JP2020165921A - Information processing device and control program - Google Patents

Abstract

To improve the processing speed of a process of calculating the altitude value of a topography that corresponds to the shape of topography and the arrangement of ground features.SOLUTION: An information processing device pertaining to the present invention creates area data that indicates a plurality of areas into which a calculation target area is divided; determines, for each of the plurality of areas, the lowest altitude value among altitude values one or multiple points included in each area, as the area altitude value of each area; calculates a difference value between two areas for each combination of two mutually adjacent areas among the plurality of areas, on the basis of the area altitude value of each area; determines whether or not there are two areas having a difference value exceeding a prescribed value among each difference value of each combination of two areas; when there are two areas having a difference value exceeding the prescribed value, sets all of two areas having a difference value exceeding the prescribed value as a new calculation target area and executes each process again; when two areas having a difference value exceeding the prescribed value do not exist, outputs the area altitude value of each area as the altitude value of topography.SELECTED DRAWING: Figure 1

Description

The present invention relates to an information processing device and a control program.

Conventionally, a three-dimensional surveying instrument such as a laser scanner that measures a distance to a surveying object by irradiating the surveying object with a laser beam and observing the reflected laser beam has been known. The three-dimensional surveying instrument is used for topographical surveying to measure the elevation value of topography and features. For example, in order to manage a river embankment, a river manager or the like periodically measures the shape of the river embankment using a three-dimensional surveying instrument and investigates the deformation of the river embankment.

The three-dimensional surveying instrument is mounted on a moving body such as an unmanned or manned aircraft and a vehicle, and acquires three-dimensional observation data including the distance to the terrain and the feature by the distance measurement performed according to the progress of the moving body. Then, based on the acquired three-dimensional observation data, three-dimensional point cloud data including the elevation of the topography and the feature is obtained.

For example, Patent Document 1 describes the elevation of the terrain and the elevation of the upper surface of the feature based on the elevation data of the three-dimensional point cloud data and the contour data of the feature such as an artificial building identified by an aerial photograph or the like. It describes a three-dimensional urban space model creation system that automatically creates a three-dimensional urban space model by discriminating between. Further, in Patent Document 2, a computer sets the lowest elevation point of each point in each grid in each grid based on the three-dimensional point cloud data and a large number of grids generated on a horizontal plane. It describes a technique for determining the elevation of the ground surface excluding the influence of the features in the area and generating a terrain model based on the determined elevation.

JP-A-2002-74323 Japanese Unexamined Patent Publication No. 2013-888188

In the technology described in Patent Document 1, if the user of the system is not a surveying engineer having specialized surveying knowledge, the technology cannot be used, or it takes time to use the technology. There was a problem.

Further, in the technique described in Patent Document 2, when the surveying range includes a terrain having a steep slope, there is a problem that the larger the grid size, the more accurately the slope cannot be represented. In addition, if the grid size is set small, the number of grids increases, which may take a long time to generate a terrain model by a computer.

The present invention has been made to solve such a problem, and provides an information processing device and a control program for improving the processing speed of the calculation process of the elevation value of the terrain according to the shape of the terrain and the arrangement of the features. The purpose is to provide.

The information processing apparatus according to the present invention is a tertiary including planar coordinates and elevation values of a plurality of points created based on three-dimensional observation data of terrain and features in a surveyed area acquired by a three-dimensional surveying instrument. It is an information processing device that estimates the altitude in the measurement target area from the source point group data, and shows an area setting unit that sets the calculation target area corresponding to the measurement target area and a plurality of areas obtained by dividing the calculation target area. For each of the creation unit that creates area data and multiple areas, one or more points included in each area are determined based on the three-dimensional point group data, and within each elevation value of one or more points. For each combination of the first determination unit, which determines the lowest elevation value as the region elevation value of each region, and two regions adjacent to each other among the plurality of regions, based on the region elevation value of each region. A second determination for determining whether or not there are two regions having a difference value exceeding a predetermined value among the calculation unit for calculating the difference value of the two regions and each difference value of the combination of the two regions. When there is a part and 2 areas having a difference value exceeding a predetermined value, all of the 2 areas having a difference value exceeding a predetermined value are set as new calculation target areas, and the creation part, the first If there is no control unit that re-executes each process of the 1 judgment unit, the calculation unit, and the 2nd judgment unit, and 2 areas having a difference value exceeding a predetermined value, the area elevation value of each area is used as the elevation value of the terrain. It is provided with an output control unit that outputs as.

Further, in the information processing apparatus according to the present invention, the calculation unit calculates the elevation difference between the two regions as a difference value for each combination of the two regions adjacent to each other based on the region elevation values of each region. Alternatively, based on the region elevation value of each region, the elevation difference between the two regions is calculated for each combination of the two regions adjacent to each other, and the distance between the center points of the two regions is calculated and calculated. It is preferable to perform a process of calculating the inclination angle of the two regions based on the elevation difference and the calculated distance and using the calculated inclination angle as the difference value.

Further, in the information processing apparatus according to the present invention, the plurality of regions are grid-like mesh regions, and when the calculation target region corresponding to the survey target region is divided by the creating unit, the maximum set by the user. When the mesh area of the size is used and the area divided by the creation unit is the mesh area of the minimum size set by the user, the control unit executes the processing of the first determination unit and then the calculation unit and It is preferable to execute the processing of the output control unit without executing each processing of the second determination unit.

Further, in the information processing apparatus according to the present invention, at least one of the information regarding the accuracy of the altitude value input by the user and the information regarding the display scale of the map information displayed using the altitude value of the terrain output by the output control unit. It is preferable to further include an acquisition unit for acquiring the above and a setting unit for setting a value corresponding to at least one of the information on the accuracy of the altitude value and the information on the display scale as a predetermined value.

Further, in the information processing apparatus according to the present invention, the control unit has two regions having a difference value exceeding a predetermined value, and two regions are adjacent to one of the two regions. If the difference between the two regions and the difference between the first region and the second region does not exceed the second predetermined value, the second region is calculated. It is preferable not to set it as an area.

Further, in the information processing device according to the present invention, the output control unit displays map information using the elevation value of the terrain corresponding to the survey target area, and the information processing device displays the display unit and each of the determined areas. It is provided with a storage unit that stores the area elevation value in association with information indicating the size of each area, and stores the scale data indicating a plurality of display scales and the size data indicating the size of the area in association with each other. The output control unit determines the display area of the map information according to the display scale set by the user, refers to the storage unit, and refers to the map information based on the area elevation value of each area of the size corresponding to the display scale. Is preferably displayed on the display unit.

The control program according to the present invention is three-dimensional including planar coordinates and elevation values of a plurality of points created based on three-dimensional observation data of terrain and features in the survey target area acquired by a three-dimensional surveying instrument. A control program that controls a computer that estimates the altitude in the survey target area using point group data. An area setting step that sets the calculation target area corresponding to the survey target area, and a plurality of areas that divide the calculation target area. Based on the three-dimensional point group data for each of the creation step to create the area data indicating the area, one or more points included in each area are determined, and each elevation value of the one or more points is determined. Based on the first determination step in which the lowest elevation value is determined as the region elevation value of each region and the region elevation value of each region, each combination of two regions adjacent to each other among the plurality of regions The calculation step of calculating the difference value of the two regions and the determination of whether or not there are two regions having a difference value exceeding a predetermined value among the difference values of the combination of the two regions. When the computer is made to execute the two determination steps and there are two areas having a difference value exceeding a predetermined value, all of the two areas having a difference value exceeding the predetermined value are set as new calculation target areas. After setting, the creation step, the first judgment step, the calculation step, and the second judgment step are executed again, and if there are no two areas having a difference value exceeding a predetermined value, the area elevation value of each area is set to the terrain. Output as altitude value.

The information processing device and the control program according to the present invention make it possible to improve the processing speed of the calculation process of the elevation value of the terrain according to the shape of the terrain and the arrangement of the features.

It is a figure which shows an example of the schematic structure of the information processing apparatus 1. (A) is a schematic diagram for explaining an example of how to use the three-dimensional surveying instrument, and (b) is a diagram showing an example of a setting screen displayed on the display unit 13. (A) is a schematic diagram for explaining an example of a survey target region and three-dimensional point cloud data, and (b) is a schematic diagram for explaining an example of a plurality of regions. (A) is a schematic diagram for explaining an example of the positional relationship between each point included in the three-dimensional point cloud data and a plurality of areas, and (b) is a point corresponding to the area elevation value and a plurality of points. It is a schematic diagram for demonstrating an example of the positional relationship with a region. (A) is a schematic diagram for explaining an example of a method of subdividing a plurality of regions when the difference value is an elevation difference, and FIG. 5 (b) is a case where the difference value is an inclination angle. Is a schematic diagram for explaining an example of a method of subdividing a plurality of regions in the above. (A) is a diagram showing an example of a data structure of three-dimensional point cloud data, and (b) is a diagram showing an example of a data structure of area data. It is a figure which shows an example of the operation flow of the altitude value calculation process. It is a schematic diagram for demonstrating an example of a plurality of regions. It is a figure which shows an example of the data structure of the display scale table.

Hereinafter, various embodiments of the present invention will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the inventions described in the claims and their equivalents.

(Information processing device 1)
FIG. 1 is a diagram showing an example of a schematic configuration of the information processing device 1.

The information processing device 1 is, for example, a personal computer (PC, Personal Computer). The information processing device 1 may be a server device. The information processing device 1 may be a tablet terminal, a tablet PC, or the like.

The information processing device 1 is a three-dimensional point group including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of terrain and features in the survey target area acquired by a three-dimensional surveying instrument. It has a function to execute an altitude value calculation process for estimating the altitude in the survey target area using the data.

The topography is a form of unevenness and undulations on the ground surface, and the elevation value of the topography is the elevation value of the ground surface. Features are tangible objects such as plants, bridges, railroads, and buildings that exist on the ground.

The three-dimensional surveying instrument is, for example, a laser scanner mounted on a moving body. The three-dimensional surveying instrument may be any instrument as long as it can measure the plane coordinates and elevation values of a plurality of points on the terrain and features. Hereinafter, a case where the three-dimensional surveying instrument is a laser scanner will be described as an example.

The laser irradiation portion of the laser scanner irradiates a laser that emits a pulse of light to measure scattered light, and measures the reflected position based on the time from irradiation to detection. For example, a laser scanner measures the distance between a laser scanner and the outer surface of a terrain or feature by irradiating the terrain or feature with a laser. The laser scanner has three-dimensional coordinates of the observed point according to the sensor coordinate system with the predetermined position of the laser scanner as the origin, and three-dimensional coordinates of the predetermined position of the laser scanner according to a specific position coordinate system. Output as 3D observation data. The specific position coordinate system is a coordinate system selected from the projected coordinate systems of the geographic coordinate system and the plane orthogonal coordinate system and the UTM coordinate system corresponding to the survey target area, or a geodetic system selected from the world geodetic system and the Japanese geodetic system. It is a system. The three-dimensional coordinates of the predetermined position of the laser scanner are, for example, the position coordinates (latitude, longitude, altitude) installed in a predetermined range outside the laser scanner or acquired by a GPS device installed inside the laser scanner. Is.

The three-dimensional coordinates included in the three-dimensional observation data output by the laser scanner by the predetermined creation device are of a specific position coordinate system based on the three-dimensional coordinates of the predetermined position of the laser scanner included in the three-dimensional observation data. Converted to plane coordinates and elevation values. Data in which a plurality of plane coordinates and elevation values of a specific position coordinate system corresponding to a point observed by a laser scanner are aggregated is referred to as three-dimensional point cloud data. In this way, the predetermined creation device is a three-dimensional point including the plane coordinates and elevation values of a plurality of points based on the three-dimensional observation data of the terrain and the feature in the survey target area acquired by the three-dimensional surveying instrument. Create point cloud data. The X and Y values of the plane coordinates of the point are, for example, longitude and latitude, respectively. The process of creating the three-dimensional point cloud data may be executed by the information processing device 1.

The survey target area is the applicable range of the altitude value calculation process set by the user of the information processing device 1. The information processing device 1 may automatically set a predetermined range including all or a part of the three-dimensional point cloud data as a survey target area. The area to be surveyed is defined by the plane coordinates of a specific position coordinate system. The survey target area is, for example, the first longitude or more and the second longitude (the second longitude is a value larger than the first longitude), and the first latitude or more and the second latitude (the second longitude is larger than the first longitude). The second latitude is a value larger than the first latitude.) The range is as follows.

The information processing device 1 divides the survey target area into a plurality of areas, and estimates the elevation value of the terrain corresponding to each of the divided areas.

The information processing device 1 includes, for example, a storage unit 11, an operation unit 12, a display unit 13, and a processing unit 14 in order to realize the above-mentioned functions.

The storage unit 11 includes, for example, at least one of a semiconductor memory device such as a ROM (Read Only Memory) and a RAM (Random Access Memory), a magnetic tape device, a magnetic disk device, or an optical disk device. The storage unit 11 stores an operating system program, a driver program, a control program, data, and the like used for processing in the processing unit 14. The driver program stored in the storage unit 11 is an input device driver program that controls the operation unit 12, an output device driver program that controls the display unit 13, and the like. The control program stored in the storage unit 11 is an application program or the like for executing the altitude value calculation process. Various programs stored in the storage unit 11 may be installed in the storage unit 11 from a computer-readable portable recording medium such as a CD-ROM or a DVD-ROM using a known setup program or the like. The data stored in the storage unit 11 is three-dimensional point cloud data, area data, various setting information input by the user, and the like. Further, the storage unit 11 may temporarily store temporary data related to a predetermined process.

The operation unit 12 is a pointing device such as a keyboard, a mouse, or a touch panel. The user can use the operation unit 12 to input characters, numbers and symbols, or the position of the display unit 13 on the display screen. When the operation unit 12 is operated by the user, the operation unit 12 generates a signal corresponding to the operation. Then, the generated signal is supplied to the processing unit 14 as a user's instruction.

The display unit 13 is a liquid crystal display. The display unit 13 may be an organic EL (Electro-Luminescence) display or the like. The display unit 13 displays an image corresponding to the image data supplied from the processing unit 14, an image corresponding to the image data, and the like.

The processing unit 14 includes one or more processors and peripheral circuits thereof. The processing unit 14 comprehensively controls the overall operation of the information processing device 1, and is, for example, a CPU (Central Processing Unit). The processing unit 14 executes various information processing in an appropriate procedure based on the program stored in the storage unit 11 and various instructions input in response to the operation of the operation unit 12 by the user, and the display unit 14 13 controls the operation. The processing unit 14 executes various information processing based on the operating system program, the driver program, and the control program stored in the storage unit 11. In addition, the processing unit 14 can execute a plurality of programs in parallel.

The processing unit 14 includes at least an acquisition unit 141, a setting unit 142, a creation unit 143, a determination unit 144, a calculation unit 145, a control unit 146, and an output control unit 147. Each of these units is a functional module realized by a program executed by the processor included in the processing unit 14. Alternatively, each of these parts may be mounted on the information processing apparatus 1 as firmware.

The acquisition unit 141 is a three-dimensional point cloud data including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of topography and features in the survey target area acquired by a three-dimensional surveying instrument. Is obtained from the creation device. The creation unit 143 of the information processing device 1 may create the three-dimensional point cloud data based on the three-dimensional observation data. In this case, the acquisition unit 141 acquires the three-dimensional point cloud data output from the creation unit 143. It is stored in the storage unit 11.

FIG. 2A is a schematic diagram for explaining an example of how to use the three-dimensional surveying instrument. In the example shown in FIG. 2A, the three-dimensional surveying instrument 200 is mounted on an unmanned aerial vehicle (UAV (so-called “drone”)) 201. The UAV 201 moves when the user operates a predetermined remote control device, and the three-dimensional surveying instrument 200 measures a plurality of points along with the movement of the UAV and acquires three-dimensional observation data. The three-dimensional surveying instrument 200 may be mounted on a mobile measurement vehicle (not shown), measure a plurality of points as the mobile measurement vehicle moves, and acquire three-dimensional observation data.

Returning to FIG. 1, the acquisition unit 141 acquires various setting information input by the user operating the operation unit 12, and stores the acquired various setting information in the storage unit 11.

(Setting screen 210)
FIG. 2B is a diagram showing an example of the setting screen 210 displayed on the display unit 13. The setting screen 210 is displayed on the display unit 13 by the output control unit 147 in response to a setting screen display instruction from the user.

The setting screen 210 is a screen for the user to input a setting value related to the accuracy of the altitude value, and includes a scale selection object 211, an altitude value accuracy input object 212, and a setting object 213.

The scale selection object 211 is an operation object for selecting a display scale of map information using the altitude value calculated by the altitude value calculation process. The scale selection object 211 shown in FIG. 2B includes a plurality of button-type objects and character information (“1/100”, “1/250”, and character information indicating a display scale corresponding to each of the plurality of objects, and "1/500" etc.) are included.

When the input position on the setting screen 210 input in response to the operation of the operation unit 12 by the user is within the display area of any of the button-type objects included in the scale selection object 211, the button corresponding to the input position. The type object is changed to a display mode indicating that it has been selected. Further, when the input position on the setting screen 210 input in response to the operation of the operation unit 12 by the user is within the display area of any of the character information indicating the display scale included in the scale selection object 211, the input is performed. The button-shaped object of the character information corresponding to the position is changed to the display mode indicating that it has been selected.

The altitude value accuracy input object 212 is an input object for inputting the altitude value accuracy required in the altitude value calculation process. The input object is, for example, a text input box. When a numerical value is input to the altitude value accuracy input object 212 by the operation of the operation unit 12 by the user, the input numerical value is displayed in the altitude value accuracy input object 212.

For example, when the numerical value "1.0" m is input to the altitude value accuracy input object 212 by the user, the numerical value "1.0" is requested in the altitude value accuracy input object 212 in the altitude value calculation process. It is displayed as the accuracy of the altitude value to be calculated.

When the display scale is selected by the user on the setting screen 210, a numerical value indicating the accuracy of the altitude value according to the selected display scale may be displayed in the altitude value accuracy input object 212. For example, the storage unit 11 stores information indicating a plurality of types of display scales, and stores numerical information indicating the accuracy of the altitude value corresponding to each display scale, and the output control unit 147 displays by the user. When a scale is selected, information indicating the selected display scale is acquired, and based on the acquired information, numerical information indicating the accuracy of the altitude value corresponding to the selected display scale is extracted from the storage unit 11. .. Then, the output control unit 147 displays the extracted numerical value in the altitude value accuracy input object 212. In this case, the altitude value accuracy input object 212 is controlled by the output control unit 147 so that the user can change the numerical value in the displayed altitude value accuracy input object 212 to an arbitrary numerical value by the operation of the operation unit 12. .. The elevation value accuracy input object 212 may be controlled by the output control unit 147 so that the user cannot change the numerical value in the displayed altitude value accuracy input object 212 to an arbitrary numerical value by the operation of the operation unit 12.

The setting object 213 is a button object for determining the selection of the display scale of the map information and / or acquiring the accuracy of the altitude value. The setting object 213 may be an icon image, text, or the like. When the input position on the setting screen 210 input in response to the operation of the operation unit 12 by the user is within the display area of the setting object 213, the selected display scale and / or the accuracy of the input altitude value is included. The setting information is input to the information processing device 1 and acquired by the acquisition unit 141.

Returning to FIG. 1, the setting unit 142 sets the calculation target area corresponding to the survey target area. That is, the setting unit 142 sets the same area as the survey target area as the calculation target area of the altitude value calculation process.

FIG. 3A is a schematic diagram for explaining an example of the survey target area 300 and the three-dimensional point cloud data. In the example shown in FIG. 3A, the plane coordinates of each point 301 included in the three-dimensional point cloud data are located within the survey target area 300. The survey target area 300 has a rectangular shape. For example, the survey target area 300 includes two X value lines among a plurality of X value lines defining a mesh area, which will be described later, and two Y values among a plurality of Y value lines defining a mesh area. It may be formed by a line. The survey target area 300 is not limited to a rectangular shape, but may be a circular shape, an elliptical shape, a polygonal shape, or the like.

Returning to FIG. 1, the creation unit 143 creates area data indicating a plurality of areas obtained by dividing the calculation target area 302. For example, the setting unit 142 sets the survey target area 300 as the calculation target area 302, and the creation unit 143 divides the calculation target area 302 into a plurality of areas 303, and divides the area data indicating the divided plurality of areas 303. It is stored in the storage unit 11.

FIG. 3B is a schematic diagram for explaining an example of a plurality of regions 303. Region 303 is, for example, a grid-like mesh region. The mesh area is a substantially square section on the map, separated by the X and Y values. For example, a mesh is a section formed by dividing a map into substantially square shapes in units of 10 m. The shape of the section constituting the mesh is not limited to a substantially square shape in units of 10 m, but may be a substantially square shape in units of 5 m, a substantially square shape in units of 1 m, or a substantially square shape in units exceeding 10 m, so-called "standard area mesh". May be. The X value line and the Y value line are determined based on a predetermined X value and Y value, respectively. The X and Y values are determined by a particular position coordinate system, such as longitude and latitude.

Returning to FIG. 1, the creating unit 143 may set the mesh size based on the setting information acquired by the acquiring unit 141. For example, the creation unit 143 sets the mesh size smaller as the display scale of the map information included in the setting information is larger. Further, the creating unit 143 sets the mesh size smaller as the accuracy of the altitude value included in the setting information is higher. The creation unit 143 may reduce the size of the mesh as the number of records (the number of points) of the three-dimensional point cloud data in the calculation target area 302 increases.

The determination unit 144 determines one or a plurality of points included in each area based on the three-dimensional point cloud data for each of the plurality of areas, and has the lowest altitude value among the altitude values of the one or more points. The value is determined as the region elevation value of each region, and the region data including the determined region elevation value is stored in the storage unit 11.

FIG. 4A is a schematic diagram for explaining an example of the positional relationship between each point 301 included in the three-dimensional point cloud data and the plurality of regions 303. For example, the determination unit 144 determines the plane coordinates of each point 301 included in each of the plurality of regions 303. Next, the determination unit 144 determines the elevation value of the point 301 of the plane coordinates determined to be included in each region 303, and determines the lowest elevation value among the determined elevation values of one or more. Then, the determination unit 144 determines the lowest elevation value determined in each region 303 as the region elevation value of each region 303, and stores the region data including the determined region elevation value in the storage unit 11.

When the determination unit 144 determines that there is an area 303 that does not include any plane coordinates of the point 301, the area elevation value of the area 303 is set to the area elevation value of the eight surrounding areas 303 adjacent to the area 303. It may be an average value.

FIG. 4B is a schematic diagram for explaining an example of the positional relationship between the points 304 corresponding to the region elevation values and the plurality of regions 303. Based on the determination result of the determination unit 144, one point 304 is determined in each area 303.

Returning to FIG. 1, the calculation unit 145 calculates the difference value of the two regions for each combination of the two regions adjacent to each other among the plurality of regions, based on the region elevation value of each region. The difference value is, for example, the elevation difference between the two regions or the inclination angle of the two regions. Next, when there are two regions having a difference value exceeding a predetermined value, the control unit 146 sets all of the two regions having a difference value exceeding the predetermined value as a new calculation target region. .. The control unit 146 (1) creates area data indicating a plurality of areas obtained by dividing a new calculation target area, (2) determines and stores the area elevation values of the divided areas, and (3) a plurality of areas. For each combination of two regions adjacent to each other among the regions, the difference value of the two regions is calculated, and (4) it is determined whether or not there are two regions having a difference value exceeding a predetermined value. , Is executed again by the creation unit 143, the determination unit 144, and the calculation unit 145.

The control unit 146 causes the creation unit 143, the determination unit 144, and the calculation unit 145 to execute the series of processes (1) to (4) described above, and then the control unit 146 has two regions having a difference value exceeding a predetermined value. If it is determined that there is, all of the two regions determined this time are set as new calculation target regions, and the above-mentioned processes (1)-(4) are executed in the creation unit 143, the determination unit 144, and the calculation unit 145. Let me. In this way, the process of setting a new calculation target area and the above-mentioned (1)-(4) until it is determined that there is no 2 area having a difference value exceeding a predetermined value in the above-mentioned (4). And the process of are executed repeatedly.

When the control unit 146 determines that there is no region 2 having a difference value exceeding a predetermined value, the control unit 146 subsequently performs the above-mentioned processes (1)-(4) in the creation unit 143, the determination unit 144, and the calculation unit. Do not let 145 execute. Even if the control unit 146 determines that there are two areas having a difference value exceeding a predetermined value, the size of the mesh area created by the process (1) this time is stored in the storage unit 11 in advance. If the size is equal to or less than the minimum area size, the creation unit 143, the determination unit 144, and the calculation unit 145 may not be made to execute the above-mentioned processes (1)-(4) thereafter. The minimum area size stored in the storage unit 11 in advance may be an input by the user or a predetermined size.

Then, when the control unit 146 does not cause the creation unit 143, the determination unit 144, and the calculation unit 145 to execute the above-mentioned processes (1)-(4), the output control unit 147 sets the area elevation value of each area to the terrain. Is output as the altitude value of.

FIG. 5A is a schematic diagram for explaining an example of a method of subdividing a plurality of regions when the difference value is an elevation difference.

In the example shown in FIG. 5A, 9 mesh regions are shown as the plurality of regions 303. The area elevation values of the area 303 of 9 are "9.11" m, "10.51" m, "11.64" m, "9.90" m, "9.99" m, and "11.45", respectively. "M," 9.03 "m," 9.27 "m, and" 10.54 "m.

Of the 9 regions 303 shown in FIG. 5 (a), the middle region 303 (the one having the region elevation value of "9.99" m) is the region 303 of 4 (the region elevation value is "9.99" m) via the four sides. Adjacent to 10.51 "m," 9.90 "m," 11.45 "m, and" 9.27 "m). Further, the central region 303 has four regions 303 (area elevation values are "9.11" m, "11.64" m, "9.03" m, and "10." It is adjacent to the one that is 54 "m).

In the example shown in FIG. 5A, of the two regions adjacent to each other, the region 2 having a difference value exceeding a predetermined value (for example, “1 m”) has a region elevation value of “10.51”. 2 regions with m and "11.64" m, 2 regions with region elevations of "9.99" m and "11.64" m, and region elevations of "9.27" m, and It is a region of 2 which is "10.54" m. The predetermined value may be the accuracy of the altitude value included in the setting information, and the value corresponding to the display scale of the map information included in the setting information (for example, the predetermined value "1.0" corresponding to the scale "1/500". "M Is stored in the storage unit 11).

A new calculation target area 500 including all of these two areas is divided into a plurality of areas 501 by the control unit 146. In the example shown in FIG. 5A, each region 501 is a mesh region, and is divided into 4 mesh regions having sides having a length of approximately 1/2 of the sides of the mesh region. As described above, in the subdivision, the calculation target area 500 is divided into the areas 501 having a size smaller than the plurality of areas 303 that have already been divided. After that, with respect to these regions 501, the region elevation value is determined, it is determined whether or not there are two regions having a difference value exceeding a predetermined value, and subdivision is performed repeatedly.

FIG. 5B is a schematic diagram for explaining an example of a method of subdividing a plurality of regions when the difference value is an inclination angle.

In the example shown in FIG. 5 (b), 9 mesh regions are shown as the plurality of regions 303, as in FIG. 5 (a). In the example shown in FIG. 5B, an inclination angle with respect to the middle region 303a is shown for each of the eight regions 303b adjacent to the middle region 303a. In the middle region 303a, "0.0" degree is shown as the inclination angle.

Assuming that the inclination angle of the two regions adjacent to each other is α, the value obtained by dividing the elevation difference between the two regions by the distance between the two regions is tan α. That is, the calculation unit 145 calculates α such that (elevation difference of 2 regions) / (distance between each center point of 2 regions) = (tan α). When the region 303 is a mesh region, the distance between the two regions is the distance between the center points of the two mesh regions, and therefore may be replaced with one side of the mesh region. In this case, the calculation unit 145 calculates α such that (elevation difference of 2 regions) / (one side of the region) = (tan α).

In the example shown in FIG. 5B, the inclination angles α of the central region 303a and the adjacent 8 regions 303b are "17.8" degrees, "0.5" degrees, and "21.3" degrees, respectively. , "17.5" degrees, "21.0" degrees, "18.7" degrees, "0.7" degrees, and "20.5" degrees.

In the region 303 of 9 shown in FIG. 5 (b), the region 303a in the middle and the region 2 having a difference value exceeding a predetermined value (for example, "20" degrees) have the region 303a in the center and the inclination angle α. The region 303b with "21.3" degrees, the middle region 303a and the tilt angle α is "21.0" degrees, and the middle region 303a and the tilt angle α are "20.5" degrees. Region 303b.

The predetermined value may be a value corresponding to the accuracy of the altitude value included in the setting information (for example, a predetermined value "20.0" degree corresponding to the accuracy "1.0" m is stored in the storage unit 11). Further, a value corresponding to the display scale of the map information included in the setting information (for example, a predetermined value "20.0" degree corresponding to the scale "1/500" may be stored in the storage unit 11).

A new calculation target area 510 including all of these two areas is divided into a plurality of areas 511 by the control unit 146. In the example shown in FIG. 5 (b), the same subdivision as in FIG. 5 (a) is performed. In the subdivision, the calculation target area 510 is divided into a region 511 having a size smaller than the plurality of regions 303 that have already been divided. After that, with respect to these divided regions 511, the region elevation value is determined, it is determined whether or not there are two regions having a difference value exceeding a predetermined value, and subdivision is performed repeatedly. Is done.

As described above, the information processing apparatus 1 creates (1) area data indicating a plurality of areas in which the calculation target area is divided, (2) determines the area elevation value of the divided areas, and (3) a plurality of areas. For each combination of two regions adjacent to each other among the regions, the difference value of the two regions is calculated, and (4) it is determined whether or not there are two regions having a difference value exceeding a predetermined value. , And in (4), a new calculation is performed until it is determined that there is no 2 region having a difference value exceeding a predetermined value, or until the divided region becomes equal to or less than the minimum region size. The setting process of the target area and each process of (1) to (4) are repeatedly executed.

As a result, when the terrain has a steep slope of a predetermined angle or more, only the region corresponding to the steep slope is set as a smaller region, so that the calculation load of the information processing device 1 can be reduced and the terrain can be adjusted. The area elevation value is calculated automatically. Further, since the lowest elevation value for each region is adopted as the region elevation value, the elevation value of the terrain with a high probability of not including the elevation value of the feature is automatically calculated by a simple process. In this way, the information processing device 1 makes it possible to improve the processing speed of the calculation process of the elevation value of the terrain excluding the influence of the shape of the terrain and the features.

FIG. 6A is a diagram showing an example of a data structure of three-dimensional point cloud data. In the three-dimensional point cloud data, latitude, longitude, altitude value, etc. are stored in association with the point ID of each point.

FIG. 6B is a diagram showing an example of a data structure of area data. In the area data, the level, shape, area elevation value, etc. are stored in association with the area ID of each area. The level is a value set according to the size of the area. For example, the area of the largest size is set to level "1", the area of the second size obtained by dividing the largest area is set to level "2", and 2 The third size area obtained by dividing the third size area is defined as level "3". The maximum value of the level is not limited to "3" and may be "5" or "10". The shape is vector data indicating the shape of each region. In the example shown in FIG. 6B, the shape defines a mesh region having coordinate values of four corners. The region elevation value is a region elevation value corresponding to each region calculated by the calculation unit 145, and is stored as an elevation value of the terrain.

In the example shown in FIG. 6 (b), the area of the area ID "M53394509" is the size of the level "1", and the area elevation value is "8.23" m. Further, the area ID "M53394509" is the area ID "M53394509" with "0" added, and similarly, the area ID "M533945091" is the area ID "M53394509" with "1" added. .. Therefore, each of the area of the area ID "M533945090" and the area of the area ID "M533945091" is one of the divided areas of the area ID "M53394509" and is the size of the level "2".

Further, since the area ID "M5339450902" is obtained by adding "2" to the area ID "M533945090", the area of the area ID "M5339450902" is one of the divided areas of the area ID "M5339450090".

In this way, the area data can be managed hierarchically for each area size.

(Altitude value calculation process)
FIG. 7 shows an example of the operation flow of the altitude value calculation process by the acquisition unit 141, the setting unit 142, the creation unit 143, the determination unit 144, the calculation unit 145, the control unit 146, and the output control unit 147 of the information processing device 1. It is a figure. This altitude value calculation process is executed mainly by the processing unit 14 in cooperation with each element of the information processing device 1 based on the control program stored in the storage unit 11 in advance.

First, the acquisition unit 141 acquires the 3D point cloud data from the creation device that creates the 3D point cloud data based on the 3D observation data acquired by the 3D surveying instrument (step S101).

Next, the acquisition unit 141 acquires various setting information input to the setting screen 210 by the user (step S102).

Next, the setting unit 142 sets the calculation target area corresponding to the survey target area (step S103).

Next, the creation unit 143 creates area data indicating a plurality of areas obtained by dividing the set calculation target area (step S104). The creation unit 143 may set the size of a plurality of regions to be divided based on the setting information acquired by the acquisition unit 141. For example, when the maximum mesh size is stored in the storage unit 11 corresponding to the display scale information of the map information included in the setting information, the creation unit 143 is included in the setting information acquired by the acquisition unit 141. The maximum mesh size corresponding to the display scale may be read from the storage unit 11 to create an area based on the maximum mesh size.

Next, the determination unit 144 determines one or a plurality of points included in each area based on the three-dimensional point cloud data for each of the created plurality of areas, and each elevation value of the one or a plurality of points. The lowest elevation value is determined as the region elevation value of each region, and the region data including the determined region elevation value is stored in the storage unit 11 (step S105).

Next, the determination unit 144 determines whether or not the size of the divided region is equal to or less than the minimum region size (step S106).

When the determination unit 144 determines that the size of the divided region is equal to or less than the minimum region size (step S106-Yes), the determination unit 144 proceeds to step S110.

When the determination unit 144 determines that the size of the divided region exceeds the minimum region size (step S106-No), the calculation unit 145 determines that the size of the plurality of regions is based on the region elevation value of each region. The difference value of the two regions is calculated for each combination of the two regions adjacent to each other (step S107).

Next, the control unit 146 determines whether or not there are two regions having a difference value exceeding a predetermined value (step S108).

When the control unit 146 determines that there is no region 2 having a difference value exceeding a predetermined value (step S108-No), the control unit 146 proceeds to step S110.

When the control unit 146 determines that there are two regions having a difference value exceeding a predetermined value (step S108-Yes), all of the two regions having a difference value exceeding the predetermined value are newly added. It is set as the calculation target area (step S109), and the process is returned to step S104.

In step S110, the output control unit 147 outputs the area elevation value of each region as the elevation value of the terrain, and ends the elevation value calculation process.

After calculating the area elevation value of each area, for example, as an output result of the altitude value by the output control unit 147, an altitude map in which each area is hierarchically color-coded according to the area altitude value of each area is displayed on the display unit 13. May be done. Further, the elevation map may be printed out by a printer device (not shown).

Further, when the storage unit 11 of the information processing device 1 stores the area elevation values of each area in the past, the output control unit 147 corresponds to the area elevation values of each area mainly focused this time and each of the corresponding past areas. The difference value from the area elevation value of the area is calculated, and the difference elevation map in which each area is color-coded stepwise according to the calculated difference value is displayed on the display unit 13 or printed out by a printer device (not shown). May be good.

As described above, the display unit 13 has a function of displaying the map information corresponding to the survey target area, and the output control unit 147 determines the map display area according to the display scale set by the user and stores the map information. With reference to unit 11, the display unit 13 has a function of displaying map information based on the area elevation value of each area having a size corresponding to the display scale.

As described in detail above, the information processing device 1 of the present embodiment can improve the processing speed of the calculation process of the elevation value of the terrain excluding the influence of the shape of the terrain and the features. It becomes.

(Modification example 1)
The present invention is not limited to the present embodiment. For example, in the control unit 146, when there are two regions having a difference value exceeding a predetermined value, the other region adjacent to one region of the two regions and the two regions are predetermined. When they are lined up in the direction, if the difference between the difference value of the 2 areas and the difference value of the 1 area and the 2 areas does not exceed the second predetermined value, the 2 areas are set as the calculation target area. do not do.

For example, as shown in FIG. 8A, the regions A, B, and C are arranged side by side in a predetermined direction. Similarly, regions D, E and F, regions G, H and I, regions A, D and G, regions B, E and H, regions C, F and I, and regions A, E and I. , Each of the regions C, E and G are arranged side by side in a predetermined direction.

In the three regions arranged side by side in a predetermined direction, since there are two combinations of adjacent regions, two difference values of each combination are calculated. For example, in the areas A, B, and C, the difference value between the areas A and B and the difference value between the areas B and C are calculated. As long as the difference between these two types of difference values does not exceed the second predetermined value, even if at least one of the difference values of each combination exceeds the predetermined value, the two regions related to the combination exceeding the predetermined value are It is not set as the calculation target area.

When the difference between the two types of difference values in the areas A, B and C does not exceed the second predetermined value, the difference between the difference value of the areas A and B and the difference value of the areas B and C is the second predetermined value. Since it is inside, it is presumed that the inclination angle has not changed significantly in the regions A, B and C. In this case, even if the inclination angles of the areas A, B, and C are steep (even if the inclination angle exceeds a predetermined value), the inclination is uniform, so that the terrain is expressed without further dividing the area. It is possible.

The information processing device 1 according to the modification 1 can reduce unnecessary division processing, and can reduce the calculation load of the altitude value calculation processing.

(Modification 2)
Further, the output control unit 147 may display the three-dimensional map corresponding to the survey target area on the display unit 13 with reference to the display scale table and the area data based on the display scale specified by the user.

FIG. 9 is a diagram showing an example of the data structure of the display scale table. The display scale table is stored in the storage unit 11. In the display scale table, the size level of the area is stored in association with each of the plurality of display scales. For example, the display scale "1/100" stores the level "1", the level "2", and the level "3" in association with each other, and the display scale "1/250" stores the level "2" and the level "2". The level "3" is associated and stored, and the display scale "1/500" is associated and stored with the level "3". In this way, the display scale table stores the scale data indicating a plurality of display scales and the size data indicating the size of the area in association with each other.

The output control unit 147 acquires information on the display scale and the display point input by the user operating the operation unit 12, and extracts the display scale table from the storage unit 11. The information about the display point is, for example, information about the latitude and longitude of the display center point, information about the place name of the point to be displayed, and the like. Next, the output control unit 147 refers to the extracted display scale table and specifies the level corresponding to the acquired display scale.

Next, the output control unit 147 refers to the area data and extracts the area elevation value associated with the specified level. The output control unit 147 creates an elevation map in which each area is hierarchically color-coded according to the area elevation value of each area, displays the created elevation map on the display unit 13, or prints and outputs the created elevation map by a printer device (not shown). ..

In this way, when the reduced display (smaller display scale) is specified by the user, the elevation map created by the larger area is output, and when the enlarged display (larger display scale) is specified by the user, it is more. The elevation map created by the small area is output. As a result, the information processing device 1 can provide the user with an easily visible elevation map according to the display scale.

(Modification 3)
Further, the output control unit 147 may create TIN (triangulated irregular network) data based on the plane coordinates of the center point of the region and the elevation value of the region. In this case, the output control unit 147 displays the three-dimensional map on the display unit 13 or prints it out by a printer device (not shown) based on the created TIN data. In this way, the information processing device 1 can output a three-dimensional map by using the three-dimensional point cloud data while suppressing the load of the calculation process of the elevation value of the terrain.

It will be appreciated by those skilled in the art that various changes, substitutions, and modifications can be made to this without departing from the spirit and scope of the invention.

1 Information processing device 11 Storage unit 12 Operation unit 13 Display unit 14 Processing unit 141 Acquisition unit 142 Setting unit 143 Creation unit 144 Judgment unit 145 Calculation unit 146 Control unit 147 Output control unit

Claims (6)

The survey target is based on the 3D point cloud data including the plane coordinates and elevation values of a plurality of points created based on the 3D observation data of the topography and features in the survey target area acquired by the 3D survey device. An information processing device that estimates the altitude within a region.
An area setting unit that sets the calculation target area corresponding to the survey target area, and
A creation unit that creates area data indicating a plurality of areas obtained by dividing the calculation target area, and a creation unit.
For each of the plurality of regions
Based on the three-dimensional point cloud data, one or more points included in each region are determined, and
The first determination unit, which determines the lowest elevation value among the elevation values of the one or more points as the area elevation value of each region,
A calculation unit that calculates the difference value of the two regions for each combination of two regions adjacent to each other among the plurality of regions based on the region elevation value of each region.
A second determination unit for determining whether or not there is the second region having a difference value exceeding a predetermined value among the difference values of the combination of the two regions.
When there is the second region having a difference value exceeding the predetermined value, all of the two regions having the difference value exceeding the predetermined value are set as the new calculation target region, and the creation is performed. A unit, a control unit that re-executes the processes of the first determination unit, the calculation unit, and the second determination unit.
When there is no region of 2 having a difference value exceeding the predetermined value, an output control unit that outputs the region elevation value of each region as the elevation value of the terrain, and
An information processing device characterized by being equipped with. The calculation unit
A process of calculating the elevation difference of the two regions as the difference value for each combination of the two regions adjacent to each other based on the region elevation value of each region, or
Based on the region elevation value of each region, the elevation difference of the two regions is calculated for each combination of the two regions adjacent to each other, and the distance between the center points of the two regions is calculated. The information according to claim 1, wherein the inclination angle of the region 2 is calculated based on the calculated altitude difference and the calculated distance, and the calculated inclination angle is used as the difference value. Processing equipment. The plurality of regions are grid-like mesh regions, and are
When the calculation target area corresponding to the survey target area is divided by the creation unit, the mesh area having the maximum size set by the user is used.
When the area divided by the creating unit is a mesh area having the minimum size set by the user, the control unit executes the processing of the first determination unit, and then the calculation unit and the second unit. The information processing apparatus according to claim 1 or 2, wherein the processing of the output control unit is executed without executing each processing of the determination unit. An acquisition unit that acquires at least one of information on the accuracy of the altitude value input by the user and information on the display scale of the map information to be displayed using the altitude value of the terrain output by the output control unit.
The information according to any one of claims 1 to 3, further comprising, as the predetermined value, a setting unit for setting a value corresponding to at least one of the information regarding the accuracy of the altitude value and the information regarding the display scale. Processing equipment. The output control unit displays map information using the elevation value of the terrain corresponding to the survey target area.
The information processing device
Display and
The area elevation value of each of the determined areas is stored in association with the information indicating the size of each area, and the scale data indicating a plurality of display scales and the size data indicating the size of the area are stored in association with each other. Equipped with a storage unit
The output control unit determines the display area of the map information according to the display scale set by the user, and refers to the storage unit based on the area elevation value of each area having a size corresponding to the display scale. The information processing device according to any one of claims 1 to 4, wherein the map information is displayed on the display unit. The survey target is based on the 3D point cloud data including the plane coordinates and elevation values of multiple points created based on the 3D observation data of the topography and features in the survey target area acquired by the 3D survey device. A control program that controls a computer that estimates altitude within a region.
An area setting step for setting a calculation target area corresponding to the survey target area, and
A creation step of creating area data indicating a plurality of areas obtained by dividing the calculation target area, and
For each of the plurality of regions
Based on the three-dimensional point cloud data, one or more points included in each region are determined, and
The first determination step, in which the lowest elevation value among the elevation values of the one or more points is determined as the area elevation value of each region,
A calculation step of calculating the difference value of the two regions for each combination of two regions adjacent to each other among the plurality of regions based on the region elevation value of each region.
The computer is made to execute a second determination step of determining whether or not there is the second region having a difference value exceeding a predetermined value among the difference values of the combination of the two regions.
When there is the second region having a difference value exceeding the predetermined value, all of the two regions having the difference value exceeding the predetermined value are set as the new calculation target region, and the creation is performed. The step, the first determination step, the calculation step, and the second determination step are executed again.
When there is no of the two regions having a difference value exceeding the predetermined value, the region elevation value of each region is output as the elevation value of the terrain.
A control program characterized by that.

Images