JP2002328021A - Method for measuring damage of disaster using helicopter photographing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for measuring damage of a disaster using a helicopter photographing, which can rapidly, accurately and safely obtain the degree of the damage when the disaster occurs. SOLUTION: A digital camera 2 is installed in the helicopter for disaster measures 1, and a required place is photographed in an oblique direction at a prescribed interval. A controller (not shown) for radio controlled helicopter 3 is also installed in the helicopter 1. A device for measuring the degree of destruction 5 in a headquarters of disaster measures 6 is composed of a means 6 making up a model before the destruction, a means 7 making up a model after the destruction, a means 8 calculating the amount of destruction, a converting means 12 of a unified coordinate system, and a means 13 defining the unified coordinate system. A wire frame of a slope before the destruction, which is made up on the basis of a stereo image before the destruction, and a wire frame on the basis of a stereo image of the slope photographed by the digital camera 2 after the destruction are defined in the unified coordinate system. Then, the difference between both wire frames is calculated as a volume of the destruction. A digital camera 20, which can photograph vertically to the landform, is also installed in the helicopter 1, and a flooded region is photographed. This digital image is overlapped on a map of the flooded region obtained beforehand, and an area of flooded region by a river is calculated from coordinates in the map.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring a disaster damage amount, and more particularly to a method for measuring a disaster damage amount using a helicopter to photograph a disaster location with a digital camera to obtain a disaster area in real time.

[0002]

2. Description of the Related Art Generally, when a rock collapse occurs on the side of a road, the approximate amount of the collapse is measured by manual measurement. For example, a worker goes to a collapse site, sets standards at intervals of several meters or tens of meters, and measures the approximate amount of collapse by triangulation. In addition, the amount of disaster is estimated by visual observation from a helicopter.

[0003] Then, the actual amount of collapse has been known based on how many trucks have been used to carry the collapsed soil by dumping.

[0004] On the other hand, in recent years, aerial survey technology has been used in some cases in order to grasp the amount of disaster damage such as the flooded area of rivers and the amount of landslides. In order to obtain such flooded area and the amount of landslide, generally, an image was taken with an analog camera and measured with a plotter.

[0005]

However, in the conventional method, since the stricken area is photographed by an analog camera, in order to obtain the stricken amount, a film image is developed,
Since it was necessary to perform orientation and generate a three-dimensional model with a plotter, it took several days to calculate the amount of damage. In addition, visual estimation of the amount of disaster sometimes resulted in a mistake in the amount of damage by as much as one digit.

For this reason, in the event of a disaster, there is a problem in that even if it is necessary to accurately grasp the amount of disaster in an emergency in order to perform initial measures for rescuing human lives and preventing a secondary disaster, it cannot be known. there were.

[0007] In addition, the triangulation has a problem that a worker may enter a collapse site and install a mirror, which is extremely dangerous. In addition, the part that cannot be seen from the observation point cannot be measured.

Further, since the amount of collapse obtained is a measurement after the collapse has occurred, there is a case where the amount of collapse obtained is not accurate, and there is a problem that it is not possible to accurately grasp the disaster countermeasure budget such as the accumulation of the number of trucks for disaster recovery. .

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a method for measuring a disaster damage amount by helicopter photographing, which can quickly and accurately obtain the amount of the disaster when the disaster occurs. Aim.

[0010]

According to the present invention, a method for measuring the amount of disaster by helicopter imaging includes mounting a digital camera and a GPS on a helicopter along a flight route including a number of pre-collapse reference points on a slope before collapse. Obtain a stereo image before collapse by shooting diagonally, and when the slope has collapsed,
The slope after the collapse is obliquely photographed by the digital camera on the flight route to obtain a stereo image after the collapse, and the stereo image before the collapse and the stereo image after the collapse are used to damage the collapse. This is a disaster amount measurement method that calculates the amount.

A step of assigning a predetermined number of the stereo images before the collapse and the stereo images after the collapse in the input date and time range, and displaying them on a screen; A step of selecting an optimum stereo image before and after the collapse including the reference point after the collapse from the stereo image before the collapse and the stereo image after the collapse,
After allocating the actually measured coordinate values to the reference point and locating, automatically matching regions having the same degree of luminance near the same position in both the left and right images to obtain three-dimensional coordinates. Generating a three-dimensional model of the slope after the collapse.

[0012] Further, three common points are set in the selected stereo images before and after the collapse, and the three-dimensional models before and after the collapse are converted into a coordinate system according to the common three points. And the difference between the transformed three-dimensional model before collapse and the transformed three-dimensional model after collapse, and connecting the vertex coordinate values obtained by the difference with a line. A step of generating a three-dimensional shape, and obtaining a volume of the three-dimensional shape,
And a step of notifying the volume as the amount of damage on the slope.

Further, a digital camera is attached to the helicopter so that the flooded area on the ground can be photographed vertically.
In the disaster amount measuring method of photographing with the digital camera after the flooding and obtaining an area change between before and after the flooding at the countermeasures headquarters, a step of adding GPS data from GPS to an image captured by the digital camera and storing the data. In the helicopter.

The countermeasures headquarters has a database storing a map, reads the latitude and longitude of the GPS data of the photographed image, and searches the database for the map having the latitude and longitude from the database. A step of displaying a screen consisting of a display area of a map, a step of reading a captured image from the digital camera, and a step of displaying the captured image on the screen; and centering on the latitude and longitude on the searched map, And a step of displaying a map of a predetermined area when viewing the map at the altitude of the helicopter on a screen; a step of identifying a positional relationship between the captured image of the screen and the map and a scale; The gist of the present invention is to include a step of drawing a changed terrain frame on a captured image and a step of obtaining and notifying an area of the terrain frame in a coordinate system on the map.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS <Embodiment 1> FIG. 1 is a schematic configuration diagram of a disaster damage measurement system using a disaster countermeasure helicopter according to the present embodiment.

In the case where a rock on the side of a road, a slope or the like (generally referred to as terrain) collapses, it is important to quickly know the state of the collapse and the amount of the collapse, and a helicopter for disaster countermeasures (for example, It is desirable to use a system that can calculate the amount of damage and create a map of the damage with a certain degree of accuracy using the method described in (i) above, and promptly notify the related organizations.

In this system, a digital camera 2 (preferably fixed to a detachable fixed base) is mounted on a helicopter 1, and a desired location is photographed obliquely at predetermined intervals. The helicopter 1 is equipped with a controller (not shown) for the radio-controlled helicopter 3.

Further, the helicopter 1 is equipped with a GPS measuring device 4 (not shown). This GPS measuring device 4
Is the GPS data (latitude / longitude, altitude, shooting date / time) synchronized with the shutter of the digital camera 2 after receiving the GPS signal
To get.

The disaster response headquarters is provided with a fall amount measuring device 5 mainly composed of a personal computer. As shown in FIG. 1, the collapse amount measuring device 5 includes an image selection unit 5, a pre-collapse model generation unit 6, a post-collapse model generation unit 7, a collapse amount calculation unit 8, and a unified coordinate system conversion unit 1.
2 and a unified coordinate setting means 13, and the helicopter 1
Before the collapse, the slope is photographed obliquely with the digital camera 2 and the GPS measurement data (coordinate values, date and time) at the time of photographing is obtained, and the helicopter 1 is dropped on the ground.
The captured image before collapse is stored in the image file 5a before collapse, and the GPS measurement data before collapse is stored in the file 5b.

Further, after the collapse, the helicopter 1 causes the digital camera 2 to photograph the slope after the collapse obliquely on the same flight route as before the collapse, and the GP at this time.
After obtaining the S measurement data, the helicopter 1 is dropped on the ground, and the captured image after the collapse is stored in the image file 5c after the collapse.
And store the GPS measurement data after collapse in file 5d
To memorize.

The image selection means 5 stores a pre-collapse image file 5a in which a digital image before the collapse of the slope is stored, and GPS measurement data including a photographing time, a latitude, and a longitude when photographing the slope before the collapse. GPS measurement file 5b
And a post-collapse image file 5c in which a digital image after the collapse of the slope is stored, and a GP when the slope after the collapse is photographed.
GPS measurement file 5 after collapse in which S measurement data is stored
and d.

In the image selecting means 5, the operator inputs latitude and longitude, and retrieves GPS measurement data corresponding to the latitude and longitude from the GPS measurement file 5d (after collapse).

Then, a collapsed photographed image having the photographed date and time of the retrieved GPS measurement data is retrieved from the collapsed image file 5c, the retrieved image is displayed, and the retrieved image is selected (digital camera 2). The frame number of an image obtained by selecting a stereo image (right and left) including a number of post-disaster reference points from the digital image of the slope photographed in step (1) is notified to the collapsed model generation means 6.

Further, with the input of the latitude and longitude, the GPS measurement data having the latitude and longitude is searched from the file 5d (before collapse), and the image data before collapse having the shooting date and time corresponding to the searched GPS measurement data is retrieved. Is retrieved from the pre-collapse image file 5a, and the retrieved images are displayed and selected from these images (a stereo image including a number of pre-disaster reference points from a digital image of a slope taken by the digital camera 2). The frame number of the image (to select right or left) is notified to the pre-collapse model generation means 6.

The pre-collapse model generation means 6 selects a stereo image (right, left) including a number of pre-disaster reference points from the digital image of the slope taken by the digital camera 2 and selects the selected stereo image. The stereo image is read, and the coordinate values (Xa, Ya, Z) of a large number of input reference points before disaster occurrence are input.
Orient using a).

Then, in the left and right images, which are stereo images before the collapse, portions having the same degree of luminance near the same position are automatically matched with each other to obtain three-dimensional coordinates to obtain the three-dimensional coordinates before the disaster. Is generated in advance, and this is stored in the database 9 (Xa, Ya, Za).

The post-collapse model generating means 7 is a stereo image (right, left) containing the same number of post-disaster reference points selected before the collapse from the digital image of the slope taken down by the digital camera 2 before the collapse. Is selected, the selected stereoscopic image after collapse is read, and orientation is performed using the input coordinate values of a large number of reference points before the occurrence of the disaster and coordinate values of the reference points measured after the occurrence of the disaster.

In this selection, the operator inputs latitude and longitude, retrieves GPS measurement data corresponding to the latitude and longitude from the file 5d, and retrieves the collapsed retrieval data (photographing date and time, Latitude and longitude)
Search from the S measurement file 5b.

Then, the collapsed photographed image having the date, time, and time of the retrieved GPS measurement data is retrieved from the collapsed image file 5c, and the retrieved image is displayed and selected from among these images ( The frame number of an image obtained by selecting a stereo image (right and left) including a number of post-disaster reference points from the digital image of the slope taken by the digital camera 2 is notified to the collapsed model generation means 6.

Then, in the left and right images, which are the stereo images after the collapse, the portions having the same degree of brightness near the same position are automatically matched with each other to obtain three-dimensional coordinates to obtain the three-dimensional coordinates of the terrain after the occurrence of the disaster. 3D model (Xb, Yb, Z
b) is generated and stored in the database 11.

The unified coordinate setting means 13 displays the image of the slope before the collapse and the image of the slope after the collapse on the screen, and stores the coordinates of the three points designated as the same point on these screens in the database. It is read from 9 or 11 and set in the unified coordinate system conversion means 12.

These three points are imprinted on the stereo image, and are three points near the collapse area where measurement is required.
Arrange so as to cover the entire area. In addition, it is necessary that these points are common points that are also projected on the image before collapse corresponding to the collapse region.

The unified coordinate system conversion means 12 newly converts the three common points on the image before the collapse into unified coordinates on the XY plane into the coordinates of the three-dimensional model before and after the collapse.

This conversion is necessary because the three-dimensional models created before and after the collapse do not always have the same XYZ coordinate axes before and after the collapse (see FIG. 2).

That is, the arrangement of the reference points may be different from each other. However, if the coordinate values are not coordinate values in the coordinate system of the same coordinates, it is impossible to obtain the amount of collapse by making the difference.

Therefore, as shown in FIG. 10, which will be described later, three points common to the stereo images before and after the collapse are set in each image, and the coefficients after coordinate conversion are obtained from the coordinate values of these three points. Also, the Z axis is set orthogonal to this plane, and the coordinate origin is the first point when designating three common points.

The collapse amount calculation means 14 calculates the vertices of the three-dimensional model before the occurrence of the collapse converted by the unified coordinate system conversion means 12 and the three-dimensional model after the occurrence of the collapse converted by the unified coordinate system conversion means 12. A difference from the coordinate values is obtained, and a three-dimensional shape is generated by connecting the obtained three-dimensional coordinates with a line.

Then, the volume of this three-dimensional shape is obtained, and the obtained volume value is displayed on the screen as the amount of collapse of the inclined surface.

The operation of the collapse measurement system using the disaster countermeasure helicopter configured as described above will be described below. FIG. 3 is a flowchart illustrating an outline of the disaster damage measurement system.

(Before collapse) Before the collapse, as shown in FIG. 3, the helicopter 1 is used to photograph the slope before the collapse from an oblique direction at a spatial position where the entire slope before the collapse is most optimally obtained. (S201).

Next, based on the photographed image before collapse, for example, a reference point (marker) before collapse is determined as shown in FIG. 4 (S2).
02). In FIG. 4, A1 to A14 are points at which the target is set.

A1p to A14p are points to be located from a feature having no target. T1, T2, and T3 are characteristic portions of the slope.

A worker at the site sets a sign at a place where the target of A1 to A14 is set. Then, the position of each marker (A
1 to A14, A1p to A14p, T1, T2, T3) are measured by triangulation (S203).

This measured value is plotted or stored in correspondence with the reference point before collapse (S204).

Then, based on the pre-measured image before the collapse, a flight route condition (for example, a flight speed of 5 Km / H and a photographing interval of 10 seconds) that can optimally make the slope three-dimensional is drafted (S204). Images are taken at predetermined intervals by the digital camera 2 along the flight route (S205).

Next, the photographed image before collapse is displayed on the screen, and the operator selects the most optimal photographed image (S210).

For example, the previous image (10 seconds before) and the current image are displayed on the screen (the left is the previous time, and the right is the current time).

(A) Four or more reference points appear in common.

(B) The same measurement object exists in the left and right images.

(C) The optical axes of the left and right images do not intersect.

The user who satisfies the above points is selected (see FIG. 5).

Next, the pre-collapse model generating means 6 searches the left and right images (stereo images) for points corresponding to the coordinates of the pre-collapse reference point (see FIG. 5), and measures the pre-measured points at the searched points. Orientation analysis for allocating the coordinates (three-dimensional) of the reference point is performed (S211).

Next, by using the result of the orientation analysis, the vertical displacement of the images of both photographed images is corrected to search for pixel regions having the same luminance, and automatic matching is performed between the pixel regions having the same luminance. After obtaining dimensional coordinates, a three-dimensional model is generated to generate a wire frame as shown in FIG. The generated three-dimensional model is stored in the database 9 (S2
12).

At this time, it is impossible to completely eliminate the mismatch. For this reason, as shown in FIG. 7, portions unnecessary for measurement are deleted.

(After Collapse) The process after collapse will be described below with reference to the flowchart of FIG.

When the collapse occurs, the helicopter 1 is skipped, and the reference point after the collapse is examined in consideration of the image before collapse and the information of the reference point.

If it is necessary to heavily use characteristic features of the slope for orientation, the passenger of the helicopter 1 skips the radio-controlled helicopter 3 prepared on the ground, and places a marker, such as paint, on the characteristic feature of the collapsed place examined. (S60
1). Next, a worker at the collapse site measures the position of a feature or marker by triangulation.

Next, the pilot of the helicopter 1 uses the digital camera 2 to photograph at predetermined intervals on the same route as the flight route before the collapse (S602).

Next, after this photographing, the digital camera 2 of the countermeasure headquarters is brought in and read by the collapsed model generation means 6 of the collapsed amount measuring device 5 (S603).

Next, the most suitable image after collapse is selected (S604). This selection is a stereo image including a number of post-collapse reference points, and selects a stereo image having the same conditions as the stereo image before collapse.

Next, the collapsed model generating means 7 searches the left and right images for a point corresponding to the coordinates of the post-collapse reference point, and adds the coordinates of the previously measured post-collapse reference point (3 Orientation analysis is performed using (dimension) (S605).
Next, the vertical displacement of the image is corrected using the results of the orientation analysis, pixel regions having the same level of brightness are searched, and automatic matching between the pixel regions having the same level is performed. As shown in FIG. Create The created three-dimensional model of the slope is stored in the database 11 (S606).

Then, the unified coordinate setting means 13 displays on the screen the image of the slope before the collapse and the image of the slope after the collapse, and as shown in FIG.
A point is designated (S608).

The unified coordinate setting means 13 stores the database 9
Alternatively, the coordinates of each of the three points are read from 11 and set in the unified coordinate system conversion means 12.

Next, the unified coordinate system converting means 12 defines a unified coordinate system in which a plane formed by the inputted three common points is an XY plane, and an axis perpendicular to this plane is a Z axis ( S609).

Next, the coordinate values of the three points on the image before the collapse are converted by the unified coordinate system to obtain a new three-dimensional model before the collapse, and the coordinate values of the three points on the image after the collapse are unified. Conversion is performed in the coordinate system to newly obtain the collapsed three-dimensional model (S61).
0).

Next, the collapse amount calculating means 8 calculates the difference between the new three-dimensional model of the slope before the collapse and the new three-dimensional model after the collapse, and calculates this difference as the collapse amount (S61).
1), and display (S612).

Specifically, for example, the wire frame of the three-dimensional model before the collapse converted by the unified coordinate system conversion means 12 and the three-dimensional model after the collapse generated by the unified coordinate system conversion means 12 are converted. A difference from each vertex coordinate value with respect to the wire frame is obtained, and a three-dimensional shape in which the obtained three-dimensional coordinates are connected by a line is generated.

Then, the volume of the three-dimensional shape is obtained, and the obtained volume value is displayed on the screen as the slope collapse amount. An image of the collapsed earth and sand is extracted and displayed on the screen as shown in FIG.

<Second Embodiment> FIG. 12 is a schematic configuration diagram of a disaster damage measuring system according to a second embodiment. The present system includes a digital camera 20 capable of photographing in a vertical direction on the helicopter 1, a GPS receiver 23, and a synthesizing unit 24.
And the combining unit 24 combines the data (shooting date, latitude, longitude) of the GPS receiver 23 with the captured image.

It is desirable that the flood area calculating device 25 mainly composed of a personal computer is installed in the countermeasures headquarters. The flood area calculating device 25 has a database 26 storing a map, reads the latitude and longitude of the GPS data of the captured image acquired by the digital camera 20, and searches the database for the map having the latitude and longitude from the database. Displaying a screen including an image display area and a map display area, reading a captured image from a digital camera, and displaying the captured image on the screen, and centering on the latitude and longitude on the searched map. And a step of displaying a map of a predetermined area when viewing the map at an altitude of the helicopter on a screen; a step of identifying a positional relationship and a scale between the captured image of the screen and the map; An inundation area having a step of drawing a changed terrain frame on a captured image, and a step of obtaining and notifying an area of the terrain frame in a coordinate system on the map; It has a detecting section 27.

The operation of the system configured as described above will be described below with reference to the flowchart of FIG.

It is desirable that a digital camera 20 captures an image of the ground before a disaster and obtains a two-dimensional map in advance. Of course, if a map of this area has been generated in advance, that map (numerical map 2500, river GIS data) is used.

If flooding has occurred, the helicopter 1 is sent to the site to photograph the affected area (S13).
After 1), it is read by the flood area calculation device 25 of the disaster response headquarters (S132).

Next, as shown in FIG. 14, the image at the time of disaster is displayed in the screen area for disaster, and a map matching the image at the time of disaster is retrieved and displayed on the screen (S13).
3).

In this map search, since the latitude and longitude are added to the photographed image of the stricken area, a predetermined area centered on the latitude and longitude is extracted after searching the map area having the latitude and longitude. Take out the map and display it on any scale.

Next, as shown in FIG. 15, the operator rotates the photographed image so that the topography in the photographed image of the stricken area, the feature point of the feature, and the same position on the map match. Then, the scale is adjusted, and an identification operation for giving a coordinate value to the captured image is performed (S134).

Then, the operator traces the flood area (S135). The area of the area surrounded by the traced line is calculated using the coordinate values on the captured image identified as the map (S136), and the calculated amount is displayed as the flooded area (S137).

<Third Embodiment> Disasters do not always occur in the sea or in the mountains. It also occurs in the city. Mobile phones can be used in the city. In addition, a mobile phone network spans the expressway, and the mobile phone can be used while moving.

Therefore, as shown in FIG. 16, a transmitter such as a mobile phone is connected to the synthesizing unit, and the GPS data and the image captured by the digital camera are transmitted to the disaster response headquarters or the fire department using the mobile phone network.

A cellular phone is attached to the image processing device of the disaster response headquarters or fire department, the received data is stored in a file, and the amount of damage is obtained and displayed by the above processing.

In the case of flooding of a river or the like, the area of the flooded area is obtained by comparing with a map. In the case of a landslide, a reference point is provided by utilizing a radio-controlled helicopter or the like, and the slope is photographed. When the landslide occurs, the amount of the landslide is calculated and notified by the difference processing similar to that in the first embodiment.

<Fourth Embodiment> FIG. 17 is a system configuration diagram of a fourth embodiment. This system is effective when a mobile phone network cannot be used. By installing a helicopter image receiving base station 30 and a satellite relay vehicle 33, images and GPS measurement data before or after a disaster occur can be transmitted by radio waves. Send.

The image data and the GPS measurement data are transmitted to the countermeasure headquarters 34 via the helicopter image reception base station 30 and the satellite relay vehicle 33, and the countermeasure headquarters performs the above-described difference processing to determine the amount of damage. Then, the number of dumps, the number of shovel cars, the number of bulldozers, etc. can be integrated.

Then, the result is transmitted to a countermeasure / rescue organization (for example, the SDF). Therefore, if a collapse occurs, the optimal number of vehicles, equipment,
The staff can be sent to the site.

In each of the above-described embodiments, the calculation of the flood area and the amount of landslide have been described individually. However, a helicopter is provided with a vertical digital camera and a diagonal digital camera. The computer may be provided with a flood area calculation process and a collapse amount calculation process, and any one of the processes may be activated by an operator's selection.

[0086]

As described above, according to the present invention, a flight route of a helicopter is established, and a stereo image is obtained by photographing at a predetermined interval with a digital camera according to the flight route.
Using this stereo image, a three-dimensional model of the slope before the collapse is generated. Then, after the collapse, shooting is performed at predetermined intervals by a digital camera along the same route.

After selecting a stereo image including a large number of reference points after the occurrence of collapse from the photographed image and locating using the coordinate values measured at each of the reference points, automatic matching processing of both images is performed. To generate a three-dimensional model of the slope after the collapse.

Then, a three-dimensional model of the slope before the collapse,
A coordinate system of the three-dimensional model after the collapse is generated as a unified coordinate system according to the common three points input on the images before and after the collapse, and the three-dimensional model of the slope before the collapse is generated according to the coordinate system. Then, the coordinate system of the collapsed three-dimensional model is transformed, and the collapse amount after the collapse is obtained from the difference between the two three-dimensional models and notified.

That is, when a collapse occurs, a digital image of the collapse site is obtained by photographing the site of the collapse with a digital camera of a helicopter, so that the conventional development time is not required.

Further, the orientation and matching can be analyzed by a system composed of a personal computer installed at the disaster response headquarters, and it is not necessary to use a large-sized dedicated device such as a conventional plotter.

Therefore, immediately after the collapse, the amount of the collapse can be known with high accuracy, and the initial response for the prevention of the secondary disaster and the planning of the disaster recovery (the number of heavy equipment, the number of dumps, the arrangement and the accumulation, etc.) Can be created more accurately.

Further, a digital camera is attached to the helicopter so that the flood area can be photographed vertically from above when the river is flooded, the flood area is photographed, and a map corresponding to the photographed image is searched for identification. Then, the flood area is traced on the image of the flood area, and the area of the flood frame is obtained.

Therefore, an effect is obtained that the estimated flood area can be accurately known immediately after the flood.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a disaster amount measurement system using a helicopter according to a first embodiment.

FIG. 2 is an explanatory diagram for explaining the reason for setting a reference plane.

FIG. 3 is a flowchart illustrating a procedure before collapse according to the first embodiment;

FIG. 4 is an explanatory diagram illustrating setting of a reference point according to the first embodiment;

FIG. 5 is an explanatory diagram illustrating matching.

FIG. 6 is an explanatory diagram illustrating a wire frame on a slope before collapse.

FIG. 7 is an explanatory diagram for explaining the deletion of an extra portion.

FIG. 8 is a flowchart illustrating a procedure after a collapse.

FIG. 9 is an explanatory diagram illustrating a wire frame on a slope after the collapse.

FIG. 10 is an explanatory diagram illustrating setting of a reference plane for images before and after collapse.

FIG. 11 is an explanatory diagram illustrating display of a collapsed portion after a collapse.

FIG. 12 is a schematic configuration diagram of a disaster amount measurement system using the helicopter according to the second embodiment.

FIG. 13 is a flowchart illustrating a procedure according to the second embodiment.

FIG. 14 is an explanatory diagram illustrating a display screen according to the second embodiment.

FIG. 15 is an explanatory diagram illustrating identification of the second embodiment.

FIG. 16 is a schematic configuration diagram of a disaster amount measurement system using a helicopter according to the third embodiment.

FIG. 17 is a schematic configuration diagram of a disaster amount measurement system using a helicopter according to the fourth embodiment.

[Explanation of symbols]

 2 Digital camera 3 Radio control helicopter 5 Collapse amount measuring device 6 Model before collapse model generation unit 7 Model after collapse model generation unit 8 Collapse amount calculation unit 12 Unified coordinate system conversion unit 13 Unified coordinate setting unit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court ゛ (Reference) // G01S 13/89 G01S 13/89 (72) Inventor Toshihiko Tanizaki 2-8, Tsukikanto, Toyohira-ku, Sapporo, Hokkaido Chome 3-1 Hokkaido Development Bureau, Ministry of Land, Infrastructure, Transport and Tourism Business Promotion Department Disaster Prevention and Technology Center (72) Inventor Masaka Kaneshima Hokkaido Promotion Bureau, Ministry of Land, Infrastructure, Transport and Tourism Business Development Department Inside the Disaster Prevention and Technology Center (72) Inventor Fumio Hamada 4-2-18 Shinjuku Kofu Shinjuku, Shinjuku-ku, Tokyo Asia Air Survey Co., Ltd. (72) Inventor Yoichi Numata 4-2-18 Shinjuku Kofu Shinjuku, Shinjuku-ku, Tokyo (72) Inventor Nobuyuki Mizutani 4-2-18 Shinjuku Shinjuku, Shinjuku-ku, Tokyo Shinjuku Kofu Bldg. Reference) 2F076 BB09 BD05 BE04 BE05 BE12 BE18 5J062 AA07 AA08 AA11 BB08 CC07 FF01 HH07 5J070 AE07 AF06 AJ02 AK39 BE01 BG11

Claims (4)

[Claims] 1. A helicopter with a digital camera and GPS
The slope before the collapse is mounted, a stereo image before the collapse is acquired by obliquely photographing the flight route including a number of reference points before the collapse, and when the slope has collapsed, the slope after the collapse is taken. Disaster amount to obtain a stereo image after the collapse by shooting diagonally with the digital camera on the flight route and calculate the damage amount of the collapse using the stereo image before the collapse and the stereo image after the collapse A measurement method, wherein the input date and time, a predetermined number of stereo images before collapse and stereo images after the collapse of a time range are assigned,
Displaying these on the screen, and selecting the optimal before and after stereo images including the reference point after the collapse from the predetermined number of stereo images before the collapse and the stereo images after the collapse displayed on the screen. And assigning the actually measured coordinate values to the reference points, and locating the areas. Then, in the left and right images, areas having the same degree of luminance near the same position are automatically matched with each other, and the three-dimensional coordinates are obtained. And generating a three-dimensional model of the collapsed slope after the occurrence of a disaster, comprising: setting three common points in the selected stereo images before and after the collapse. Converting the three-dimensional models before and after the collapse into a coordinate system according to the common three points; three-dimensional models before the collapse after the transformation; and three-dimensional models after the collapse after the transformation The difference between And generating a three-dimensional shape by connecting each vertex coordinate value obtained by the difference with a line, and determining the volume of the three-dimensional shape and informing the volume as the amount of damage on the slope. A method for measuring a disaster damage amount by helicopter photographing, comprising: an amount calculation step. 2. The stereo image before the collapse is obtained by obliquely photographing a slope that is likely to collapse before the disaster by the helicopter, and using the photographed image to actually set a number of pre-disaster reference points on the slope. After measuring the coordinates,
After planning a flight route to obtain a three-dimensional model of the slope before the collapse, and photographing the slope before the collapse with a digital camera at a predetermined interval with the helicopter in the flight route, after acquiring the GPS data, After selecting the optimal stereo image including the pre-collapse reference point from the photographed image before the collapse occurrence, and using the coordinate values of the pre-collapse reference point to the selected stereo image,
It is characterized in that it is generated by a pre-collapse model generation step of pre-generating a three-dimensional model before collapse by automatically matching regions near the same position and having pixels of the same degree in the vicinity of the same position in both the left and right images. The method for measuring a disaster damage amount by helicopter imaging according to claim 1. 3. A step of simultaneously displaying an image of the slope before the collapse and an image of the slope after the collapse on a screen to set three common points on both images; And a step of defining the unified coordinate system based on the three common points described above. 4. A digital camera is attached to a helicopter so that a flood area on the ground can be photographed in a vertical direction, and an image is taken by the digital camera after the flood, and an area change between before and after the flood is obtained at the headquarters. In the disaster amount measurement method, the helicopter includes a step of adding GPS data from GPS to a captured image of the digital camera and storing the data, the countermeasure headquarters includes a database storing a map, G
Reading the latitude and longitude of the PS data and searching a database having the latitude and longitude from a database; displaying a screen including a display area of the captured image and a display area of the map; and a captured image from the digital camera. Reading the captured image on the screen, and displaying a map of a predetermined area centered on the latitude and longitude on the searched map and viewing the map at an altitude of the helicopter on the screen. Identifying the positional relationship between the captured image of the screen and the map and the scale; and rendering the changed terrain frame on the captured image on the map; and a coordinate system on the map. And determining the area of the terrain frame and informing the user of the area.