JP6673699B2 - Terrain display system - Google Patents

Description

  The present invention relates to a terrain display system.

  As a terrain display system for displaying the terrain of a water bottom, a terrain display system described in Patent Literature 1 is known. In this conventional example, the system is configured as a fishing reel, and has position detecting means incorporated in the reel body, and storage means for storing chart information, based on the position information detected by the position detecting means. Then, the reel position, the contour line of the seabed topography, and, if desired, a sectional view of the seabed cut along the traveling direction of the ship are displayed on the display device of the reel body.

JP 2004-267083 A

  However, in the above conventional example, since the seabed topography is displayed as contour lines, it is not intuitive and thus difficult to read, and furthermore, since it is configured as a reel, there is a problem that it lacks versatility.

  SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-described drawbacks, and has as its object to provide a terrain display system that can easily display a water bottom terrain using a general-purpose communication terminal device.

According to the invention, the object is
An imaging device, a display, a self-position measurement unit, and a portable communication terminal device including an imaging direction measurement unit of the imaging device;
A server device provided with input means for receiving self-position measurement information and photographing direction measurement information from the portable communication terminal device,
The server device,
In the water area, a three-dimensional terrain database that stores a three-dimensional terrain model in which the underwater terrain is modeled,
Projection diagram generation means for generating, from the three-dimensional terrain model, a self-position measurement information in the input means, and a center projection map having a shooting direction measurement information as a viewpoint position and a projection direction,
Water bottom determination means to determine whether the projection area is a water bottom, and to output a water bottom code to the output means at the time of water bottom determination,
Output means for transmitting the center projection to a portable communication terminal device,
Has,
The portable communication terminal device is achieved by providing a terrain display system provided with a screen switching unit for displaying a center projection view on a display instead of an image obtained by an imaging device when a bottom code is received.

  In the present invention, the terrain display system includes a portable communication terminal device 5 including the imaging device 1 and a server device 7.

  The portable communication terminal device 5 is provided with the imaging device 1. When the portable communication terminal device 5 is directed to an appropriate position, an image in the lens optical axis direction is displayed on the display 2. The plane position and the height (elevation) position information are measured by the own position measuring means 3, and the optical axis direction information of the imaging apparatus 1 is measured by the photographing direction measuring means 4.

  On the other hand, the server device 7 has a three-dimensional terrain database 9 in which a three-dimensional terrain model 8 is stored. The projection map generating means 10 generates a center projection map that is arranged as a viewpoint in the space of the model 8 and uses the lens optical axis direction information as a shooting direction.

  The three-dimensional terrain model 8 is a model of a water bottom terrain in a water area. When the imaging device 1 is pointed at a sea, a river, or the like, a projection of the water bottom is created and transmitted to the portable communication terminal device 5. .

  Therefore, in the present invention, simply pointing the imaging device 1 of the portable communication terminal device 5 toward the sea or the like displays an image similar to the image of the terrain at the bottom of the water captured by the camera, that is, a central projection view.

  On the other hand, recently, in a portable communication terminal device 5 such as a so-called smartphone, the display 2 or the self-position measuring device is generally provided as a standard, so that the terrain on the bottom of the water can be easily used by using them. The information can be displayed in an easy-to-understand manner, and the versatility can be extremely increased by using such a communication terminal device.

  In addition, since the above-mentioned center projection is displayed by the screen switching process by the screen switching unit 12, it can be freely displayed at an arbitrary timing, for example, in response to an operation input for screen switching to the portable communication terminal device 5. However, since it is difficult to imagine that the land topography is unlikely to look like a water bottom topography, in this case, the server device 7 determines whether or not the projection area is the water bottom 13 and determines the water bottom code at the time of the water bottom determination. Is output to the output means 11 and the screen switching means 12 of the portable communication terminal device 5 displays the center projection instead of the image acquired by the imaging device 1 when the water bottom code is received. 2 to configure the terrain display system, the usability is improved.

  Furthermore, the determination as to whether or not the above-described projection area is the water bottom 13 can be made by, for example, setting attribute information indicating whether the surface layer is the ground surface or the water bottom in a three-dimensional terrain database and referring to this. However, the server device 7 has an altitude calculating means 15 for calculating altitude data at an intersection position between the optical axis of the imaging device 1 and the surface of the three-dimensional terrain model 8 in the three-dimensional terrain model 8 space, If the bottom-of-water determination means 14 is configured to output a bottom-of-water code when the calculation result by the altitude calculation means 15 is a negative number, it is possible to save the trouble of constructing a database.

  When calculating the altitude data as described above, the portable communication terminal device 5 is provided with the altitude value display means 16 for displaying the altitude value of the intersection corresponding position on the display image on the display 2 so that the water depth can be calculated. Can be complemented by the sensory grasp made through the central projection.

  Further, the projection diagram generating means 10 of the server device 7 calculates a distance d between the self-position measurement position and the intersection in the three-dimensional terrain model 8 space, and a focal length F of the imaging device 1 of the portable communication terminal device 5. If the terrain display system is configured to generate the center projection of the projection area r corresponding to the photographing range R determined by the following, the display feeling such as the sense of distance before and after the screen switching by the screen switching means 12 is maintained. In addition, it is extremely easy to intuitively grasp the underwater terrain. The focal length F is sufficient if the focal length information is acquired from the portable communication terminal device 5 by the server device 7 together with the own position measurement information and the like, and the focal length for each model of the portable communication terminal device 5 will be described later. A database in which the distance F is registered is provided in the server device 7, and it is also possible to search and specify using model information and the like that can be acquired when communicating with the portable communication terminal device 5.

  In addition, the self-position measurement by the above-described self-position measurement apparatus generally uses GPS (GNSS) having low position accuracy in the elevation direction, or the position accuracy is reduced by single-frequency single positioning only in the L1 band. Although it is easy to do, the server device 7 has an elevation value extraction unit 17 for extracting an elevation value in the three-dimensional terrain model 8 corresponding to the plane position information in the own position measurement information. Instead of the altitude information in the self-position measurement information, a center projection diagram is generated by using a corrected altitude value obtained by adding a predetermined correction value c to the altitude value by the altitude value extracting means 17 as altitude data. If the terrain display system is configured, the elevation position accuracy can be further improved. A general height at which the portable communication terminal device 5 is held by the user can be adopted as the correction value c, and this can be experimentally determined.

In addition, as described above, in order to easily display the seabed topography on general-purpose communication terminal equipment,
Input means 6 for receiving own position measurement information and photographing direction measurement information,
A three-dimensional terrain database 9 storing a three-dimensional terrain model 8 including a water bottom terrain,
A projection map generation unit 10 for generating a center projection map from the three-dimensional terrain model 8, the own position measurement information in the input unit 6 and the imaging direction measurement information as a viewpoint position and a projection direction;
A water bottom determination unit 14 that determines whether the center projection is the water bottom 13 and outputs a water bottom code when the water bottom 13 is the water bottom 13;
Output means 11 for giving the underwater code and transmitting the center projection to the portable communication terminal device 5;
Can be used.

  As is clear from the above description, according to the present invention, it is possible to display the seabed topography in an easy-to-understand manner by using a general-purpose communication terminal device. Can be useful in various aspects related to water bodies.

FIG. 2 is a hardware configuration diagram of the terrain display system according to the present invention. FIGS. 3A and 3B are diagrams illustrating photographing conditions when photographing a water surface, where FIG. 3A is a longitudinal sectional view of a main part, and FIG. FIGS. 4A and 4B are diagrams for explaining projection conditions when projecting a water bottom corresponding surface of a three-dimensional terrain model, wherein FIG. 4A is a vertical sectional view of a main part and FIG. It is a flowchart of terrain display processing according to the present invention.

  1 to 4 show an embodiment of the present invention. As shown in FIG. 1, the terrain display system is configured by connecting a server device 7 and an appropriate number of smartphones (portable communication terminal devices 5) via a communication network 21, specifically, the Internet. An imaging device 1 having a single focus lens, that is, a camera, a display 2 composed of an LCD or the like, and an operation unit 22 used for menu selection and the like during information processing are arranged on the housing of the smartphone 5.

  In addition, application software for a terrain display system is installed in the smartphone 5, whereby a moving image acquired by the above-described camera 1 can be displayed on the display 2 as a through image (live view image). The self-position measuring unit 3 and the photographing direction measuring unit 4 which are controlled and operated by the unit 23 are formed. The self-position measuring means 3 uses the GPS to determine the self-position of the smartphone 5, that is, the position of the camera 1. That is, the direction of the lens optical axis of the camera is detected. The above smartphone 5 is connected to the above-described communication network 21 by the communication unit 24, and transmits information obtained by measuring the camera position and the optical axis direction at the time of acquiring a through image to the server device 7 together with the model information of the smartphone 5.

  On the other hand, the server device 7 includes a three-dimensional terrain database 9, a terminal device database 26, a projection map generation unit 10, an elevation calculation unit 15, a water bottom determination unit 14, an elevation value extraction unit 17, which are controlled and operated by the control unit 25. It has a communication means 27, is connected to the above-mentioned communication network 21 by the communication means 27, receives the above-mentioned camera position measurement information and the like from the smartphone 5 by the input means 6, and transmits data to the smartphone 5 by the output means 11. Do.

  The three-dimensional terrain database 9 is composed of a numerical terrain model (three-dimensional terrain model 8, DEM), specifically, for example, one in which elevation information is expressed in a grid unit having a predetermined length on one side. The numerical terrain model 8 includes not only a land area but also a water area and a target range, and covers not only a land area obtained by aeronautical laser surveying or the like but also a water bottom area obtained by a narrow multibeam or the like. The terminal device database 26 stores the model information of the smartphone 5 and the focal length F of the camera 1 mounted on each smartphone 5 in association with each other.

  The projection map generating means 10 performs central projection based on the camera position measurement information and the optical axis direction measurement information input from the input means 6 and on the basis of the focal length F using the numerical topographic model 8. Generate a figure. Specifically, the viewpoint position is set based on the camera position measurement information and the optical axis direction, that is, the projection direction is set based on the optical axis direction measurement information in the virtual geographical space configured by the numerical terrain model 8, Further, based on the focal length F, the focal length of the lens at the time of projection, that is, the size of the image and the angle of view (shooting range) are set, and a center projected image obtained under these projection conditions is generated. The generated center projection image is output to the output unit 11 under the control of the control unit 25.

  The focal length F is specified by searching the terminal device database 26 based on the model information input from the input unit 6.

  The altitude calculation means 15 calculates an intersection position between the optical axis and the surface of the digital terrain model 8 based on the optical axis direction measurement information, and obtains elevation data of the digital terrain model 8 at the intersection position. The acquired altitude data is output to the output unit 11 under the control of the control unit 25.

  The water bottom determining means 14 determines whether or not the altitude data indicates the water bottom 13, that is, whether it is a negative number or any other 0 or positive number. The bottom code is output to the output means 11 by the control of.

  The elevation value extracting means 17 assists the setting of the viewpoint position by the projection map generating means 10 described above, and extracts the elevation value in the digital terrain model 8 corresponding to the plane position information included in the camera position measurement information, It is provided to the projection diagram generating means 10. The provided projection map generating means 10 adds a predetermined correction value c to this altitude value, and replaces the obtained corrected altitude value with the altitude position information included in the camera position measurement information to change the viewpoint position. Set.

  Note that a normal height at which the smartphone 5 is held at the time of photographing is adopted as the correction value c. Specifically, in this embodiment, a height 15 cm lower than a standard eye level of a human is used. It is decided.

  Further, as described above, in order to perform display processing on the display 2 based on the center projection image, the altitude data, and the water bottom code input from the output unit 11 of the server device 7 to the smartphone 5 via the communication unit 24 as described above. The smartphone 5 includes a screen switching unit 12 and an altitude value display unit 16. The screen switching means 12 causes the display 2 to switch and display the center projection image instead of the through image described above, that is, the image capturing the scenery in the direction in which the camera 1 is directed. This is performed on condition that the above-mentioned bottom code is input.

  The altitude value display means 16 displays the numerical value of the altitude data on the display 2 when the screen switching means 12 executes the switching display. At the time of this display, a predetermined explanatory word or unit symbol set in advance is added. In this embodiment, specifically, an explanatory word of “water depth” is preceded by a unit symbol “m” of meters. Is added to the subsequent stage. In addition, the display mode is appropriately set in an appropriate position that does not impair the visibility of the center projected image and is appropriately displayed in a character color.

  FIG. 2 shows a situation in which the camera 1 of the above-described smartphone 5 acquires a through image, and a situation in which the sea surface 28 is captured as a through image by a smartphone 5 holder (not shown) standing on the top end S of the coastal embankment. Is shown. At this time, as shown in FIG. 2A, the camera 1 is tilted to the depression angle A at a height C (elevation value Z not shown) above the top end, and as shown in FIG. It is located at longitudes and latitudes X and Y, and is oriented in a direction shifted by an angle B to the east with respect to true north (magnetic north). In FIG. 2 and FIG. 3, which will be described later, an alternate long and short dash line indicates the optical axis of the lens.

  Further, with respect to the geometric parameters, the camera 1 captures a shooting range R at a focal length F according to a shooting distance D to the water surface. Although the camera 1 has been described above, FIG. 2 shows an optical sensor mounted on the camera 1 more accurately.

  FIG. 3 illustrates the state of generation of the center projection image by the projection view generation means 10 of the server device 7. The projection processing state in the space of the digital terrain model 8 when the smartphone 5 takes the above-described shooting conditions is virtually shown. This is shown in FIG. At the time of the projection process, as shown in FIGS. 3A and 3B, the viewpoint position is set to the plane coordinates x, y corresponding to the latitude and longitude X, Y, and also in accordance with the top end S of the embankment. A height (correction value c) substantially corresponding to the height Z is set above the configured predetermined model upper surface s, and the projection direction is the same depression angle a as the depression angle A and the projection angle The azimuth is shifted to the east side from the true north direction by the same angle b as B.

  Further, a focal length f corresponding to the focal length F is set as a geometric parameter at the time of projection. On the other hand, since the numerical terrain model 8 is configured with a water bottom terrain in the water area and does not include the one corresponding to the water, the digital terrain model 8 is substantially larger than the shooting distance D to the sea surface 28 (the sea floor 13). A projection distance (distance) d to a predetermined model surface 13 'configured in accordance therewith is set, and a projection region r substantially larger than the photographing range R is set.

  Thereby, the water surface of the foreground is displayed on the display 2 of the smartphone 5 at the time of the through image, but when the image is switched to the center projection image, the shooting position, the shooting direction, and the focal length are maintained, in other words, the shooting conditions and While maintaining the perspective, the seabed 13 of a distant view, which should not be seen due to reflection on the sea surface 28 or the like, is displayed. Since the camera 1 of the smartphone 5 generally has a large depth of field, the camera 1 can clearly display a near view to a distant view to some extent. Further, if the above-described three-dimensional terrain model 8 is configured in white, the center projected image is also obtained by adding shading and the like to white, but if the three-dimensional terrain model 8 is colored based on a seabed photograph or the like, The sense of reality of the center projected image is extremely enhanced.

  FIG. 4 shows the operation of the above terrain display system. First, when the owner of the smartphone 5 operates the operation unit 22 to activate the application software and display a through image on the display 2 (step C1), the control unit 23 determines the own position measuring unit 3 and the photographing direction measuring unit 4. The camera position measurement information and the like are acquired from (step C2) and transmitted to the server device 7 (step C3).

  On the other hand, when the server device 7 receives the camera position measurement information and the like (step S1), first, the control unit 25 causes the elevation value extraction unit 17 to extract the elevation value corresponding to the camera 1 position of the digital terrain model 8. At the same time, after correcting the camera position measurement information by the corrected elevation value obtained by adding the correction value c to the elevation value by the projection diagram generation means 10, the center projection image is formed based on the camera position measurement information and the like. Then, the altitude calculating means 15 calculates the altitude data of the intersection of the surface layer of the digital terrain model 8 and the optical axis (step S2).

  Next, the control unit 25 causes the water bottom determination unit 14 to determine whether the altitude data is a negative number (step S3). If the result of the determination is negative, after adding a water bottom code (step S4), it is transmitted to the smartphone 5 together with the previously generated center projection image and altitude data (step S5). On the other hand, if the result of the determination is not a negative number, only the center projected image and the altitude data are transmitted to the smartphone 5 without adding a water bottom code (step S6).

  When receiving any of these data (step C4), the smartphone 5 determines whether or not the received data includes a bottom code (step C5). Displays the center projected image on the display 2 instead of the through image by the screen switching means 12 (step C6). At this time, the altitude data is also displayed on the display 2 by the altitude value display means 16. On the other hand, when the bottom data is not included in the received data, the display of the through image on the display 2 is maintained as it is to prepare for a change in the imaging conditions of the smartphone 5 that includes the subsequent bottom code.

  Therefore, when the scenery of the shore is captured by the camera 1 as a through image, the owner of the smartphone 5 can observe the scenery on the display 2 as it is. While maintaining the display sensation, it is possible to observe not the sea surface 28 but the seafloor 13 which should not be captured by the center projection image.

  Even after the center projection image is displayed, as in the case where the image is not displayed as described above, in preparation for a subsequent change in the shooting conditions of the smartphone 5, when the shooting angle or the like changes, the center corresponding to the shooting angle is changed. Switching to a projection image further improves usability. For example, by gradually increasing the depression angle of the smartphone 5, it is possible to observe the sea floor 13 so as to gradually approach the coastal embankment side, and if the smartphone 5 is turned from the sea side to the land side, Since the data received from the server device 7 does not include the bottom code, the display on the display 2 is switched from the center projection image to the through image, and the scenery of the coast can be observed through the through image.

  Therefore, for example, when fishing is enjoyed, it is possible to examine points that are easy to catch in the field based on the water bottom topography, and when monitoring a river, comparing the visual observation with the display on the display 2 makes it possible to determine the water volume. It is possible to grasp the situation immediately and intuitively on the spot, and grasping the shallows in rivers, sea areas near the coast, or lakes and marshes will help to confirm safety in bathing and ship operation.

  In the above-described embodiment, a case has been described in which a smartphone is used as the portable communication terminal device 5, but a tablet computer or a wearable computer is sufficient as long as the imaging device 1, the GPS receiver, and the electronic compass are provided. Further, in the above-described embodiment, the case where only the focal length F is used when determining the angle of view (shooting range) of the center projection view has been described. If the dimensions are stored, by specifying the dimensions based on the model information, it is possible to calculate the angle of view using the dimensions of the optical sensor. Further, in the above-described embodiment, the case where the water depth display is added to the water bottom topographic image based on the three-dimensional topographic model 8 has been described. If the additional information is set as the attribute data relating to the position, it is also possible to display additional information corresponding to the observation position, for example, a description when there is a structure in the river, instead of displaying the water depth.

REFERENCE SIGNS LIST 1 imaging device 2 display 3 own position measuring means 4 photographing direction measuring means 5 portable communication terminal device 6 input means 7 server device 8 3D terrain model 9 3D terrain database 10 projection figure generating means 11 output means 12 screen switching means 13 Water bottom 14 Water bottom determination means 15 Elevation calculation means 16 Elevation value display means 17 Elevation value extraction means d Distance F Focal length R Shooting range r Projection area c Correction value

Claims (6)

An imaging device, a display, a self-position measurement unit, and a portable communication terminal device including an imaging direction measurement unit of the imaging device;
A server device provided with input means for receiving self-position measurement information and photographing direction measurement information from the portable communication terminal device,
The server device,
In the water area, a three-dimensional terrain database that stores a three-dimensional terrain model in which the underwater terrain is modeled,
Projection diagram generation means for generating, from the three-dimensional terrain model, a self-position measurement information in the input means, and a center projection map having a shooting direction measurement information as a viewpoint position and a projection direction,
Water bottom determination means to determine whether the projection area is a water bottom, and to output a water bottom code to the output means at the time of water bottom determination,
Output means for transmitting the center projection to a portable communication terminal device,
Has,
A terrain display system, wherein the portable communication terminal device is provided with screen switching means for displaying a center projection on a display instead of an image acquired by an imaging device when a bottom code is received. The server device includes an altitude calculation unit that calculates altitude data at an intersection point between the optical axis of the imaging device and the surface of the three-dimensional terrain model in the three-dimensional terrain model space,
2. The terrain display system according to claim 1, wherein said bottom-of-water determination means outputs a bottom-of-water code when a calculation result by the elevation calculation means is a negative number. The server device includes an altitude calculation unit that calculates altitude data at an intersection point between the optical axis of the imaging device and the surface of the three-dimensional terrain model in the three-dimensional terrain model space,
The terrain display system according to claim 1, wherein the portable communication terminal device includes an altitude value display unit that displays an altitude value at the intersection corresponding position on a display image on a display. The projection diagram generating means of the server device,
A center projection diagram of a projection area corresponding to an imaging range determined by a distance between the own position measurement position and the intersection in the three-dimensional terrain model space and a focal length of an imaging device of a portable communication terminal device. Item 4. The terrain display system according to item 2 or 3. The server device has an altitude value extracting unit that extracts an altitude value in the three-dimensional terrain model corresponding to the planar position information in the own position measurement information,
The projection map generating means uses the corrected elevation value obtained by adding a predetermined correction value to the elevation value obtained by the elevation value extraction means, instead of the elevation information in the self-position measurement information, as elevation data. 5. The terrain display system according to claim 1, wherein Input means for receiving the self-position measurement information and the imaging direction measurement information,
A three-dimensional terrain database containing a three-dimensional terrain model including underwater terrain,
Projection diagram generation means for generating, from the three-dimensional terrain model, a self-position measurement information in the input means, and a center projection map having a shooting direction measurement information as a viewpoint position and a projection direction,
Water bottom determination means that determines whether the center projection is a water bottom, and outputs a water bottom code when the bottom is a water bottom,
Output means for transmitting the center projection view to the portable communication terminal device with the underwater code added,
Server device having

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