Measuring device for buried pipeline and method for measuring buried pipeline

摘要

In order to make it possible to estimate the travel route of an instrumented vehicle and estimate the position of a buried pipeline even when the buried pipeline is devoid of characteristic landmarks, this buried-pipeline measurement device includes: an instrumented vehicle provided with an odometry means for measuring a travel distance, an IMU for measuring the orientation of the instrumented vehicle, and three laser measurement devices (6-8) for scanning in three mutually intersecting planes and obtaining internal-surface-shape information of the pipeline; a position specifying means for specifying a measurement start position, a measurement end position, and an orientation; a sequential position estimation calculation means for sequentially estimating and calculating sequential position information of the instrumented vehicle using the travel distance obtained by the odometry means and the orientation information obtained by the IMU; and a sequential position correction calculation means for performing a correction calculation on the sequential position information of the instrumented vehicle on the basis of the internal-surface-shape information of the pipeline obtained by the three laser measurement devices (6-8); an overall correction of the correction-calculated sequential position information being performed by a three-dimensional SLAM algorithm and overall position information in the travel route being specified after the measurement end position is reached.