JP2023103659A - Plot investigation system and plot investigation method - Google Patents

Abstract

To provide a plot investigation system and a plot investigation method which can simply and highly accurately perform plot investigation.SOLUTION: A display control part 105 displays mesh data while overlapping in a photographic image by associating a geographical coordinate system of the mesh data with a camera coordinate system of the photographic image. When a creation key of a predetermined plot is input, a creation control part 106 creates a boundary line of a plot having a predetermined shape when being viewed from an upper direction of the geographical coordinate system, using geographical coordinate system positional information of a present point of a portable terminal device as a reference point. When the created boundary line of the plot overlaps the mesh data, a change control part 107 changes a coordinate value in a vertical direction of the geographical coordinate system positional information of the overlapping boundary line of the plot, using a coordinate value in a vertical direction of the geographical coordinate system positional information of the overlapping mesh data, and thereby displays the overlapping boundary line of the plot above the mesh data.SELECTED DRAWING: Figure 1

Description

The present invention relates to a plot research system and a plot research method.

The basic methods for ground-based measurement of forests include indirect measurement methods that grasp the entire forest from the air, such as satellites and aerial photographs. There is a direct measurement method of entering and measuring single trees (trees) on the ground at the site. Here, since the survey site is called a plot, the direct measurement method is also called plot survey, survey site survey, standard site survey, and ground survey.

Conventionally, there are various techniques related to forest investigation. For example, Japanese Patent Application Laid-Open No. 2008-46837 (Patent Document 1) describes a forest resource survey method that classifies forest physiology based on three-dimensional aerial photographs, measures the area of each forest physiology, and selects a standard site for each forest physiognomy. is disclosed. This method identifies tree species within a standard site, measures the height of trees within the standard site, and calculates the diameter at breast height by substituting the tree height into a predetermined regression equation for tree height and diameter at breast height. In addition, this method calculates the standing tree trunk volume per unit area from the tree height and breast height diameter, multiplies the standing tree trunk volume per unit area by the forest phase area to obtain the standing tree trunk volume within the forest phase, and calculates the standing tree for each forest phase. Multiply the trunk volume by the biomass coefficient to obtain the amount of biomass accumulated in the forest physiognomy. This eliminates the need for field surveys, avoids life-threatening risks during surveys, and reduces data processing costs and processing time. In addition, even beginners can survey the entire forest in a short period of time with high accuracy and with the same standard, and it is possible to estimate the biomass accumulation amount with a small error rate against the actual accumulation amount of the forest book.

In addition, Japanese Patent Application Laid-Open No. 2010-86276 (Patent Document 2) discloses a tree species classification system having a forest current state subdivision image data creation unit, a subdivision attribute information image data creation unit, and a thinning target area image data creation unit. A system is disclosed. The current forest condition sub-compartment image data creation unit creates sub-compartment image data for dividing the forest into sub-compartments based on the current forest condition information image data related to the current forest condition information, and divides the sub-compartment image data and the current forest information image into Based on the data, the forest condition subdivision image data is created. The sub-compartment attribute information image data creation unit extracts sub-compartment attribute information representing the characteristics of each sub-compartment and creates sub-compartment attribute information image data relating to each sub-compartment attribute information. The thinning target area image data creation unit selects a thinning target area based on the subdivision attribute information image data and the geological conditions of the forest, and creates thinning target area image data representing the selected thinning target area. As a result, it is possible to appropriately discriminate the tree species of the forest, create forest condition information, and use the created forest condition information to appropriately select a thinning target area.

Further, Japanese Patent Application Laid-Open No. 2015-219694 (Patent Document 3) discloses a forestry operation proposal device including a processor and a display device. When the touch panel sensor corrects the number of thinned timber in the forest owned by the customer, the processor corrects the sales amount based on the corrected number of thinned timber. The display device displays the corrected sales amount. As a result, if there is a change in the content of the forest management proposal, it will be possible to quickly resubmit to the main forest owners.

In addition, Japanese Patent Application Laid-Open No. 2018-84472 (Patent Document 4) discloses a crown height image data creation process, a crown height image data noise process, a precise crown image data creation process, a precise crown information creation process, and a forest resource A forest resource information calculation method comprising: an information calculation process is disclosed. The crown height image data creation process creates tree crown height image data based on survey target forest area image data created based on the laser measurement data and geographical information. In the crown height image data noise processing, noise removal processing included in the crown height image data is performed. The precise crown image data creation process creates precise crown image data from which the crown corresponding to each tree of the tree to be surveyed can be extracted based on the noise-processed crown height image data. The precise crown information creation process creates crown information about the crown corresponding to each tree from the precise crown image data. The forest resource information calculation process creates forest resource information about the survey target forest area based on the precise canopy information. As a result, forest resource information can be calculated with high accuracy by extracting the tree crown corresponding to each tree with high accuracy.

JP-A-2008-46837 JP 2010-86276 A JP 2015-219694 A JP 2018-84472 A

In the plot survey, first, the surveyor sets a plot of a certain area in the forest and investigates the elements (diameter at breast height of a single tree, tree height, etc.) in the plot. The tendency of the surveyed elements is used to estimate the tendency of the whole forest.

Here, for example, a circle, a square, or the like is selected as the shape of the plot. Theoretically, the circle provides the highest estimation accuracy for the entire forest. Also, the larger the plot area, the higher the estimation accuracy for the entire forest. Therefore, for example, when the plot is square, the area of the plot is 100 m ² or 400 m ² . Arbitrary plot placement methods (standard plot method), sampling placement methods (random sampling method, systematic sampling method), etc. are adopted as plot placement methods.

By the way, the plot setting method includes, for example, using a square frame or rod having predetermined dimensions to set the forest surface area so that the area is 100 m ² or 400 m ² , or using an electronic compass. , to set the orientation of the plot. In addition, when the measurer measures the diameter at breast height, tree height, etc. of trees in the plot, the measurer needs to visually indicate the boundary line indicating the boundary of the plot on the ground surface. Such a plot setting method has a problem that it takes a lot of time and effort on the part of the measurer.

The techniques described in Patent Literatures 1 to 4 are based on the premise that data related to forests already exist, and cannot be used for on-site plot surveys.

On the other hand, in recent years, with the spread of laser scanners and camera-equipped mobile terminals, it is possible to acquire 3D point cloud data and 2D color image data in parallel, enabling users to check the measurement target in real time while checking the measurement target at a given point. It has become possible to perform three-dimensional surveying of By utilizing such laser scanners and camera-equipped mobile terminal devices, there is a possibility that plot surveys can be conducted simply and with high accuracy.

Therefore, the present invention has been made to solve the above problems, and an object of the present invention is to provide a plot research system and a plot research method that enable plot research to be performed simply and accurately.

A plot investigation system according to the present invention is a plot investigation system provided with a mobile terminal device attached with a three-dimensional laser scanner and a camera facing the same direction, comprising: a first acquisition control unit; An acquisition control unit, a first conversion control unit, a second conversion control unit, a display control unit, a creation control unit, and a change control unit are provided. A first acquisition control unit acquires three-dimensional point cloud data of a measurement target region using the three-dimensional laser scanner. A second acquisition control unit acquires a captured image of a two-dimensional image showing the measurement target area by the camera. A first conversion control unit converts the three-dimensional point cloud data into a three-dimensional data in a geographical coordinate system expressed in a geographical coordinate system using geographical coordinate system position information acquired by a position communication device attached to the mobile terminal device. Convert to point cloud data. The second conversion control unit meshes the surface of the shape represented by the three-dimensional point cloud data of the geographic coordinate system and converts it into mesh data representing the surface of the measurement target area composed of polygons. The display control unit associates the geographic coordinate system of the mesh data with the camera coordinate system of the captured image so that the mesh data is superimposed and displayed within the captured image. When a predetermined plot creation key is input, the creation control unit creates a predetermined shape when viewed from above the geographical coordinate system using the geographical coordinate system position information of the local point of the portable terminal device as a reference point. create a border for the plot with When the boundary line of the created plot overlaps with the mesh data, the change control unit uses the vertical coordinate value of the geographical coordinate system position information of the overlapping mesh data to change the boundary line of the overlapping plot. By changing the coordinate value in the vertical direction of the position information of the geographical coordinate system, the boundary line of the overlapping plots is displayed above the mesh data.

A plot investigation method according to the present invention is a plot investigation method for a plot investigation system equipped with a mobile terminal device having a three-dimensional laser scanner and a camera facing the same direction, and comprising: a first acquisition control step; , a second acquisition control process, a first conversion control process, a second conversion control process, a display control process, a creation control process, and a change control process. Each control step of the plot investigation method corresponds to each controller of the plot investigation system.

According to the present invention, plot research can be performed simply and accurately.

1 is a schematic diagram showing an example of a plot research system according to an embodiment of the present invention; FIG. 4 is a flowchart for showing the execution procedure of the plot research method according to the embodiment of the present invention; A diagram (Fig. 3A) showing an example of the case where the measurer directs the three-dimensional laser scanner and the camera toward the measurement target area and the case where the measurer acquires the geographic coordinate system position information with the position communication device. A diagram ( FIG. 3B ) showing an example. A diagram (FIG. 4A) showing an example of the configuration of two types of position communication devices, and a diagram (FIG. 4B) showing an example in which a mobile terminal device converts three-dimensional point cloud data in a geographical coordinate system into mesh data. be. FIG. 4 is a diagram showing an example of the relationship between a mobile terminal device, a captured image, and mesh data; FIG. 6A shows an example of a plot shape key and a plot condition key in a photographed image, and FIG. 6B shows an example of a square plot shape and a circular plot shape. FIG. 4 is a diagram showing an example of boundary lines of square plots and mesh data when viewed from above in a geographic coordinate system; FIG. 10 is a diagram showing an example of the first side that constitutes the boundary line of the plot when viewed from the horizontal direction of the geographic coordinate system; FIG. 4 is a front perspective view showing an example of mesh data and plot boundary lines in a geographic coordinate system; FIG. 4 is a planar perspective view showing an example of mesh data and plot boundary lines in a geographic coordinate system; FIG. 4 is a plan view showing an example of mesh data and plot boundaries in a geographic coordinate system; FIG. 10 is a diagram showing an example of a photographed image in which plot boundaries in a geographic coordinate system are reflected; FIG. 10 is a diagram showing an example of the first side that constitutes the boundary line of the plot viewed from the horizontal direction of the geographic coordinate system when new mesh data is reflected; FIG. 10 is a diagram showing an example of a photographed image when mesh data of a single tree in a geographic coordinate system are reflected; FIG. 15A is a diagram showing an example of a plot shape key in a captured image in the example, and FIG. 15B is a diagram showing an example of a square plot condition key. FIG. 16A is a diagram showing an example of creating a square plot boundary line in a captured image in an example, and FIG. 16B is a diagram showing an example of creating a square plot boundary line. . A diagram showing an example when the first side of the plot is displayed in the captured image in the example (FIG. 17A), and a diagram showing an example when the first side and the second side of the plot are displayed (FIG. 17B ) and FIG. 18A is a diagram showing an example when mesh data of a single tree is displayed in a photographed image in the example, and FIG. 18B is a diagram showing an example when the chest height diameter of a single tree is displayed. . A diagram showing an example when the mesh data of the single tree in the plot is displayed at another location in the captured image in the example (FIG. 19A), and the mesh data of the single tree in the plot is displayed at another location. FIG. 19B is a diagram showing an example of when it is done. In the embodiment, a diagram ( FIG. 20A ) showing an example when the boundary line of the mesh data plot in the geographic coordinate system is displayed three-dimensionally when viewed from the horizontal direction, and a three-dimensional display when viewed from above FIG. 20B is a diagram showing an example when the text is displayed as a target ( FIG. 20B ); FIG. 21A is a diagram showing an example of a plot condition key for a circle in a captured image according to the embodiment, and FIG. 21B is a diagram showing an example of creating a boundary line for plotting the circle. FIG. 22A is a diagram showing an example when mesh data of a single tree is displayed in a photographed image in the example, and FIG. 22B is a diagram showing an example when the breast height diameter of a single tree is displayed. . A diagram (FIG. 23A) showing an example when the mesh data of the single tree within the circle plot is displayed at another location in the captured image in the example, and the single tree within the circle plot at another location. Fig. 23B is a diagram showing an example when mesh data is displayed; In the embodiment, a diagram ( FIG. 24A ) showing an example when the boundary line of the mesh data plot in the geographic coordinate system is displayed three-dimensionally when viewed from the horizontal direction, and a three-dimensional display when viewed from the diagonal direction FIG. 24B is a diagram showing an example when the text is displayed as a target ( FIG. 24B ); 24C is a diagram showing an example of three-dimensional display when viewed from above (FIG. 24C); FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. It should be noted that the following embodiment is an example that embodies the present invention, and is not intended to limit the technical scope of the present invention.

A plot investigation system 1 according to the present invention is basically composed of a portable terminal device 10, a three-dimensional laser scanner 11, a camera 12, and a position communication device 13, as shown in FIG. Here, in FIG. 1, the three-dimensional laser scanner 11, the camera 12, and the position communication device 13 are attached to the mobile terminal device 10, but each part is connected to the mobile terminal device 10. It doesn't matter if there is.

The mobile terminal device 10 includes a display unit that displays a screen, a reception unit (input unit) that receives input of a predetermined instruction key by user operation, a storage unit that stores data, a control unit that controls each unit, It has an output unit for outputting data and a communication unit. Examples of the mobile terminal device 10 include a tablet terminal device, a portable notebook computer, a mobile terminal device (smartphone) with a touch panel, and the like.

The three-dimensional laser scanner 11 also includes a laser irradiation section, a scattered light detection section, and a point cloud calculation section. Here, the laser irradiation unit emits a pulsed laser to the object. The scattered light detection unit detects scattered light from the laser irradiated to the object. Based on the detected scattered light, the point cloud calculator calculates three-dimensional data of the point cloud of the distance from the three-dimensional laser scanner 10 to the object and the position where the scattered light is scattered on the surface of the object. The three-dimensional laser scanner 10 can include, for example, a Lidar (Light Detection and Ranging, Laser Imaging Detection and Ranging) sensor. The three-dimensional point cloud data acquired by the three-dimensional laser scanner 11 is an aggregation of multiple pieces of three-dimensional position information.

Also, the camera 12 is basically a visible light camera, and any kind of camera may be used as long as it can take digital photographs. Further, the position communication device 13 may be any type of position communication device 13 as long as it can acquire the position information of the mobile terminal device 10. For example, a GPS receiver (single-frequency GNSS receiver), a A frequency multi-GNSS receiver can be mentioned.

Here, the three-dimensional laser scanner 11 and the camera 12 are attached to the portable terminal device 10 facing the same direction. Therefore, when the three-dimensional laser scanner 11 and the camera 12 are directed to a predetermined measurement target area, the three-dimensional laser scanner 11 and the camera 12 generate three-dimensional point cloud data and two-dimensional images of the same measurement target area. can be obtained.

The mobile terminal device 10 incorporates a CPU, ROM, RAM, HDD, SSD, etc. (not shown). Run the program. Also, each unit described later is implemented by the CPU executing a program.

Next, a configuration and an execution procedure according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. First, the measurer carries the mobile terminal device 10 and visits a predetermined measurement target area (for example, a land where a plurality of single trees exist) where the measurement is desired, and activates the mobile terminal device 10 . Then, the measurer directs the three-dimensional laser scanner 11 and the camera 12 of the mobile terminal device 10 toward the measurement target area, and inputs a measurement key into the mobile terminal device 10 .

Then, the first acquisition control unit 101 of the mobile terminal device 10 acquires three-dimensional point cloud data of the measurement target area by the three-dimensional laser scanner 11 ( FIG. 2 : S101).

Here, the acquisition method of the first acquisition control unit 101 is not particularly limited. For example, as shown in FIG. 3A, the measurer directs the laser irradiation unit of the three-dimensional laser scanner 11 toward the measurement target area (for example, the sloping ground) and inputs the measurement key, the first acquisition control unit 101 receives the input of the measurement key and starts laser irradiation of the three-dimensional laser scanner 11 .

The irradiated laser is reflected by a part of the measurement target area facing the three-dimensional laser scanner 11 and scattered as scattered light. Then, the scattered light detection unit of the three-dimensional laser scanner 11 detects the scattered light, and the point cloud calculation unit of the three-dimensional laser scanner 11 acquires three-dimensional point cloud data of the point cloud at the position where the scattered light is scattered. .

Here, the three-dimensional point cloud data includes points at positions where scattered light has returned to the three-dimensional laser scanner 11 and does not include points at positions where scattered light has not returned to the three-dimensional laser scanner 11 . Further, the position information (xp1, yp1, zp1) of the point P1 included in the 3D point cloud data is configured in a 3D coordinate system with the position of the mobile terminal device 10 as a reference (origin).

After the first acquisition control unit 101 acquires the three-dimensional point cloud data, the second acquisition control unit 102 of the terminal device 10 captures the measurement target area (sloping ground) with the camera 12. A photographed image I of the two-dimensional image is obtained (FIG. 2: S102).

Here, the acquisition method of the second acquisition control unit 102 is not particularly limited. For example, as shown in FIG. 3A, the measurer points the camera 12 at the measurement target area, so the second acquisition control unit 102 captures the measurement target area and shows the measurement target area in a two-dimensional image. A photographed image I of an image is acquired.

Here, since the three-dimensional laser scanner 11 and the camera 12 face the same direction, the three-dimensional point cloud data acquired by the three-dimensional laser scanner 11 is included in the photographed image I acquired by the camera 12. It corresponds to a part of the measurement target area.

Now, when the second acquisition control unit 102 acquires the captured image, next, the first conversion control unit 103 of the terminal device 10 converts the geographical coordinate system acquired by the position communication device 13 attached to the mobile terminal device 10 Using the position information, the three-dimensional point cloud data is converted into geographical coordinate system three-dimensional point cloud data expressed in a geographical coordinate system (FIG. 2: S103).

Here, the conversion method of the first conversion control unit 103 is not particularly limited. For example, the first conversion control unit 104 transmits the geographical coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 via the position communication device 13 attached (built-in) to the mobile terminal device 10. to get Next, the first conversion control unit 104 converts the position information (xp1, yp1, zp1) of each point P1 included in the three-dimensional point cloud data based on the local point P0 of the mobile terminal device 10 to the mobile terminal device 10. Subtracting the geographical coordinate system position information (xp0, yp0, zp0) of the local point P0, the subtracted value (xp1-xp0, yp1-yp0, zp1-zp0) is a three-dimensional point based on the geographical coordinate system It is calculated as position information (xp2, yp2, zp2) of each point P2 of the group data. That is, the first conversion control unit 104 converts the reference point of the position information (xp1, yp1, zp1) of each point P1 of the three-dimensional point cloud data from the reference point of the local point P0 of the mobile terminal device 10 to the geographical coordinate system. By changing to the reference point, it is converted into the position information (xp2, yp2, zp2) of each point P2 of the three-dimensional point cloud data of the geographical coordinate system. This makes it possible to handle the 3D point cloud data based on the local point P0 of the mobile terminal device 10 as geographical coordinate system 3D point cloud data (data for measurement) based on the geographical coordinate system. .

Here, the position communication device 13 is not particularly limited. For example, as shown in FIG. The accuracy (measurement limit) of the geographic coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 acquired by the first conversion control unit 104 is generally about 10 m. On the other hand, when the RTK receiver 40 is attached to the mobile terminal device 10 and the position communication device 13 is the two-frequency multi-GNSS receiver of the RTK receiver 40, the mobile terminal device acquired by the first conversion control unit 104 The accuracy of the geographic coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 is about several centimeters, and the accuracy of the geographic coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 is Greatly improves accuracy. In this case, since the accuracy of the converted geographical coordinate system three-dimensional point cloud data is also improved, the accuracy of the measurement result can be improved. Note that the geographic coordinate system position information (GNSS information) obtained by the two-frequency multi-GNSS receiver here may be acquired by a receiver built into the mobile terminal device 10 (smartphone) with a touch panel or the tablet terminal device 10. However, as described above, the dual-frequency multi-GNSS receiver 40 may be attached separately to the mobile terminal device 10 and acquired by this dual-frequency multi-GNSS receiver 40 .

Now, when the first conversion control unit 103 completes the conversion, next, the second conversion control unit 104 of the mobile terminal device 10 meshes the surface of the shape represented by the geographical coordinate system three-dimensional point cloud data. are converted into mesh data representing the surface of the area to be measured, which is composed of polygons (FIG. 2: S104).

Here, the conversion method of the second conversion control unit 104 is not particularly limited. For example, the second conversion control unit 104 converts the three-dimensional point cloud data in the geographical coordinate system into mesh data M1 in which all faces are composed of triangles with three vertices, as shown in FIG. 4B. Although there is no particular limitation on the meshing algorithm, for example, a triangulation method can be used.

For example, the geographical coordinate system three-dimensional point cloud data is composed of items of a three-dimensional coordinate ID, an image ID, and geographical coordinate system position information (geographic coordinate system three-dimensional position information). On the other hand, the mesh data M1 is data representing three-dimensional point cloud data in a geographical coordinate system as a mesh (mesh), and is composed of items of a mesh ID, a mesh vertex, and a normal vector. A predetermined number (1 or more) of vertices of the geographic coordinate system position information are stored in the mesh vertices. The normal vector is a vector perpendicular to the mesh surface, meaning a vector perpendicular to all straight lines on the mesh surface, and stores a three-dimensional representation of the normal vector of the mesh surface. Here, since the mesh data M1 consists of the vertices of the polygons that make up the mesh and the outward normal vectors of the polygons, the amount of data is compressed when compared with individual geographical coordinate system three-dimensional point cloud data. .

By meshing the three-dimensional point cloud data in the geographic coordinate system in this way, the point cloud data with a large amount of data can be converted into mesh data M1 with a compressed data amount, which can be easily handled. In addition, the mesh data M1 represents the surface of the measurement target area, and can be easily displayed as an AR (augmented reality) object on the above-described photographed image. I can. In the above description, triangles are used as the mesh shape, but the type of mesh shape is not particularly limited, and other than triangles, for example, quadrilaterals, pentagons, and the like can be mentioned.

Here, the second transformation control unit 104 performs noise processing for removing variations in points before meshing the three-dimensional point cloud data in the geographic coordinate system, so that points may be removed from the three-dimensional point cloud data of the geographical coordinate system, and the shape of the measurement target area may be made into mesh data M1 with high accuracy. As noise processing, for example, a processing of calculating a boxplot for three-dimensional point cloud data in a geographical coordinate system and removing points with large variations can be mentioned.

Now, when the second conversion control unit 104 completes the conversion, next, the display control unit 105 of the mobile terminal device 10 associates the geographical coordinate system of the mesh data M1 with the camera coordinate system of the captured image I, so that the The mesh data M1 is superimposed on the measurement target area in the captured image I and displayed (FIG. 2: S105).

Here, the display method of the display control unit 105 is not particularly limited. For example, as shown in FIG. 5, the geographic coordinate system position information (xp2, yp2, zp2) of an arbitrary point P2 in the mesh data M1 in the real world and the correspondence in the mesh data M1 shown in the captured image I The two-dimensional position information (vq2, uq2) in the camera coordinate system of the point Q2 is associated based on conversion information such as the shooting position and orientation information of the three-dimensional laser scanner 11 and the camera 12, the focal length of the camera 12, and the calibration matrix. can do

The geographic coordinate system has a specific point in the geographic coordinates as the origin, the x-axis as the horizontal axis, the y-axis as the vertical axis, and the z-axis as the depth axis (viewing axis). The z-axis means the axis in the direction from the three-dimensional laser scanner 11 toward the measurement target area. The camera coordinate system has a predetermined point in the photographed image I as the origin, the horizontal axis as the v axis, and the vertical axis as the u axis. The captured image I is positioned perpendicular to the z-axis at a position separated from the center of the camera 12 toward the measurement target area by the focal length f in the z-axis direction. Here, the x-axis direction is, for example, the horizontal direction (horizontal direction) of the geographic coordinate system, the z-axis direction is the depth direction (backward direction) of the geographic coordinate system, and the y-axis direction is the geographic coordinate system. The up-down direction (vertical direction).

The display control unit 105 uses the conversion information to associate the geographic coordinate system of the geographic coordinate system position information (xp2, yp2, zp2) of each point P2 of the mesh data M1 in the real world with the camera coordinate system of the captured image I. Thus, the geographic coordinate system position information (xp2, yp2, zp2) of the point P2 of the mesh data M1 in the geographic coordinate system is converted to the camera coordinate system two-dimensional position information (vq2, uq2). Then, the display control unit 105 displays the camera coordinate system two-dimensional position information (vq2, uq2) of the corresponding point Q2 of the mesh data M1 after conversion in the captured image I, so that the measurement target area in the captured image I The mesh data M is superimposed on .

For example, the display control unit 105 displays the mesh data M1 on the measurement target area (here, the sloping ground surface) in the captured image I on the display reception unit (eg, touch panel). This makes it possible to display the mesh data M in the captured image I as an AR object representing the surface of the measurement target area.

Further, the display control unit 105 may display any point of the mesh data M1 displayed on the touch panel so as to be designated.

Now, when the display control unit 105 completes the display, when the measurer inputs a predetermined plot creation key for setting a plot in the measurement target area, the creation control unit 106 of the mobile terminal device 10 causes the mobile terminal device Using the geographic coordinate system position information (xp0, yp0, zp0) of the 10 local points P0 as a reference point, create a plot boundary line having a predetermined shape when viewed from above in the geographic coordinate system (Fig. 2: S106).

Here, the creation method of the creation control unit 106 is not particularly limited. First, when the measurer inputs a plot creation key through the touch panel of the mobile terminal device 10, the creation control unit 106 designates the shape of the plot in the captured image I of the touch panel as shown in FIG. 6A. A plot shape key 601 for plotting is displayed in a selectable manner.

As shown in FIG. 6A, the plot shape key 601 selectably displays a "square" key 601a, a "circle (self-centered)" key 601b, and a "square (direction designation)" key 601c. A "square" key 601a indicates that the shape of the plot is a square, a "circle (self-centered)" key 601b indicates that the shape of the plot is a circle, and a "square (direction designation)" key 601c indicates that the plot is a circle. , indicating that the shape of the plot is a rectangle.

Here, when the measurer selects the plot shape key 601, the creation control unit 106 selectably displays a plot condition key 602 for designating plot conditions in the captured image I on the touch panel.

The plot condition key 602 is changed according to the plot shape key 601 type. As shown in FIG. 6A, when the plot shape key 601 is a "square" key 601a, the plot condition keys 602 include a "side length (horizontal, depth)" key 602a and "expand from the first side to the right" key 602a. ' key 602b and 'expand left from first side' key 602c are displayed so as to be selectable.

Here, as shown in FIG. 6B, the ``side length (horizontal, depth)'' key 602a can be used to set the length Lx of the side of the square in the horizontal direction (x-axis direction) and the side of the square in the depth direction (z-axis direction). is a key for inputting the length Lz of . In addition, with the "expand right from the first side" key 602b, the first side L1 of the square is provided from the reference point P0 in the collimation direction D in which the three-dimensional laser scanner 11 and the camera 12 are facing. A square plot A1 is developed on the right side from the side L1 of . A square plot A2 is developed to the left from the first side L1 in the sighting direction D from the reference point P0 with the "expand to the left from the first side" key 602c. Here, either the 'expand from the first side to the right' key 602b or the 'expand from the first side to the left' key 602c is selected.

When the plot shape key 601 is a "circle (self-centered)" key 601b, the plot condition key 602 displays an "area input" key 602d selectably. The "input area" key 602d allows the area of the circle plot C to be input. For example, if the area of a circle plot C is 100 m ² , a circle plot C with a radius r of about 5.64 m is developed with a given point as the center of the circle (5.64 m × 5.64 m × PI = ^100m2 ).

When the plot shape key 601 is a "rectangular (direction designation)" key 601c, the plot condition key 602 selectably displays a direction for designating plotting of a rectangle and a key for designating each side. be.

Here, for example, the measurer selects the "square" key 601a, selects the "side length (horizontal, depth)" key 602a, and sets the lateral side length Lx of the square to "10 m". , enter "10 m" for the side length Lz in the depth direction, and select the "expand right from the first side" key 602b. Then, the creation control unit 106 accepts the square plot shape and the plot conditions.

Then, as shown in FIG. 8, the creation control unit 106 uses the geographic coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 as a reference point, and is viewed from above the geographic coordinate system. Create a boundary line L of the plot A1 with a case square. Specifically, the creation control unit 106 sets the geographic coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 as the first vertex a1, and when viewed from above the geographic coordinate system, A point separated from the first vertex a1 along the collimating direction D by the input length Lz of the side in the depth direction is defined as a second vertex a2. Next, the creation control unit 106 selects a point that is perpendicular to the collimation direction D from the second vertex a2 and along the right direction by the input horizontal side length Lx. , and a fourth vertex a4 is a point located rightward from the first vertex a1 in a direction perpendicular to the collimation direction D by the input horizontal side length Lx.

Here, the geographic coordinate system position information from the second vertex a2 to the fourth vertex a4 is parallel to the horizontal or depth direction from the geographic coordinate system position information (xp0, yp0, zp0) of the first vertex a1. Since it is only moving, for example, the geographic coordinate system position information of the second vertex a2 becomes position information (xp0, yp0, zp0+Lz) obtained by adding the length Lz of the side in the depth direction to the z coordinate value, The geographic coordinate system position information of the third vertex a3 is position information (xp0+Lx, yp0, zp0+Lz), and the geographic coordinate system position information of the fourth vertex a4 is position information (xp0+Lx, yp0, zp0) obtained by adding the length Lx of the side in the horizontal direction to the x-coordinate value.

Then, the creation control unit 106 plots the four sides L1, L2, L3, and L4 connecting the mutually adjacent vertices for the vertices from the first vertex a1 to the fourth vertex a4 as the boundary line L of the plot A1. Create as This makes it possible to easily create the boundary line L of the plot A1 in the geographic coordinate system.

By the way, the creation control unit 106 may display, at each vertex, a vertex image S (for example, a pole having a sphere at the top end of a bar) showing the vertex of the boundary line L of the plot A1. Accordingly, by checking the vertex image S, the measurer can immediately find the position of each vertex. The form of the vertex image S is not particularly limited, and examples thereof include an arrow, a flag, etc., in addition to the pole.

Now, when the creation control unit 106 completes the creation, next, the change control unit 107 of the mobile terminal device 10 changes the overlapped mesh data M1 when the boundary line L of the created plot A1 overlaps with the mesh data M1. By changing the vertical coordinate value of the geographical coordinate system position information of the boundary line L of the overlapping plot A1 using the vertical coordinate value of the geographical coordinate system position information, the boundary line L of the overlapping plot A1 is changed. It is displayed above the mesh data M1 (FIG. 2: S107).

Here, the change method of the change control unit 107 is not particularly limited. For example, as shown in FIGS. 7 and 8, the mesh data M1 spreads in the vicinity of the first vertex a1 on the boundary line L of the plot A1. Therefore, the change control unit 107 first determines the vertical coordinate value (here, ym1) of the geographical coordinate system position information (xm1, ym1, zm1) of the corresponding point m1 of the mesh data M1 that overlaps the first vertex a1. and a predetermined value y0 (for example, 10 cm) is added to calculate an added value (ym1+y0). Next, the change control unit 107 changes the vertical coordinate value (yp0) of the geographic coordinate system position information (xp0, yp0, zp0) of the first vertex a1 that overlaps with the mesh data M1 to the added value (ym1+y0). and the geographical coordinate system position information (xp0, ym1+y0, zp0). Since the first vertex a1 overlaps with the corresponding point m1 when viewed from above in the geographical coordinate system, the coordinate values in the horizontal direction of the geographical coordinate system position information (xp0, yp0, zp0) of the first point a1 (xp0) is the same as the horizontal coordinate value (xm1) of the geographic coordinate system position information (xm1, ym1, zm1) of the corresponding point m1, and the geographic coordinate system position information (xp0, yp0) of the first point a1 , zp0) is the same as the longitudinal coordinate value (zm1) of the geographic coordinate system position information (xm1, ym1, zm1) of the corresponding point m1. As a result, the first vertex a1 can be arranged above the corresponding point m1 of the mesh data M, and when the measurer confirms the captured image I, the first vertex a1 can be located above the corresponding point m1 of the mesh data M. It is possible to immediately confirm the first vertex a1.

Next, the change control unit 107 divides each of the four sides L1, L2, L3, and L4 forming the boundary line L into a predetermined number (for example, four), and divides the divided points (for example, three division points). point) overlaps with the mesh data M1.

Here, if the division point overlaps with the corresponding point in the mesh data M1, the change control unit 107 changes the vertical coordinate value of the geographical coordinate system position information of the corresponding point in the mesh data M1 that overlaps the division point. An additional value obtained by adding a predetermined value (y0) is calculated, and the vertical coordinate value of the geographical coordinate system position information of the division point that overlaps with the corresponding point of the mesh data M1 is changed to the additional value.

For example, in FIG. 7, three dividing points b1, b2, and b3 are provided between the first vertex a1 and the second vertex a2 of the first side L1. Here, as shown in FIG. 9, from the first vertex a1 to the second vertex a2, the first dividing point b1 and the second dividing point b2 (part of the first side L1 of the boundary line L) overlaps with the mesh data M1, and the third dividing point b3 and the second vertex a2 (the other part of the first side L1 of the boundary line L) do not overlap with the mesh data M1.

Therefore, the change control unit 107 changes the vertical coordinate value (ym2) of the geographical coordinate system position information (xm2, ym2, zm2) of the corresponding point m2 of the mesh data M1 that overlaps with the first dividing point b1 to a predetermined value ( y0) is added to calculate the added value (ym2+y0), and the vertical coordinate value (yb1) of the geographic coordinate system position information (xb1, yb1, zb1) of the first division point b1 is changed to the added value (ym2+y0). do. Similarly, the geographic coordinate system position information (xb2, yb2, zb2) of the second division point b2 is also obtained by using the geographic coordinate system position information (xm3, ym3, zm3) of the corresponding point m3 of the overlapping mesh data M1. The vertical coordinate value (yb2) of the geographic coordinate system position information (xb2, yb2, zb2) of the second division point b2 is changed to the added value (ym3+y0). As a result, the first dividing point b1 and the second dividing point b2 can be arranged above the mesh data M1, like the first vertex a1.

On the other hand, since the third dividing point b3 and the second vertex a2 do not overlap with the mesh data M1, the change control unit 107 determines the geographical position of each point of the third dividing point b3 and the second vertex a2. The initial value (y00) is set to the vertical coordinate value of the coordinate system position information. There is no particular limitation on the initial value, and even if it is a preset value, the vertical direction of the geographical coordinate system position information (xp0, yp0, zp0) of the local point P0 of the mobile terminal device 10 when setting the plot A1 The coordinate value (yp0) may be matched. For example, at the third dividing point b3, the geographical coordinate system position information is (xb3, y00, zb3), and at the second vertex a2, the geographical coordinate system position information is (xa2, y00, za2). As a result, the boundary line L of the plot A1 with a constant height can be provided at points that do not overlap with the mesh data M1.

Here, the configuration of the boundary line L of the plot A1 is not particularly limited. For example, as shown in FIG. , L13, and L14. The vertical coordinate value (ym1+y0) of the geographical coordinate system position information of the point (here, the first vertex a1) is made the same, and one point is extended to the other point (here, the first division point b1). It is configured as an edge. In other words, the dividing side has two points on both sides of the dividing side, one of which is used as a reference point, and the coordinate values in the vertical direction of the geographical coordinate system position information of one point are set to be the same. is the side extended to the point Here, there is no particular limitation on the method of selecting the reference point, but, for example, it is preferable to select the point with the higher coordinate value in the vertical direction of the geographical coordinate system position information, out of the two points on both sides of the division. In this way, the divided side is configured as a side based on the height of either of the two points. Here, from the first divided side L11 to the third divided side L13 that overlap with the mesh data M1, the sides are stepped according to the height of the mesh data M1. can be easily discovered. At the fourth dividing side L14 that does not overlap with the mesh data M1, the coordinate values in the vertical direction of the geographic coordinate system position information are the same, so it is possible to prompt acquisition of the mesh data M1 for this area. The four sides L11, L12, L13, and L14 forming the boundary line L are similarly processed.

Here, in the above description, each of the four sides L1, L2, L3, and L4 that make up the boundary line L is divided into a predetermined number (four), but it may be divided by another configuration. . For example, each of the four sides L1, L2, L3, and L4 may be divided into predetermined lengths (for example, 1 m). Further, the dividing sides L11, L12, L13, and L14 may have a polygonal line-like configuration, for example, connecting two adjacent points to each other, in addition to the step-like configuration described above. In both the stepwise configuration and the polygonal line configuration, the boundary line L is configured to follow the height of the mesh data M1 as the number of division points increases. By displaying the boundary line L of the plot A1 according to the level of the mesh data M1, it is possible to easily confirm the boundary line L of the plot A1. Also, even if the shape of the plot is a circle, the dividing method of the boundary line L is the same.

Here, when the change control unit 107 completes the change, as shown in FIGS. 9 to 11, the boundary line L of the plot A1 is three-dimensionally added as data to the mesh data M1 of the geographic coordinate system. The division sides L11, L12, and L13 are arranged above the mesh data M1. Then, the boundary line L of the plot A1 in the geographical coordinate system is transformed into the camera coordinate system of the captured image I by the transformation information, and can be confirmed in the captured image I as well.

Then, when the measurer confirms the photographed image I, as shown in FIG. 12, for example, the mesh data M1 of the photographed image I includes the first side L1 and the fourth The side L4 and the first vertex image S are displayed. In this way, while looking at the boundary line L of the plot A1 of the captured image I, the measurer can immediately determine which region of the measurement target region needs to acquire three-dimensional point cloud data (mesh data). can be confirmed. As a result, the setting of the plot A1, which has conventionally taken time and effort, can be easily performed on the data in the geographic coordinate system, and the boundary line L of the plot A1 is displayed in the above-described captured image I as an AR (augmented reality) object. It becomes possible to display it, and it becomes possible to dramatically reduce the labor and time of the measurer.

In addition, for example, when the measurer erroneously sets the boundary line L of the plot A1, for example, by inputting a cancel key (not shown) to the mobile terminal device 10, the creation control unit 106 sets Delete the boundary line L of plot A1. This allows the measurer to easily redo the setting of the plot A1.

Now, when the measurer further acquires the three-dimensional point cloud data of the measurement target area, it is as follows. That is, the measurer moves the position of the portable terminal device 10 and directs the three-dimensional laser scanner 11 and the camera 12 to another part of the measurement target area (for example, the part near the second vertex a2). Then, in the same manner as described above, the first acquisition control unit 101 acquires the 3D point cloud data of the other part by the 3D laser scanner 11 (FIG. 2: S101), and the second acquisition control unit 102 A photographed image I of a two-dimensional image showing other parts is acquired by the camera 12 (FIG. 2: S102). Next, the first transformation control unit 103 transforms the 3D point cloud data into the geographical coordinate system 3D point cloud data ( FIG. 2 : S103), and the second transformation control unit 104 transforms the geographical coordinate system 3D data. The point cloud data is converted into mesh data M2 (FIG. 2: S104). Then, the display control unit 105 associates the geographical coordinate system of the mesh data M2 with the camera coordinate system of the captured image, thereby superimposing and displaying the mesh data M2 on another part of the captured image I ( FIG. 2 : S105). .

Here, since the creation control unit 106 has already created the boundary line L of the plot A1, the creation of the boundary line L of the plot A1 is omitted (FIG. 2: S106). On the other hand, when the mesh data M2 is newly displayed, the change control unit 107 determines whether the newly displayed new mesh data M2 and the boundary line L overlap. Here, since the new mesh data M2 is in the vicinity of the second vertex a2, for example, the boundary line L including the second vertex a2, which has not overlapped so far, overlaps with the mesh data M2.

Therefore, when the boundary line L including the second point a2 overlaps with the new mesh data M1, the change control unit 107 uses the vertical coordinate value of the geographical coordinate system position information of the overlapping new mesh data M2 to By changing the vertical coordinate value of the geographical coordinate system position information of the boundary line L of the overlapping plot A1, the boundary line L of the overlapping plot A1 is displayed above the new mesh data M2 (Fig. 2: S107). .

Here, for example, as shown in FIG. 13, when the third dividing point b3 and the second vertex a2 overlap with the new mesh data M2, the change control unit 107 The addition value (ym4+y0) is calculated by adding a predetermined value (y0) to the vertical coordinate value (ym4) of the geographical coordinate system position information (xm4, ym4, zm4) of the corresponding point m4 of the new mesh data M2. The vertical coordinate value (y00) of the geographic coordinate system position information (xb3, y00, zb3) of the third dividing point b3 is changed to the added value (ym4+y0). Similarly, the geographical coordinate system position information (xa2, y00, za2) of the second vertex a2 is also obtained by using the geographical coordinate system position information (xm5, ym5, zm5) of the corresponding point m5 of the overlapping new mesh data M2. The vertical coordinate value (y00) of the geographic coordinate system position information (xa2, y00, za2) of the second vertex a2 is changed to the added value (ym5+y0). The fourth dividing side L14 between the third dividing point b3 and the second vertex a2 has the same vertical coordinate value (ym4+y0) of the geographical coordinate system location information of the third dividing point b3. , extending from the third dividing point b3 to the second vertex a2. As a result, the third dividing point b3, the second point a2, and the fourth dividing side L14 can be arranged above the new mesh data M2, so that the measurer loses sight of the boundary line L of the plot A1. It is possible to check without Also, each time the measurer obtains the three-dimensional point cloud data of the measurement target area, new mesh data is added, and correspondingly, the boundary line L of the plot A1 is arranged above the new mesh data. Therefore, the measurer can efficiently acquire the three-dimensional point cloud data of the measurement target area while accurately grasping the inside and outside of the plot A1.

Here, for example, when a single tree exists within the plot A1 of the measurement target area, when the measurer directs the three-dimensional laser scanner 11 and the camera 12 toward the single tree, the first acquisition control unit 101 The original laser scanner 11 acquires three-dimensional point cloud data of a single tree (FIG. 2: S101), and the second acquisition control unit 102 acquires a photographed image I of a two-dimensional image showing the single tree using the camera 12. (Fig. 2: S102). Next, the first transformation control unit 103 transforms the 3D point cloud data into the geographical coordinate system 3D point cloud data ( FIG. 2 : S103), and the second transformation control unit 104 transforms the geographical coordinate system 3D data. The point cloud data is converted into mesh data M3 (FIG. 2: S104). Then, the display control unit 105 displays the mesh data M3 overlaid on the captured image I by associating the geographic coordinate system of the mesh data M3 with the camera coordinate system of the captured image I ( FIG. 2 : S105).

In this case, as shown in FIG. 14, a single tree T is obtained as mesh data M2. Even when the measurer acquires the single tree T as the mesh data M2, the boundary line L of the plot A1 that has already been created is reflected in the captured image I. Three-dimensional point cloud data (mesh data M2) of the tree T can be obtained efficiently.

Here, when the mesh data M2 of the single tree T in the plot A1 is acquired, the portable terminal device 10 calculates the breast height diameter of the single tree T, etc., by utilizing the mesh data M2 of the single tree T, for example. It may be configured to

Now, when the measurer moves around the plot A1, acquires all the single trees T and the like in the plot A1 as mesh data M, and inputs the result key into the mobile terminal device 10, the mobile terminal device 10 acquires The mesh data M thus obtained is converted as vector data in the geographic coordinate system and output. Here, vector data means graphic data represented by geographic coordinate system position information (coordinate values) of a plurality of points, equations of lines and planes connecting them, and predetermined parameters. Vector data is highly compatible with mesh data M and can be read and used by software (or applications) of other terminal devices. It is possible to enhance the versatility of the mesh data M that has been processed.

As described above, in the present invention, the boundary line L of the plot A1 can be created above the mesh data M in the geographic coordinate system and can be displayed in the captured image I. There is no need to set the boundary line L, and the measurer can acquire 3D point cloud data of the single tree T in the plot A1 while looking at the boundary line L of the plot A1 in the captured image I. becomes. Therefore, in the present invention, it is possible to dramatically reduce the labor and time of the measurer required for the plot survey, and it is possible to reduce the human error of the measurer, so that the accuracy of the plot survey can be improved. It becomes possible.

Now, an embodiment according to the present invention will be described. The plot investigation system 1 and the plot investigation method shown in FIGS. 1 and 2 were embodied in a mobile terminal device 10, and a predetermined measurement target area was measured. The measurer first obtains three-dimensional point cloud data for a predetermined measurement target area with the three-dimensional laser scanner 11, and obtains a photographed image with the camera 12 for the same measurement target area. The mobile terminal device 10 converts the three-dimensional point cloud data into geographical coordinate system three-dimensional point cloud data, which is then converted into mesh data. In the mobile terminal device 10, the captured image I is displayed on the touch panel, and the mesh data is displayed within the captured image I by associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image.

In FIG. 15A , the mesh data M is slightly superimposed on the captured image I on the touch panel of the mobile terminal device 10 . Since the mesh data M is data representing the surface of the measurement target area, it is displayed corresponding to the measurement target area of the captured image I. FIG. A ground photograph showing the position of the mobile terminal device 10 as seen from above on the ground is displayed in a square portion W (small window) on the upper right of the captured image I.

Here, when the measurer inputs a plot creation key into the mobile terminal device 10, a predetermined message "Set a mark. The following objects can be set as a mark during scanning." (specified horizontal distance)" key 1501, a "circle (self-centered)" key 1502, a "square (self-centered)" key 1503, and a "square (specify direction)" key 1504 are displayed so as to be selectable. .

Here, when the measurer selects the "Square (Self-Centered)" key 1503, a predetermined message "Set side length, depth (m) and width (m) of rectangle in order" as shown in FIG. 15B. Please specify." 1505 is displayed, along with a depth input field 1506, a width input field 1507, an 'expand from the first side to the right' key 1508, and an 'expand from the first side to the left' key. 1509 and a "cancel" key 1510 are displayed to be selectable.

Therefore, the measurer inputs "10.0" in the depth input field 1506, inputs "10.0" in the width input field 1507, and selects the "expand right from the first side" key 1508. Then, as shown in Fig. 16A, a predetermined message "Aim the camera in the direction you want to place the first side and press the "+" button. ' 1600 is displayed, and a '+' button 1601 is displayed on the mesh data M in the captured image I so as to be selectable.

Therefore, when the measurer selects the "+" button 1601 at a predetermined position, the creation control unit 106 uses the geographic coordinate system position information of the local point of the portable terminal device 10 as a reference point, and moves the "+" button from the local point. With the direction to the designated point of 1061 as the direction of the first side (sighting direction), the first side L1 of 10 m is set along the sighting direction when viewed from above the geographical coordinate system, and this first side L1 A boundary line L of the square plot A1 is created on the right side from the side L1 (FIG. 2: S106).

Here, since the first side L1 overlaps the mesh data M, the change control unit 107 uses the vertical coordinate value of the geographical coordinate system position information of the overlapping mesh data M to determine the overlapped first side L1. By changing the coordinate values in the vertical direction of the position information in the geographical coordinate system, the first side L1 of the overlapping plot A1 is displayed above the mesh data M1 (FIG. 2: S107).

In the photographed image I, the first side L1 is displayed above the mesh data M as shown in FIG. 16B. Thereby, the measurer can confirm the boundary line L of the plot A1 above the mesh data M in the photographed image I.

Here, for example, when the measurer walks along the first side L1, the first side L1 is divided into predetermined lengths, and the divided multiple divided sides are arranged in steps according to the height of the mesh data M1. configured in the form of Therefore, as shown in FIG. 17A, the first side L1 is displayed stepwise corresponding to the mesh data M of the captured image I. In FIG.

Then, when the measurer approaches the second vertex a2 from the first side L1, as shown in FIG. 17B, the first side L1 and the second side L2 A vertex image S is displayed at the second vertex a2 between. As a result, even if the measurer moves around the measurement target area, the first side L1 and the second side L2 indicating the boundary line L of the plot A1 are displayed above the mesh data M in the captured image I. , without deviating from plot A1.

Here, for example, when the measurer directs the three-dimensional laser scanner 11 and the camera 12 toward the single tree in the plot A1, the mobile terminal device 10 detects the single tree T as shown in FIG. 18A. is obtained, and the mesh data M of the single tree T is displayed in the photographed image I. This makes it possible to efficiently acquire the mesh data M of the single tree T in the plot A1.

In addition, in the square portion W on the upper right of the photographed image I, three-dimensional point cloud data obtained by the three-dimensional laser scanner 11 is displayed by inputting a predetermined switching key. A portion of the square portion W for which three-dimensional point cloud data has not been obtained is displayed in a predetermined color (black). As a result, it is possible to prompt the measurer to scan with the three-dimensional laser scanner 11 the portion where the three-dimensional point cloud data has not been obtained.

Also, when the mesh data M of the single tree T is obtained, a predetermined message "Mark the tapped tree as a single tree" 1800 is displayed. When the measurer selects (tap) an arbitrary point in the mesh data M of the single tree T in the captured image I using the "+" button 1601, the mobile terminal device 10 displays the selected single tree T 18B, a number (“1”) 1801 is given to this single tree T, and the calculated breast height diameter (17.9 cm) 1802 is displayed. do. This enables the measurer to easily measure the chest height diameter of the single tree T of the acquired mesh data M. Also, the measurer can mark the mesh data M of the single tree T easily.

Now, the measurer moves around the plot A1 and acquires the mesh data M of the single tree T in the plot A1. Here, as the measurer moves, the position of the mobile terminal device 10 also moves. When the position of the terminal device 10 approaches the boundary line L of the plot A1, the boundary line L of the plot A1 is displayed in the captured image I. This makes it possible to acquire the mesh data M (three-dimensional point cloud data) of the single tree T, limited to the single tree T within the plot A1.

Now, when the measurer acquires a certain amount of mesh data M of the single tree T in the plot A1 and, for example, inputs a result key into the mobile terminal device 10, the mobile terminal device 10 displays the geographic data M as shown in FIG. The mesh data M obtained in the coordinate system and the boundary line L of the plot A1 are displayed three-dimensionally when viewed from the lateral direction. When the measurer operates the touch panel of the mobile terminal device 10, the mobile terminal device 10 changes the acquired mesh data M and the boundary line L of the plot A1 as shown in FIG. 20B when viewed from above. to display it three-dimensionally. Also, in the mesh data M of the single tree T, the measured chest height diameter 2000 is displayed. Here, areas where mesh data M do not exist are displayed in a predetermined color (for example, dark blue). This allows the measurer to confirm the mesh data M in the plot A1 and the breast height diameter of the single tree T at a glance. Also, the measurer can be prompted to scan an area where the mesh data M does not exist.

By the way, in the above description, the case where the shape of the plot is a square has been explained, but when the shape of the plot is a circle, the following is the case. That is, when the measurer selects the plot creation key and selects the "circle (self-centered)" key 1502, a predetermined message "Area setting area (m2) Please specify." 2100 is displayed, and an area input field 2101, a cancel key 2102, and an OK key 2103 are displayed so as to be selectable.

Therefore, when the measurer enters "100.0" in the area input field 2101 and selects the OK key 2102, as shown in FIG. A boundary line L of the plot C of a circle having a radius of about 5.64 m is created with the system position information as the center (FIG. 2: S106). Furthermore, when the boundary line L of the plot C overlaps with the mesh data M, the change control unit 107 displays the overlapping boundary line L of the plot C above the mesh data M ( FIG. 2 : S107). Here, since the center of the plot C is the local point of the mobile terminal device 10, the boundary line L does not appear in the captured image I, and the "+" button 2100 is displayed.

Here, for example, when the measurer moves around from the local point and directs the three-dimensional laser scanner 11 and the camera 12 toward the single tree T that exists nearby, the portable terminal The device 10 acquires the mesh data M of the single tree T and displays the mesh data M of the single tree T in the captured image I. Here, on the back of the single tree T, the boundary line L of the plot C is displayed as if floating above the mesh data M of the ground. As a result, the measurer can acquire the mesh data M of the single tree T while confirming the inside of the plot C. FIG. Here, when the mesh data M of the single tree T is acquired, the measurer can select any point of the mesh data M of the single tree T in the captured image I via the "+" button 2100 as described above. is selected, the portable terminal device 10 calculates the breast height diameter of the single tree T from the mesh data M of the selected single tree T, and assigns the number (“1”) 2200 to this single tree T as shown in FIG. 22B. , and the calculated chest height diameter (17.9 cm) 2201 is displayed.

In addition, although the measurement person moves around within plot C, the set plot C is set in the geographic coordinate system. If the boundary line L is approached, the boundary line L of the plot C is displayed in the photographed image I. As a result, the measurer can acquire the mesh data M of the single tree T while confirming the inside of the plot C in the same manner as described above.

Furthermore, when the measurer inputs the result key into the mobile terminal device 10, the mobile terminal device 10, as shown in FIG. In case d, it is displayed three-dimensionally. Also, in the mesh data M of the single tree T, the measured breast height diameter 2400 is displayed. When the measurer operates the touch panel of the mobile terminal device 10, the mobile terminal device 10 changes the obtained mesh data M and the boundary line T of the plot C as shown in FIG. , or three-dimensionally when viewed from above as shown in FIG. 24C. Thus, the measurer can confirm the mesh data M in the plot C and the breast height diameter 2400 of the single tree T at a glance.

In the embodiment of the present invention, the mobile terminal device 10 is configured to include each unit, but the program for realizing each unit may be stored in a storage medium and the storage medium may be provided. In this configuration, the program is read by the device, and the device realizes each part. In that case, the program itself read from the recording medium exhibits the effects of the present invention. Furthermore, it is also possible to provide a method of storing the steps executed by each unit in a hard disk.

INDUSTRIAL APPLICABILITY As described above, the plot survey system and measurement method according to the present invention are useful in all fields in which geographic coordinate system position information is acquired and utilized, such as the field of measurement, the field of surveying, the field of civil engineering, and the field of construction. It is effective as a plot survey system and a measurement method that can perform easily and with high accuracy.

1 plot research system 10 portable terminal device 11 three-dimensional laser scanner 12 camera 13 position communication device 101 first acquisition control unit 102 second acquisition control unit 103 first conversion control unit 104 second conversion control unit 105 display control Section 106 Creation Control Section 107 Change Control Section

Claims (4)

A plot survey system equipped with a mobile terminal device in which a three-dimensional laser scanner and a camera are oriented in the same direction,
a first acquisition control unit for acquiring three-dimensional point cloud data of a measurement target area by the three-dimensional laser scanner;
a second acquisition control unit that acquires a captured image of a two-dimensional image showing the measurement target area by the camera;
converting the three-dimensional point cloud data into geographic coordinate system three-dimensional point cloud data expressed in a geographic coordinate system using the geographic coordinate system position information acquired by the position communication device attached to the mobile terminal device; a conversion control unit of
a second conversion control unit that meshes the surface of the shape represented by the three-dimensional point cloud data in the geographical coordinate system and converts it into mesh data representing the surface of the measurement target area composed of polygons;
a display control unit that displays the mesh data overlaid on a measurement target area in the captured image by associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image;
When a predetermined plot creation key is entered, a boundary line of a plot having a predetermined shape when viewed from above the geographical coordinate system with the geographical coordinate system position information of the local point of the portable terminal device as a reference point a creation control unit that creates a
When the created plot boundary line overlaps with the mesh data, the vertical coordinate value of the geographical coordinate system position information of the overlapping mesh data is used to determine the geographical coordinate system position of the overlapping plot boundary line. a change control unit for displaying the boundary lines of the overlapping plots above the mesh data by changing the coordinate values in the vertical direction of the information;
A plot survey system comprising: When a part of the boundary line of the plot overlaps with the mesh data, the change control unit calculates an addition value by adding a predetermined value to the vertical coordinate value of the geographical coordinate system position information of the overlapping mesh data. and changing the vertical coordinate value of the geographical coordinate system position information of a part of the boundary line of the overlapping plots to the added value,
If the other part of the plot boundary does not overlap with the mesh data, setting an initial value to the vertical coordinate value of the geographical coordinate system position information of the other part of the non-overlapping plot boundary,
The plot research system according to claim 1. When the mesh data is newly displayed, the change control unit determines whether the newly displayed new mesh data and the boundary line of the plot overlap,
When the boundary line of the plot overlaps with the new mesh data, geographical coordinate system position information of the boundary line of the overlapping plot using the vertical coordinate value of the geographical coordinate system position information of the overlapping new mesh data By changing the coordinate value in the vertical direction of, the boundary line of the overlapping plot is displayed above the new mesh data,
The plot research system according to claim 1 or 2. A plot investigation method for a plot investigation system equipped with a mobile terminal device attached with a three-dimensional laser scanner and a camera facing the same direction,
a first acquisition control step of acquiring three-dimensional point cloud data of a measurement target area by the three-dimensional laser scanner;
a second acquisition control step of acquiring a captured image of a two-dimensional image showing the measurement target area by the camera;
converting the three-dimensional point cloud data into geographic coordinate system three-dimensional point cloud data expressed in a geographic coordinate system using the geographic coordinate system position information acquired by the position communication device attached to the mobile terminal device; a conversion control process of
a second conversion control step of meshing the surface of the shape represented by the three-dimensional point cloud data in the geographical coordinate system and converting it into mesh data representing the surface of the measurement target area composed of polygons;
a display control step of displaying the mesh data superimposed on a measurement target area in the captured image by associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image;
When a predetermined plot creation key is entered, a boundary line of a plot having a predetermined shape when viewed from above the geographical coordinate system with the geographical coordinate system position information of the local point of the portable terminal device as a reference point a creation control step of creating
When the created plot boundary line overlaps with the mesh data, the vertical coordinate value of the geographical coordinate system position information of the overlapping mesh data is used to determine the geographical coordinate system position of the overlapping plot boundary line. a change control step of displaying the boundary lines of the overlapping plots above the mesh data by changing the coordinate values in the vertical direction of the information;
A plot research method comprising: