JP2017156108A - Land form information collection system and land form information collection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide three-dimensional land form information capable of determining weakness of a foundation.SOLUTION: An information collection device 100 comprises: an imaging part 120 for acquiring three-dimensional land form information by imaging a ground surface; a position sensor 130 for measuring self position information of the information collection device 100; a moisture sensor 140 for acquiring moisture information by measuring moisture included in a ground surface; and a communication part 180 for associating the three-dimensional land form information acquired by the imaging part 120, self-position information measured by the position sensor 130, and moisture information acquired by the moisture sensor 140, and sending them to a server 200. The server 200 has an image composition part 210 for generating a composite image in which the moisture information is superposed on the three-dimensional land form image, based on the sent three-dimensional land form information, self-position information and moisture information, and a display part 220 for displaying the composite image generated by the image composition part 210.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a terrain information collection system and a terrain information collection method for collecting terrain information.

  In recent years, at work sites where civil engineering work and the like are performed, attempts have been made to collect terrain information in advance using an unmanned self-propelled device and formulate a work plan from the collected terrain information. For example, in Patent Document 1, in order to complete an incomplete three-dimensional map acquired in advance by UGV (Unmanned Ground Vehicle), a flight route of UAV (Unmanned Air Vehicle) is obtained from an incomplete region, and the terrain imaged by UAV Disclose a technique for complementing unfinished areas from data.

JP 2014-139538 A

  However, in the technique of Patent Document 1, only the acquisition of topographic data is performed, and the characteristics of the ground are not investigated at all. Therefore, when performing civil engineering work with reference to the completed three-dimensional map, the operator discriminates the soft ground during the civil engineering work, avoids the construction machine, or operates the construction machine to suit the ground. There is a problem that you can not. As a result, there is a problem that it is difficult to increase the efficiency and safety of civil engineering work.

  An object of the present invention is to provide a terrain information collecting system and a terrain information collecting method for presenting three-dimensional terrain information capable of determining the softness of the ground.

A terrain information collection system according to an aspect of the present invention is a terrain information collection system comprising an information collection device that collects information about terrain, and a server connected to the information collection device via a network,
The information collecting device includes:
An imaging unit that acquires 3D terrain information indicating the terrain three-dimensionally by imaging the ground;
A position sensor for measuring self-position information indicating the position of the information collecting device;
A moisture information acquisition unit that acquires moisture information by measuring moisture contained in the ground;
First communication that associates the three-dimensional terrain information acquired by the imaging unit, the self-position information measured by the position sensor, and the moisture information acquired by the moisture information acquisition unit, and transmits the first communication to the server With
The server
A second communication unit that receives the three-dimensional terrain information, the self-location information, and the moisture information transmitted by the first communication unit;
Based on the 3D terrain information, the self-location information, and the moisture information received by the second communication unit, the moisture information is superimposed on the 3D terrain image indicated by the 3D terrain information. An image composition unit for generating a composite image;
And a display unit for displaying the synthesized image generated by the image synthesizing unit.

  According to this aspect, the information collection device acquires the three-dimensional terrain information indicating the terrain three-dimensionally, the self-location information of the information collection device, and the moisture information indicating the moisture contained in the ground, and transmits them to the server. Is done. The server that has received such information generates a composite image in which moisture information is superimposed on the three-dimensional terrain image indicated by the three-dimensional terrain information. Therefore, the person who sees the composite image can distinguish the soft area and the non-soft area at a glance, operate the construction machine so as to suit the softness of the ground, and formulate a civil engineering plan. As a result, high safety and high efficiency of civil engineering work can be achieved.

In the above aspect, the information collection device includes:
A traveling unit for traveling the information collecting device on the ground;
You may further provide the control part which makes the said imaging part, the said position sensor, and the said moisture information acquisition part repeatedly perform measurement operation | movement, making the said information collection apparatus drive autonomously.

  According to this aspect, since the information collection device repeatedly acquires the three-dimensional terrain information, the self-location information, and the moisture information while traveling autonomously, the server that has obtained these information can perform synthesis over a wide range. An image can be generated. In addition, since the information collection device travels autonomously, the server does not need to control the travel of the information collection device, and the processing burden on the server can be reduced.

In the above aspect, further comprising a display device connected to the network,
The second communication unit transmits the combined image generated by the image combining unit to the display device,
The display device may display the transmitted composite image.

  According to this aspect, since the composite image is displayed on the display device connected to the server via the network, for example, the person refers to the composite image displayed on the display device installed in the civil engineering work site. And civil engineering work can be performed while discriminating the soft area of the ground.

  In the above aspect, the display device may be mounted on a construction machine or a portable terminal.

  According to this aspect, the operator of the construction machine can perform the civil engineering work while viewing the composite image displayed on the display device included in the construction machine and discriminating the soft area of the ground. Alternatively, according to this aspect, a person carrying a mobile terminal looks at a composite image displayed on the mobile terminal and performs a civil engineering work while determining a soft area of the ground, or formulates a civil engineering work plan. You can do it.

  In the above aspect, the moisture information acquisition unit may include a moisture sensor configured to be removable with respect to the ground, and an actuator that allows the moisture sensor to be inserted into and removed from the ground.

  According to this aspect, the information collection device can acquire moisture information autonomously by obtaining power from the actuator and inserting and removing the moisture sensor to and from the ground.

  In the above aspect, the imaging unit may be configured with a three-dimensional scanner.

  According to this aspect, since the three-dimensional scanner is used, accurate three-dimensional landform information can be obtained.

  In the above aspect, the image composition unit may display the moisture information by changing at least one of a color density and a color type according to a moisture amount indicated by the moisture information.

  According to this aspect, since the moisture information is displayed by changing at least one of the color intensity and the color type according to the amount of moisture, the person who sees the composite image can discriminate the area where the ground is soft at a glance. it can.

  According to the present invention, since a composite image in which moisture information is superimposed on a three-dimensional terrain image is generated, a person who sees the composite image can discriminate a region where the ground is soft or a region where the ground is not soft at a glance. It is possible to increase the safety and efficiency of civil engineering work.

It is a figure which shows an example of the whole structure of the topographical information collection system which concerns on embodiment of this invention. It is a flowchart which shows an example of the process of the landform information collection system which concerns on embodiment of this invention. It is a figure which shows the example of a display of the synthesized image which concerns on embodiment of this invention.

[overall structure]
FIG. 1 is a diagram showing an example of the overall configuration of a terrain information collection system 10 according to an embodiment of the present invention. The terrain information collection system 10 includes an information collection device 100, a server 200, and a navigation system 300 (an example of a display device). The information collection device 100, the server 200, and the navigation system 300 are connected to each other via a network NT so that they can communicate with each other.

  The network NT is a public communication network including a mobile phone communication network, an Internet communication network, a satellite communication network, and the like, and various data are transmitted and received using a communication protocol such as TCP / IP.

  The information collection device 100 is a device having a UGV function, and includes a traveling unit 110, an imaging unit 120, a position sensor 130, a moisture sensor 140 (an example of a moisture information acquisition unit), an actuator 150 (an example of a moisture information acquisition unit), A control unit 160, an orientation sensor 170, and a communication unit 180 (an example of a first communication unit) are provided.

  The traveling unit 110 includes, for example, a pair of left and right crawlers and a pair of motors that drive the pair of left and right crawlers, and causes the information collecting apparatus 100 to travel on the ground. As the motor, an electric motor or a hydraulic motor may be employed. When an electric motor is employed, traveling unit 110 is driven by electric power supplied from an unillustrated capacitor. When the hydraulic motor is employed, the traveling unit 110 is driven by hydraulic oil supplied from a hydraulic pump (not shown).

  The traveling unit 110 can turn the information collecting apparatus 100 by changing the rotation speed of the pair of left and right crawlers. The traveling unit 110 can also reverse the information collection device 100 by reversing the rotation direction of the left and right crawlers. Here, from the viewpoint of running the information collection device 100 on rough ground, the traveling unit 110 is configured by a crawler, but the present disclosure is not limited thereto, and may be configured by a wheel.

  The imaging unit 120 is configured by, for example, a three-dimensional scanner, and acquires three-dimensional terrain information indicating the terrain three-dimensionally by imaging the ground. Here, as the three-dimensional scanner, a scanner equipped with a laser range finder that measures the distance from the time (time-of-flight) until it is reflected by the object and returned to the object can be adopted.

  In the present embodiment, the optical axis of the laser range finder is directed obliquely downward, for example, from the viewpoint of acquiring the three-dimensional landform information of the ground. As the three-dimensional scanner, a depth sensor that acquires a distance image of the ground with an infrared camera may be employed.

  The position sensor 130 is composed of, for example, a GNSS (Global Navigation Satellite System) sensor, and acquires position information (self-position information) of the information collection device 100. The direction sensor 170 is constituted by, for example, a GNSS sensor, and acquires the direction information of the information collecting apparatus 100. Here, the self-location information includes, for example, latitude data and longitude data. The azimuth information includes data indicating the direction of the information collecting apparatus 100 when a predetermined direction (for example, north direction) is used as a reference. As the direction of the information collection device 100, for example, an angle formed by the traveling direction of the information collection device 100 and the north direction in a top view can be adopted.

  The moisture sensor 140 is composed of a moisture sensor that measures the amount of moisture in the soil using the characteristic that the dielectric constant increases as the amount of moisture increases. Specifically, the moisture sensor 140 is composed of a moisture sensor of a TDR (Time Domain Reflexometry Method) method. In this case, the moisture sensor 140 applies, for example, a rod made of a metal electrode bar that can be inserted into and removed from the ground, and an electromagnetic wave having a constant frequency (30 MHz to 3 GHz) to the rod, and the electromagnetic wave reciprocates the rod. A data logger for measuring time, and a processor for obtaining a dielectric constant from the time measured by the data logger and calculating a moisture amount from the obtained dielectric constant. However, this is only an example, and the moisture sensor 140 may be an ADR moisture sensor, or a tensiometer moisture sensor that performs measurement by burying an unglazed cup called a porous cup in the soil. It may be configured.

  The actuator 150 is composed of, for example, an electric motor or a hydraulic motor, and moves the rod of the moisture sensor 140 in the vertical direction so that the rod is inserted into and removed from the ground. Here, the actuator 150 is operated under the control of the control unit 160 so that the rod of the moisture sensor 140 is inserted into the ground during the measurement operation of the moisture sensor 140 and is pulled out of the ground at the end of the measurement operation. That's fine.

  The control unit 160 is configured by a computer including a CPU, a ROM, a RAM, and the like, for example, and governs overall control of the information collecting apparatus 100. Specifically, the control unit 160 controls the traveling unit 110 so that the information collecting apparatus 100 travels autonomously within a predetermined measurement region. Here, the control unit 160 drives the traveling unit 110 so that the information collecting apparatus 100 travels according to a predetermined traveling route from the measurement start position set in the measurement region to the measurement end position set in the measurement region. You can do it.

  As the predetermined travel route, the information collection device 100 is meandering in the measurement region while the information collection device 100 is meandering, or the information collection device 100 is swirled from the center of the measurement region toward the outer edge of the measurement region. It is possible to adopt a route that runs in the shape of a car. Further, when the control unit 160 determines from the three-dimensional terrain information captured by the imaging unit 120 that an obstacle exists in front of the information collection device 100, the control unit 160 causes the information collection device 100 to avoid the obstacle. 110 may be driven. Furthermore, the control unit 160 may drive the traveling unit 110 while confirming whether or not the information collection device 100 has deviated from the traveling route with reference to the self-position information acquired by the position sensor 130.

  Furthermore, the control unit 160 causes the imaging unit 120, the position sensor 130, and the azimuth sensor 170 to repeatedly perform a measurement operation while the information collection device 100 is running, and every time the information collection device 100 advances a certain distance or after a certain time has elapsed. Every time the information is collected, the information collecting apparatus 100 may be stopped and the moisture sensor 140 may perform the measurement operation.

  In this case, the number of measurements of the imaging unit 120, the moisture sensor 140, the position sensor 130, and the orientation sensor 170 may not be the same. For example, each time the imaging unit 120 configured with a laser range finder acquires a plurality of lines of three-dimensional landform information, the moisture sensor 140 may perform one measurement operation.

  The communication unit 180 includes a communication device for connecting the information collection device 100 to the network NT. In the present embodiment, the communication unit 180 acquires the 3D terrain information acquired by the imaging unit 120, the self-position information acquired by the position sensor 130, the moisture information acquired by the moisture sensor 140, and the orientation sensor 170. The azimuth information is transmitted in association with the server 200.

  Here, the communication unit 180 is common to the three-dimensional terrain information, moisture information, self-location information, and orientation information measured by the imaging unit 120, the moisture sensor 140, the position sensor 130, and the orientation sensor 170 at the same timing. It is sufficient that the identifier is assigned and transmitted together.

  The server 200 includes a computer including a CPU, a ROM, and a RAM, and includes an image composition unit 210, a display unit 220, a storage unit 230, and a communication unit 240 (an example of a second communication unit).

  The communication unit 240 is configured by a communication device for connecting the server 200 to the network NT, and receives the three-dimensional terrain information, the self-location information, the azimuth information, and the moisture information transmitted from the information collection device 100. In addition, the communication unit 240 transmits the composite image generated by the image composition unit 210 to the navigation system 300 via the network NT.

  Based on the three-dimensional terrain information, the self-location information, the azimuth information, and the moisture information received by the communication unit 240, the image composition unit 210 performs the moisture on the three-dimensional terrain image indicating the three-dimensional terrain information of the measurement region. A composite image on which information is superimposed is generated.

  Here, the image composition unit 210 refers to the self-location information and orientation information associated with each 3D terrain information, positions each 3D terrain information, and defines the XY defined in the 3D space. They are arranged on a plane (a plane defined by the X axis and the Y axis). Thereby, the three-dimensional landform information of the measurement area in which the height data is arranged at each position on the XY plane is obtained. At this time, if there is an area showing the same 3D terrain information between adjacent 3D terrain information, the image composition unit 210 may superimpose the areas and arrange the adjacent 3D terrain information.

  Then, the image composition unit 210 refers to the self-location information associated with each moisture information, and maps the moisture information to the corresponding position on the three-dimensional terrain information, whereby the moisture information is added to the three-dimensional terrain information. May be superimposed. As a mapping method, a method of assigning a color density according to the amount of moisture indicated by the moisture information to a corresponding location on the three-dimensional terrain information can be employed.

  As a color density assignment method, there is a first method of increasing the density of a cold color (for example, blue) as the amount of water is higher, or the concentration of a warm color (for example, red) as the amount of water is smaller. A second method for increasing the darkness can be employed. Alternatively, as a color density assignment method, the first method assigns the color density to a portion where the water amount is greater than a certain amount, and the second method assigns the color concentration to a portion where the water amount is less than the certain amount. A third technique may be employed.

  In addition, an allocation range in which one color density is allocated to one moisture information may be determined according to the resolution of the moisture information. For example, in the case where the imaging unit 120 is configured with a laser range finder, if one piece of moisture information is acquired every time three-dimensional terrain information for a plurality of lines is acquired, the allocation range is equal to the number of lines. The range corresponds to the three-dimensional terrain information. Further, in the case where the imaging unit 120 is configured with a depth sensor, if one piece of moisture information is acquired every time one distance image is acquired, the allocation range corresponds to one distance image. Scope. When adjacent allocation ranges overlap, the moisture information of the overlapped portion may be an intermediate density between the color densities of both allocation ranges.

  Then, the image composition unit 210 may generate a composite image by setting and rendering a virtual camera in a predetermined direction with respect to the three-dimensional landform information to which the moisture information is mapped.

  The display unit 220 is composed of, for example, a liquid crystal display or an organic EL display, and displays the composite image generated by the image composition unit 210.

  The storage unit 230 is configured by, for example, a non-volatile storage device, and stores the composite image generated by the image composition unit 210.

  The navigation system 300 is a device that provides various information for guiding a civil engineering work to a person engaged in the civil engineering work. Here, the navigation system 300 is mounted on, for example, a construction machine that performs civil engineering work in the measurement area, or is mounted on a portable terminal that is carried by a person who performs civil engineering work in the measurement area. A portable terminal is comprised with portable information processing apparatuses, such as a smart phone and a tablet terminal, for example.

  The navigation system 300 includes a communication unit 310, a control unit 320, and a display unit 330. Communication unit 310 includes a communication device for connecting navigation system 300 to network NT. In the present embodiment, communication unit 310 receives the composite image transmitted from server 200.

  The control unit 320 governs overall control of the navigation system 300. In the present embodiment, control unit 320 causes display unit 330 to display the composite image received by communication unit 310.

  The display unit 330 is composed of, for example, a liquid crystal display or an organic EL display, and displays a composite image.

[flowchart]
FIG. 2 is a flowchart showing an example of processing of the terrain information collection system 10 according to the embodiment of the present invention. This flowchart is started when the information collecting apparatus 100 is installed at the measurement start position and starts running.

  First, the imaging unit 120 of the information collection device 100 captures the ground and acquires three-dimensional terrain information (S201). Next, the information collecting apparatus 100 causes the position sensor 130 to acquire self-position information, causes the direction sensor 170 to acquire direction information, and causes the moisture sensor 140 to acquire moisture information (S202). Here, the control unit 160 of the information collecting apparatus 100 causes the moisture sensor 140 to acquire moisture information by causing the actuator 150 to insert the rod of the moisture sensor 140 into the ground. Since the information collecting apparatus 100 cannot travel with the rod inserted into the ground, the control unit 160 may stop the traveling unit 110 during the measurement operation of the moisture sensor 140.

  Next, the communication unit 180 of the information collection device 100 associates the 3D terrain information acquired in S201 with the self-location information, orientation information, and moisture information acquired in S202 and transmits them to the server 200 ( S203). When the imaging unit 120 is configured with a laser range finder, in S201, the imaging unit 120 may acquire three-dimensional terrain information for one line, or three-dimensional for a plurality of lines while changing measurement locations. Terrain information may be acquired. In the former case, one piece of moisture information is acquired for one line of three-dimensional terrain information, so that moisture information can be obtained with high resolution. In the latter case, it is only necessary to stop the information collection device 100 each time three-dimensional terrain information for a plurality of lines is acquired instead of for each line, so that the total measurement time can be shortened.

  Next, when the information collection device 100 reaches the final measurement position and the measurement is finished (YES in S204), the process is finished. On the other hand, if the measurement has not ended (NO in S204), the process returns to S201, and the processes of S201 to S204 are repeated again. Thereby, three-dimensional landform information and moisture information in the entire measurement region are acquired.

  Next, the communication unit 240 of the server 200 receives the three-dimensional landform information, the position information, the azimuth information, and the moisture information transmitted from the information collecting apparatus 100 (S211).

  Next, the image composition unit 210 of the server 200 arranges the three-dimensional terrain information transmitted from the information collection device 100 on the XY plane (S212).

  Next, the image composition unit 210 of the server 200 maps the water information to the three-dimensional terrain information and renders it to generate a composite image (S213).

  Next, the display unit 220 of the server 200 displays the composite image (S214). Next, the communication unit 240 of the server 200 transmits the composite image to the navigation system 300 (S215).

  Next, in the navigation system 300, the communication unit 310 receives the composite image (S221), and the display unit 330 displays the composite image (S222).

  FIG. 3 is a diagram showing a display example of the composite image G300 according to the embodiment of the present invention. As shown in FIG. 3, the composite image G300 is composed of images that three-dimensionally express the unevenness of the topography. In the example of FIG. 3, the composite image G300 displays moisture information divided into four regions D301 to D304. Here, the amount of water decreases in the order of the regions D301, D302, D303, and D304. The regions D301 and D302 are displayed in blue because the water content is larger than a certain value, and the regions D303 and D304 are displayed in red because the water content is smaller than a certain value. The region D301 is displayed in a darker blue than the region D302 because the amount of water is larger than that of the region D302. The region D304 is displayed in a darker red color than the region D303 because the amount of water is smaller than that of the region D303.

  In addition, in the example of FIG. 3, although the area | regions D301-304 are divided linearly, this is an example and may be divided curvedly according to the moisture content. Further, in the example of FIG. 3, the moisture content is shown in four stages, but the moisture content may be shown in five or more stages or in two to three stages.

  As described above, according to the terrain information collection system 10, a composite image in which moisture information is superimposed and displayed on the three-dimensional terrain image is displayed. It is possible to discriminate areas that are not at a glance, operate construction machinery to suit the softness of the ground, and formulate civil engineering plans. As a result, high safety and high efficiency of civil engineering work can be achieved.

[Modification]
(1) In the above embodiment, the imaging unit 120 is configured by a three-dimensional scanner, but may be configured by a two-dimensional visible light camera. A motion stereo method is known as a method for generating a three-dimensional image from a plurality of two-dimensional images captured by a visible light camera. Therefore, in this case, the image composition unit 210 may generate 3D terrain information using the motion stereo method.

  (2) The image composition unit 210 generates the three-dimensional terrain information of the measurement region by arranging the three-dimensional terrain information acquired by the imaging unit 120 based on one or more target points existing at a specific position in the measurement region. May be. In this case, since the direction information is unnecessary, the direction sensor 170 can be omitted from the information collecting apparatus 100. As the target point, a tree or a building that exists in advance in the measurement area may be employed, or a marker (for example, a sphere) that is disposed afterwards may be employed.

  (3) In S203 of FIG. 2, the information collecting apparatus 100 transmits 3D terrain information, self-location information, orientation information, and moisture information each time one measurement is performed. When all the information is completed, these pieces of information may be transmitted to the server 200 in a lump. In addition, when the aspect which transmits the measured information is employ | adopted whenever it measures once, the merit that the memory resource of the information collection apparatus 100 is saved is acquired.

  (4) In FIG. 3, the color density of the composite image G300 is changed according to the amount of water, but the type of color may be changed according to the amount of water. In this case, a display mode may be employed in which the hue approaches blue as the water content increases and the hue approaches red as the water content decreases.

  (5) In the above embodiment, the direction sensor 170 has been described as being configured with a GNSS sensor. However, this is merely an example, and may be configured with an electronic compass.

  (6) In the above embodiment, the position sensor 130 has been described as being configured with a GNSS sensor, but may include an acceleration sensor. In this case, the position sensor 130 may calculate the self-position information by acquiring the initial position with the GNSS sensor and then repeating the process of obtaining the movement amount and movement direction of the information collection device from the measurement data by the acceleration sensor. .

  (7) In the above embodiment, the moisture information is described as indicating the amount of moisture, but this is an example, and the moisture content may be indicated.

D301, D302, D303, D304 area G300 composite image NT network 10 terrain information collection system 100 information collection device 110 travel unit 120 imaging unit 130 position sensor 140 moisture sensor 150 actuator 160 control unit 170 azimuth sensor 180 communication unit 200 server 210 image synthesis Unit 220 display unit 230 storage unit 240 communication unit 300 navigation system 310 communication unit 320 control unit 330 display unit

Claims (8)

A terrain information collection system comprising an information collection device for collecting information on terrain, and a server connected to the information collection device via a network,
The information collecting device includes:
An imaging unit that acquires 3D terrain information indicating the terrain three-dimensionally by imaging the ground;
A position sensor for measuring self-position information indicating the position of the information collecting device;
A moisture information acquisition unit that acquires moisture information by measuring moisture contained in the ground;
First communication that associates the three-dimensional terrain information acquired by the imaging unit, the self-position information measured by the position sensor, and the moisture information acquired by the moisture information acquisition unit, and transmits the first communication to the server With
The server
A second communication unit that receives the three-dimensional terrain information, the self-location information, and the moisture information transmitted by the first communication unit;
Based on the 3D terrain information, the self-location information, and the moisture information received by the second communication unit, the moisture information is superimposed on the 3D terrain image indicated by the 3D terrain information. An image composition unit for generating a composite image;
A terrain information collection system comprising: a display unit that displays a composite image generated by the image composition unit. The information collecting device includes:
A traveling unit for traveling the information collecting device on the ground;
The terrain information collection system according to claim 1, further comprising: a control unit that causes the imaging unit, the position sensor, and the moisture information acquisition unit to repeatedly perform a measurement operation while autonomously running the information collection device. A display device connected to the network;
The second communication unit transmits the combined image generated by the image combining unit to the display device,
The terrain information collection system according to claim 1, wherein the display device displays the transmitted composite image.   The terrain information collection system according to claim 3, wherein the display device is mounted on a construction machine or a portable terminal.   The terrain information according to any one of claims 1 to 4, wherein the moisture information acquisition unit includes a moisture sensor configured to be able to be inserted into and removed from the ground, and an actuator that allows the moisture sensor to be inserted into and removed from the ground. Collection system.   The terrain information collection system according to claim 1, wherein the imaging unit is configured by a three-dimensional scanner.   The terrain information collection according to any one of claims 1 to 6, wherein the image composition unit displays the moisture information by changing at least one of a color density and a color type according to a moisture amount indicated by the moisture information. system. A terrain information collection method in a terrain information collection system comprising an information collection device that collects information about terrain, and a server connected to the information collection device via a network,
By capturing an image of the ground, three-dimensional terrain information indicating the terrain in three dimensions is acquired,
Measure self-location information indicating the position of the information collecting device,
Obtain moisture information by measuring the moisture contained in the ground,
Based on the three-dimensional terrain information, the self-location information, and the moisture information, a composite image in which the moisture information is superimposed on the three-dimensional terrain image indicated by the three-dimensional terrain information is generated.
A terrain information collecting method for displaying the composite image.

Images