor 51 in the three-dimensional image can be recognized. .
If it is not recognizable (No), in step S4, the photographic line-shaped sensor 51, which is a photographic image, is displayed on the display, and a person takes the photographic line-shaped sensor from the input operation unit 20 as shown in FIG. A starting point 51a on 51 is designated (marked), and a plurality of marks 51m are marked at arbitrary positions between the designated starting point 51a and the line end point.

After completion of the marking, in step S5, the line 3D conversion unit 12 recognizes the starting point 51a and the end point, a plurality of marks 51m, as shown in FIG. 2A, and between the marks 51m between the starting point 51a and the end point. Are interpolated as shown by the broken line 51b. By this interpolation processing, a recognizable 3D line image 51b continuously obtained from the start point 51a to the end point is obtained.
If it is not possible to recognize in step S3, photographing with the stereo camera 21 in step S1 may be performed again.

On the other hand, if it is determined in step S3 that the input captured image is recognizable (Yes), the line 3D conversion unit 12 changes the input captured image to the 3D line image 51b.
The data 12d of the 3D line image 51b obtained in step S3 or S5 is output to the line length correspondence unit 13.

  Next, in step S6, the line length association unit 13 associates the 3D line image 51b with the line length coordinates (1D) as shown in FIG. By this association, a 3D line length image 51c in which the 3D line image 51b is associated with a specified physical length, as indicated by a one-dot chain line 51b in FIG. 2B, is obtained. The data 13d of the 3D line length image 51c is output to the synthesis processing unit 14 shown in FIG.

Next, in step S7, in the synthesis processing unit 14, the level of the radiation dose L based on the radiation measurement data 52d obtained by the line sensor measuring instrument 52 is placed on the 3D line length image 51c based on the 3D line length image data 13d. Overlaid. As a result, a 3D line position measurement image 51L in which a radiation dose L as a measurement value is associated with the 3D line length image 51c as shown in FIG. 2C is obtained. The data 14d of the 3D line position measurement image 51L is output to the coordinate conversion processing unit 16 shown in FIG.
Since the 3D line position measurement image 51L of the data 14d is not associated with actual latitude and longitude and altitude, it is associated with the world coordinates of the entire earth space as follows.
That is, in step S8, the GPS compass processing unit 15 acquires the world coordinates of this position from the geographical position of the stereo camera 21 measured by the GPS compass 22. The world coordinate data 15 d is output to the coordinate conversion processing unit 16. However, the world coordinate data 15 d also includes information on the shooting direction of the stereo camera 21 measured by the GPS compass 22, that is, the direction toward the line sensor 51.

Next, in step S9, the coordinate transformation processing unit 16 obtains the world coordinates of the arrangement position of the line sensor 51 from the world coordinates corresponding to the position of the stereo camera 21 based on the world coordinate data 15d. A 3D line position measurement image 51L of camera coordinates based on the line position measurement image data 14d is represented in association with each other. The 3D line position measurement image 51L is combined with the altitude of the altitude information 17d acquired from the map data DB unit 17 according to the position of the latitude and longitude of the world coordinates at this time, and the world coordinates of the arrangement position of the line sensor 51 It is represented by
As a result of this processing, the coordinate conversion processing unit 16 associates the accurate latitude / longitude and altitude of the arrangement position of the line sensor 51 with the 3D line position measurement image 51L as shown in FIG. 2D. A measurement coordinate image 51LW is obtained.

In step S10, the data of the 3D line measurement coordinate image 51LW is obtained by the mapping processing unit 11 as the mapping data 16d.
However, the above-described mapping processing unit 11 may be configured without the map data DB unit 17. In this case, since the world coordinate data 15d includes the altitude, the accuracy of the altitude position is lowered only with the world coordinates compared to the case where the altitude information 17d is used, but the altitude of the line sensor 51 can also be expressed as an image.

<Effect of embodiment>
As described above, the mapping apparatus 10 according to the present embodiment uses the stereo camera 21 to capture a line object represented by the line sensor 51 arranged in the field 55 that is an arbitrary place as a stereo image together with the arrangement place. A GPS compass 22 that is arranged in a pair with the stereo camera 21 and measures the latitude / longitude and altitude geographical coordinates of the position of the stereo camera 21 and the direction of the shooting direction of the stereo camera 21, and 3 Converts to a three-dimensional image to extract a three-dimensional image of the line-shaped object, and corresponds to the geographical coordinates of the arrangement position of the line-shaped object photographed by the stereo camera 21 based on the geographical coordinates and orientation measured by the GPS compass 22 The obtained world coordinates are obtained, and in the obtained world coordinates, the extracted three-dimensional image of the line-shaped object is converted into latitude and longitude. And constructed by a mapping processing unit 11 that performs processing for recognizably displaying altitude.

  According to this configuration, the following effects can be obtained. In addition to the line-shaped sensor 51, a line-shaped object, which is a line-shaped object such as a rope or a cable, is stretched or arranged in a predetermined shape on a field 55 that is the ground such as a flat ground or a mountainous area. To do. In this case, the line-shaped object is represented by a geographical three-dimensional physical distance by capturing the line-shaped object with the stereo camera 21. Furthermore, based on the geographic coordinates and orientation measured by the GPS compass 22, the 3D image of the line object can recognize the latitude and longitude and the altitude in the world coordinates corresponding to the geographical coordinates of the position of the line object. Is displayed. Accordingly, it is possible to grasp the actual geographical latitude and longitude and height of the line-shaped object.

That is, it is not necessary for a person to actually measure the height and width of the arrangement position of the line-shaped object, and it can be easily and quickly measured. Furthermore, the length of the field 55 that is the arrangement position of the line-shaped object can be measured with high accuracy at low cost.
However, the line sensor 51 may be a sensor that detects a physical quantity including at least one of temperature, radiation, and electrical resistance.

  Further, the input operation unit 20 for attaching the mark 51m to the extracted three-dimensional image of the line-shaped object is further provided. When the three-dimensional image of the line-shaped object cannot be recognized, the mapping processing unit 11 When a plurality of marks 51m are attached to the three-dimensional image of the line-shaped object, the three-dimensional image of the line-shaped object that cannot be recognized is represented by the mark and the recognizable portion of the three-dimensional image of the line-shaped object. On the basis of this, a process of performing interpolation on a continuous line-shaped object image so as to be recognized is performed.

  According to this configuration, since the line-like objects that are unrecognizable three-dimensional images are continuously connected, a recognizable three-dimensional image can be obtained. Accordingly, it is possible to grasp the length of the line-shaped object as a three-dimensional image in a recognizable state.

Further, when the line-shaped object is a line-shaped sensor 51 that detects a physical quantity, the mapping processing unit 11 is detected by the line-shaped sensor 51 on the three-dimensional image of the line-shaped sensor 51 in the world coordinates. In this configuration, the level of a certain value is represented in an overlapping manner.
According to this configuration, the level of radiation dose or the like by the detection by the line sensor 51 is superimposed on the line sensor 51 that can be grasped by an actual geographical three-dimensional physical distance. Can be represented. Therefore, it is possible to easily identify at which position of the line sensor 51 the peak Lp of the radiation dose as shown in FIG. This can be easily identified even if there are many peaks Lp.

  Furthermore, the position of the field 55 where the line sensor 51 is arranged can be specified with high accuracy at low cost. Furthermore, when the radiation measurement place has a large amount of radiation and a person cannot enter, the line sensor 51 is photographed by the stereo camera 21 at a remote position where there is no influence of the radiation, and the GPS compass 22 If the position is measured, a person can safely specify the radiation dose and the measurement position.

  Further, the mapping processing unit 11 includes a map data DB unit 17 as a database unit of map data having actual latitude / longitude and altitude information, and the latitude / longitude of the three-dimensional image of the line sensor in the world coordinates. The altitude of the position is retrieved from the database unit 17, and the retrieved altitude is combined with the altitude of the latitude / longitude position of the three-dimensional image of the line sensor in the world coordinates to display.

  According to this configuration, the altitude of the actual geographical position of the line-shaped object can be expressed with high accuracy. When the line-shaped object is the line-shaped sensor 51, the actual peak Lp detection position in the line-shaped sensor 51 can be easily identified in association with the actual latitude / longitude and altitude of the measured area.

<Additional example of embodiment>
FIG. 5A is a perspective view showing the configuration of the sensor moving device 31 provided as an accessory of the mapping device 10 of the present embodiment, and FIG. 5B is a plan view showing the configuration of the sensor installation base 32 of the sensor moving device 31. is there.
As shown in FIG. 5A, the sensor moving device (moving means) 31 includes a sensor installation base (installation base) 32, a plurality of attachment portions 33, and a plurality of wheels 34.

The sensor mounting base 32 has an elongated plate shape and is flexible in the longitudinal direction, and the line sensor 51 is placed on the upper surface.
A plurality of attachment portions 33 are attached to the lower surface of the sensor installation table 32 at a predetermined interval in a direction perpendicular to the lower surface and along the longitudinal direction of the sensor installation table 32. The plurality of attachment portions 33 all have the same length. ing.

The wheel 34 is rotatably attached to the distal end portion of the attachment portion 33. Each wheel 34 is attached so that the sensor installation base 32 moves the traveling surface (field) 55c in a crossing direction including a direction orthogonal to the longitudinal direction of the sensor installation base 32 as indicated by an arrow Y1 or Y2. ing.
However, the sensor installation base 32 is preferably configured to have rigidity in the moving direction. In this configuration example, as shown in FIG. 5B, a large number of rigid plates 32a such as rectangular and rigid hard resin plates and metal plates are connected via flexible members 32b such as soft rubber and soft resin. The configuration is as follows. For example, the total length is the same as or slightly longer than the length of the line sensor 51 (for example, 10 m).

Further, the mounting portion 33 can be adjusted so as to be extendable as indicated by arrows Y3 and Y4 in a direction perpendicular to the lower surface of the sensor installation base 32. This adjustment may include an actuator such as a motor (not shown) and may be automatically performed under the control of a control means (not shown) of the mapping apparatus 10. With such an adjustment operation, all of the attachment portions 33 are set to have a predetermined length with the same distance between the lower surface of the sensor mounting base 32 and the traveling surface of the wheel 34.
Further, each wheel 34 may be provided with an actuator such as a motor (not shown) that rotates the wheel 34 so that the wheel 34 can be driven to rotate by a person operating the control means of the mapping device 10.

  Further, each wheel 34 is attached to each of the plurality of rigid plates 32a. This is because, as shown in FIG. 5A, when the field 55c is curved, even when each wheel 34 rides on the field 55c, the distance between the sensor installation base 32 and the field 55c is kept constant. Because. That is, in the sensor installation base 32, a large number of rigid plates 32a are connected to each other in a longitudinal shape via the flexible member 32b, so that even when each wheel 34 rides on the curved field 55c, The sensor installation base 32 bends in the same shape as the curved surface.

  In the case of using the sensor moving device 31 having such a configuration, first, the sensor moving device 31 is installed in the field 55c for measuring radiation, and then the line sensor 51 for detecting radiation is extended to 10 m to be placed on the sensor installation table 32. Place. Next, the sensor mounting base 32 is adjusted to the height of radiation measurement from the predetermined field 55. This is carried out by extending the mounting portions 33 to the same length.

After such preparation, the sensor mounting base 32 is moved while measuring radiation with the line-shaped sensor 51. Thus, since the line-shaped sensor 51 can be moved in the state extended to 10 m, even when a to-be-measured place is wide, it can measure efficiently.
Further, as shown in FIG. 5 (a), even if each wheel 34 has moved to a place where the field 55c is curved, the sensor mounting base 32 has flexibility in the longitudinal direction, so that it has the same shape as its curved surface. The distance between the line sensor 51 placed on the sensor installation base 32 and the field 55c can be kept constant at any position.

  Furthermore, since the sensor installation base 32 has rigidity in the movement direction of the arrows Y1, Y2, the movement force can be transmitted efficiently, and the sensor installation base 32 can be moved smoothly. When a person pulls the sensor installation base 32 with a rope or the like, the operability during traveling is improved. This can similarly improve the operability even when each wheel 34 is driven by a motor.

  In addition, this invention is not limited to above-described embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

Each of the above-described configurations, functions, processing units (control units), processing means, and the like may be realized in hardware by designing a part or all of them, for example, with an integrated circuit. Further, each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function is stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure Digital memory) card, a DVD ( Digital Versatile Disc) can be placed on a recording medium.
Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

DESCRIPTION OF SYMBOLS 10 Mapping apparatus 11 Mapping processing part 12 Line 3D conversion part 13 Line length correspondence part 14 Position / measurement data composition processing part 15 GPS compass processing part 16 Coordinate conversion processing part 17 Map data DB part 20 Input operation part 21 Stereo camera 22 GPS Compass 50 Measuring device 51 Line sensor (line object)
51a Starting point 51m Mark 52 Line-shaped sensor measuring device 51b 3D line image 51c 3D line length image 51L 3D line position measurement image 51LW 3D line measurement coordinate image 55, 55c Field (ground)
31 Sensor moving device 32 Sensor installation stand (installation stand)
32a Rigid plate 32b Flexible member 33 Mounting portion 34 Wheel L Radiation dose Lp Peak of radiation dose

Claims (8)

A stereo camera that captures a line-shaped object placed at an arbitrary location as a stereo image together with the placement location;
A GPS compass that is arranged in a pair with the stereo camera and measures the latitude and longitude of the position of the stereo camera and the geographical coordinates of the altitude and the orientation of the shooting direction of the stereo camera;
The photographed stereo image is converted into a three-dimensional image to extract a three-dimensional image of the line-shaped object, and the line-shaped object photographed by the stereo camera based on the geographical coordinates and direction measured by the GPS compass A mapping processing unit that obtains world coordinates corresponding to the geographical coordinates of the arrangement position of and displays the extracted three-dimensional image of the line-shaped object in the obtained world coordinates so that latitude and longitude and altitude can be recognized. A mapping apparatus comprising: and. The mapping device according to claim 1,
The mapping apparatus, wherein the line-shaped object is a line-shaped sensor that detects a physical quantity including at least one of temperature, radiation, and electrical resistance. The mapping device according to claim 1,
An input operation unit for adding a mark to the extracted three-dimensional image of the line-shaped object;
In the case where the three-dimensional image of the line-shaped object cannot be recognized, the mapping processing unit cannot recognize the three-dimensional image of the line-shaped object when a plurality of marks are added to the three-dimensional image of the line-shaped object. A mapping characterized by interpolating a three-dimensional image of a line-shaped object into a recognizable continuous line-shaped object image based on the mark and a recognizable portion of the three-dimensional image of the line-shaped object. apparatus. The mapping device according to claim 2,
When the line object is a line sensor that detects a physical quantity,
The mapping apparatus, wherein the mapping processing unit performs a process of superimposing a level of a physical quantity detected by the line sensor on a three-dimensional image of the line sensor in the world coordinates. The mapping device according to any one of claims 1 to 4,
The mapping processing unit includes a map data database unit having geographical latitude / longitude and altitude information, and retrieves the altitude of the latitude / longitude position of the three-dimensional image of the line sensor in the world coordinates from the database unit. Then, a process of displaying the altitude of the latitude and longitude positions of the three-dimensional image of the line sensor in the world coordinates together with the retrieved altitude is displayed. The mapping device according to claim 5,
An installation base having a longitudinal shape on which the line-shaped object is placed and having flexibility in the longitudinal direction of the longitudinal shape, and attached to a lower surface of the installation base in a direction perpendicular to the lower surface, A mapping apparatus, further comprising: a moving means having a plurality of attachment portions with wheels attached to opposite ends at a predetermined interval along the longitudinal direction on the lower surface of the installation table. The mapping device according to claim 6,
The mapping device, wherein the plurality of attachment portions can be adjusted so as to extend and contract in a direction perpendicular to a lower surface of the installation base. The mapping device according to claim 6 or claim 7,
The mapping device is characterized in that the installation table moves a traveling surface of the wheel in a direction crossing the longitudinal direction of the installation table, and has rigidity in the movement direction.

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