JP7721155B2 - Road surface elevation difference display image creation method, road surface elevation difference display image creation system, and road surface elevation difference display image creation program - Google Patents

Description

Article 30, paragraph 2 of the Patent Act applies. (1) August 24, August 31, September 4, September 24, September 25, September 27, October 5, October 31, November 4, November 5, November 6, 2019: Disclosed to West Nippon Expressway Engineering Kansai Co., Ltd. (2) September 25, 2019: Disclosed to Nanagome Co., Ltd. (3) November 8, 2019: Disclosed at the Japan Road Conference

The present invention relates to a method for creating an elevation difference display image of a road surface, a system for creating an elevation difference display image of a road surface, and a program for creating an elevation difference display image of a road surface, for example, when repairing a road surface based on a repair plan, to detect diggings such as ruts on the road surface at the start of repair work .

Traditionally, when damage such as digging occurs on the surface of asphalt pavement that forms the surface layer of roads and other structures, repairs have been carried out using methods such as cutting and overlay. This repair method involves cutting and removing the surface layer of the existing asphalt pavement using a road milling machine, and then laying new asphalt to create a new surface layer.

In order to repair roads, it is necessary to inspect the unevenness of the road surface. Traditionally, road surface inspections have been carried out visually by inspectors, but the task of each inspector inspecting the road surface and measuring the amount of digging is extremely cumbersome. Therefore, instead of inspectors measuring the amount of digging themselves, there is a road surface measurement device that automatically measures the amount of digging (see Patent Document 1). This road surface measurement device sets a reference level based on the measurement results and calculates the amount of digging of the road surface relative to that reference level.

Japanese Patent Application Publication No. 9-101129

When actual repairs are carried out, the repair plan surface is typically designed so that the road surface slopes at a specified angle, which is completely different from the conventional reference surface based on the results of measuring the road surface when repair work begins. Therefore, even if the amount of road surface excavation is calculated from the reference surface based on the road surface condition at the time repair work begins, it is unclear whether the reference surface is appropriate, making it difficult to accurately identify areas that require repair when repair work begins. Furthermore, since the amount of excavation of the road surface cannot be accurately detected, it is impossible to accurately predict the material costs (e.g., the amount of asphalt) required to repair the road surface to eliminate excavation when repair work begins. Furthermore, when repairs are carried out using the excavation overlay method, it is difficult to accurately predict the excavation volume.

The present invention has been made with an eye on such problems, and aims to provide a method for creating an image displaying elevation differences on a road surface, a system for creating an image displaying elevation differences on a road surface, and a program for creating an image displaying elevation differences on a road surface, which enable accurate understanding of the condition of the road surface at the start of repair work, for example, when carrying out repairs to remove diggings in the road surface .

The present invention takes the following measures to solve these problems:

In other words, the method for creating an elevation difference display image of a road surface according to the present invention is characterized by comprising: a point cloud data acquisition step of acquiring three-dimensional coordinated point cloud data for each point within a specified area of the road surface at the time of repair work commencement using laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data acquisition step of acquiring, as reference surface data, any of plan surface data showing the repair plan surface when repairing the specified area, road surface data when the specified area was newly created, and road surface data when the specified area was repaired; an elevation difference calculation step of calculating the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the reference surface data acquired in the reference surface data acquisition step; and an elevation difference display image creation step of creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding a color according to the magnitude of the elevation difference calculated in the elevation difference calculation step to a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step.
The method for creating an elevation difference display image of a road surface according to the present invention is characterized by comprising: a point cloud data acquisition step of acquiring three-dimensional coordinated point cloud data for each point within a specified area of the road surface at the time of repair work commencement using laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data acquisition step of acquiring, as reference surface data, any of plan surface data showing a repair plan surface for repairing the specified area, road surface data when the specified area was newly constructed, and road surface data when the specified area was repaired; an elevation difference calculation step of calculating the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the reference surface data acquired in the reference surface data acquisition step; and an elevation difference display image creation step of creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding lines indicating parts of the specified area where the elevation difference is the same in accordance with the magnitude of the elevation difference calculated in the elevation difference calculation step to a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step.
The method for creating an elevation difference display image of a road surface according to the present invention is characterized by comprising: a point cloud data acquisition step of acquiring three-dimensional coordinated point cloud data for each point within a specified area of the road surface at the time of repair work commencement using laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data acquisition step of acquiring, as reference surface data, any of plan surface data showing a repair plan surface for repairing the specified area, road surface data when the specified area was newly constructed, and road surface data when the specified area was repaired; an elevation difference calculation step of calculating the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the reference surface data acquired in the reference surface data acquisition step; and an elevation difference display image creation step of creating an elevation difference display image showing the elevation difference at the same planar position within the specified area by adding a color to each point included in the point cloud data acquired in the point cloud data acquisition step according to the magnitude of the elevation difference calculated in the elevation difference calculation step.

The road surface elevation difference display image creation system of the present invention is characterized by comprising: a point cloud data storage means for storing point cloud data converted into three-dimensional coordinates for each point within a specified area of the road surface at the time of repair work commencement, obtained by laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data storage means for storing, as reference surface data, one of plan surface data showing a repair plan surface when repairing the specified area, road surface data when the specified area was newly created, and road surface data when the specified area was repaired; an elevation difference calculation means for calculating the elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage means and the reference surface data stored in the reference surface data storage means; and an elevation difference display image creation means for creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding a color according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data stored in the point cloud data storage means.
The road surface elevation difference display image creation system of the present invention is characterized by comprising: a point cloud data storage means for storing point cloud data converted into three-dimensional coordinates for each point within a specified area of the road surface at the time of repair work commencement, obtained by laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data storage means for storing, as reference surface data, one of plan surface data showing the repair plan surface when repairing the specified area, road surface data when the specified area was newly created, and road surface data when the specified area was repaired; an elevation difference calculation means for calculating the elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage means and the reference surface data stored in the reference surface data storage means; and an elevation difference display image creation means for creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding lines indicating parts of the specified area where the elevation difference is the same in accordance with the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data stored in the point cloud data storage means.

The road surface elevation difference display image creation program according to the present invention, when loaded into a computer, causes the computer to: receive point cloud data receiving means for receiving three-dimensional coordinated point cloud data for each point within a predetermined area of the road surface at the time of repair work commencement, the point cloud data being obtained by irradiating a laser beam from a three-dimensional scanning device installed at a known point; reference surface data receiving means for receiving, as reference surface data, any of plan surface data showing a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired; and, based on the point cloud data received by the point cloud data receiving means and the reference surface data received by the reference surface data receiving means, and an elevation difference calculation means for calculating the elevation difference for each identical planar position within the specified area; an elevation difference display image for displaying the elevation difference at the same planar position within the specified area by adding a color according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data received by the point cloud data receiving means ; or an elevation difference display image creation means for creating an elevation difference display image showing the elevation difference at the same planar position within the specified area by adding a line indicating parts of the specified area where the elevation difference is the same according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data received by the point cloud data receiving means.

As a result, in the elevation difference display image creation method, elevation difference display image creation system , and elevation difference display image creation program according to the present invention, when repairing a predetermined area of a road surface, the elevation difference at each planar position within the predetermined area is calculated based on the point cloud data and reference surface data for each point on the road surface at the time of repair work commencement. As the reference surface data is used, either plan surface data showing the repair plan when repairing the predetermined area, road surface data when the predetermined area was newly constructed, or road surface data when the predetermined area was repaired, it is possible to accurately identify the repair location where a depression has formed on the road surface. Furthermore, it is possible to accurately detect the amount of depression on the road surface, making it possible to accurately predict the material costs required for repairs to eliminate depressions on the road surface at the time of repair work commencement. Furthermore, when repairs are performed using the cutting overlay method, it is possible to accurately predict the cutting volume.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a first color determination step of determining a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step for each identical planar position within the specified area, and a first elevation difference color display step of adding the color determined in the first color determination step to the three-dimensional image displayed by the image display step to display the elevation difference in the specified area.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a first color determination means for determining a color corresponding to the magnitude of the elevation difference calculated by the elevation difference calculation means for each identical planar position within the specified area, and the display control means adds the color determined by the first color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the specified area.

As a result, the elevation difference display image creation method and elevation difference display image creation system of the present invention display the elevation difference at each planar position within a specified area in a color corresponding to its magnitude, making it easy to understand the locations where depressions have formed on the road surface and the amount of depression on the road surface.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, and an elevation difference line display step of displaying lines indicating parts of the specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and the display control means displays lines on the three-dimensional image displayed on the display unit indicating parts of the specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated by the elevation difference calculation means.

As a result, in the elevation difference display image creation method and elevation difference display image creation system of the present invention, by displaying areas within a specified area where the elevation difference is the same using lines, it is possible to easily grasp the locations where depressions have formed on the road surface and the amount of depression on the road surface.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit by the first elevation difference color display step, and a numerical display step of displaying a numerical value indicating the elevation difference at the predetermined position on the display unit when the predetermined position is designated by the designation step.
In the elevation difference display image creating method according to the present invention, the elevation difference display image creating step comprises a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit by the elevation difference line display step, and a numerical value display step of displaying on the display unit, when the predetermined position is designated by the designation step, a numerical value indicating the area of an area surrounded by lines indicating parts with the same elevation difference in the vicinity of the predetermined position.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means is provided with a designation means for designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit, and the display control means, when the predetermined position is designated by the designation means, displays a numerical value indicating the elevation difference at the predetermined position on the display unit.
In the elevation difference display image creation system of the present invention, the elevation difference display image creation means is provided with a designation means for designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit, and the display control means, when a predetermined position is designated by the designation means, displays on the display unit a numerical value indicating the area of an area surrounded by lines indicating parts with the same elevation difference near the predetermined position.

As a result, the elevation difference display image creation method and elevation difference display image creation system of the present invention can detect the elevation difference at a specified position within a specified area or a numerical value indicating the area of an area surrounded by lines indicating parts with the same elevation difference near a specified position.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the specified area, a first ratio calculation step of calculating at least one of the ratio of planar positions where the magnitude of the elevation difference is greater than the predetermined value and the ratio of planar positions where the magnitude of the elevation difference is less than or equal to the predetermined value based on the comparison result in the comparison step, and a first determination step of determining the state of the specified area based on the ratio calculated in the first ratio calculation step.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means is characterized by comprising: a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the specified area; a first ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of the ratio of planar positions where the magnitude of the elevation difference is greater than the predetermined value and the ratio of planar positions where the magnitude of the elevation difference is less than or equal to the predetermined value; and a first determination means for determining the state of the specified area based on the ratio calculated by the first ratio calculation means.

As a result, the elevation difference display image creation method and elevation difference display image creation system according to the present invention calculate the ratio of planar positions where the elevation difference is greater than a predetermined value or the ratio of planar positions where the elevation difference is equal to or less than a predetermined value based on the results of comparing the magnitude of the elevation difference with a predetermined value for each identical planar position within a predetermined area, and determine the condition of the predetermined area based on this ratio. Therefore, since the condition of the predetermined area is determined automatically, there is no need for an inspector to determine the condition of the predetermined area.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a second color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is less than or equal to a predetermined value, and a second elevation difference color display step of adding the color determined in the second color determination step to the three-dimensional image displayed by the image display step to display the elevation difference in the predetermined area.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a second color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is less than or equal to a predetermined value, and the display control means adds the color determined by the second color determination means to the three-dimensional image displayed on the display unit by the display control means to display the elevation difference in the predetermined area.

As a result, in the elevation difference display image creation method and elevation difference display image creation system of the present invention, planar positions where the elevation difference is greater than a predetermined value and planar positions where the elevation difference is less than or equal to the predetermined value are displayed in different colors, making it easy to detect the condition of a specified area.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising: a comparison step of comparing, for each identical planar position within the specified area, the magnitude of the elevation difference calculated in the elevation difference calculation step with a specified value; a second ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of the ratio of planar positions where the magnitude of the elevation difference is greater than the specified value and the ratio of planar positions where the magnitude of the elevation difference is within a first specified range and the ratio of planar positions where the magnitude of the elevation difference is equal to or less than the specified value and the ratio of planar positions where the magnitude of the elevation difference is within a second specified range; and a second determination step of determining the state of the specified area based on the ratio calculated in the second ratio calculation step.

In the altitude difference display image creation system of the present invention, the altitude difference display image creation means is characterized by comprising: a comparison means for comparing the magnitude of the altitude difference calculated by the altitude difference calculation means with a predetermined value for each identical planar position within the predetermined area; a second ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of the ratio of planar positions where the magnitude of the altitude difference is within a first predetermined range for planar positions where the magnitude of the altitude difference is greater than the predetermined value, and the ratio of planar positions where the magnitude of the altitude difference is within a second predetermined range for planar positions where the magnitude of the altitude difference is equal to or less than the predetermined value; and a second determination means for determining the state of the predetermined area based on the ratio calculated by the second ratio calculation means.

As a result, the elevation difference display image creation method and elevation difference display image creation system according to the present invention calculate the ratio of planar positions where the magnitude of the elevation difference is within a first predetermined range or the ratio of planar positions where the magnitude of the elevation difference is within a second predetermined range based on the results of comparing the magnitude of the elevation difference with a predetermined value for each identical planar position within a predetermined area, and determine the condition of the predetermined area based on this ratio. Therefore, since the condition of the predetermined area is determined automatically, there is no need for an inspector to determine the condition of the predetermined area.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a third color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range, and a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed by the image display step to display the elevation difference in the predetermined area.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a third color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range, and the display control means adds the color determined by the third color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the predetermined area.

As a result, in the elevation difference display image creation method and elevation difference display image creation system of the present invention, planar positions where the magnitude of the elevation difference is within a first predetermined range or planar positions where the magnitude of the elevation difference is within a second predetermined range are displayed in a corresponding color, making it easy to detect the condition of a specified area.

In the elevation difference display image creation method of the present invention, the elevation difference display image creation step is characterized by comprising a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the specified area, a third ratio calculation step of calculating, based on the comparison result in the comparison step, the ratio of the boundary portion between planar positions where the magnitude of the elevation difference is greater than the predetermined value and planar positions where the magnitude of the elevation difference is less than the predetermined value, and a third determination step of determining the state of the specified area based on the ratio calculated in the third ratio calculation step.

In the elevation difference display image creation system of the present invention, the elevation difference display image creation means is characterized by comprising a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the specified area, a third ratio calculation means for calculating, based on the comparison result of the comparison means, the ratio of the boundary portion between planar positions where the magnitude of the elevation difference is greater than the predetermined value and planar positions where the magnitude of the elevation difference is less than the predetermined value, and a third determination means for determining the state of the specified area based on the ratio calculated by the third ratio calculation means.

As a result, the elevation difference display image creation method and elevation difference display image creation system according to the present invention compare the magnitude of the elevation difference with a predetermined value for each identical planar position within a predetermined area, calculate the ratio of the boundary between planar positions where the magnitude of the elevation difference is greater than a predetermined value and planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value, and determine the condition of the predetermined area based on that ratio. Therefore, since the condition of the predetermined area is determined automatically, there is no need for an inspector to determine the condition of the predetermined area.

As described above, this invention makes it possible to accurately identify repair locations where depressions have formed on the road surface. It also makes it possible to accurately detect the amount of depression on the road surface, making it possible to accurately predict the material costs required to repair the depressions at the time of repair work commencement. Furthermore, when repairs are performed using the cutting overlay method, it becomes possible to accurately predict the cutting volume.

1 is a diagram showing a schematic configuration of an altitude difference detection system according to a first embodiment of the present invention; This is a 3D image based on point cloud data of a specified area of a road at the time of repair work. FIG. 1 is a schematic diagram illustrating a longitudinal section plan. FIG. 1 is a schematic diagram illustrating a cross-sectional plan. FIG. 1 is a plan view of a repair plan surface showing a repair plan for repairing a specified area of a road. FIG. 1 is a side view of a repair plan surface showing a repair plan for repairing a specified area of a road. This is a diagram in which the elevation difference at each planar position within a specified area of a road is displayed using color. FIG. 8 is an enlarged view of a part of FIG. 7. This is a diagram showing the elevation difference at a specified location as a number. This is a diagram in which the elevation difference at each planar position within a specified area of a road is displayed using color. FIG. 11 is an enlarged view of a part of FIG. 10 . 1 is a diagram showing elevation differences at each planar position within a predetermined area of a road, with lines indicating areas where the elevation differences are the same. 10 is a diagram showing, in numerical form, the area of a region surrounded by lines indicating a portion where the elevation difference is the same at a specified predetermined position. 2A to 2C are diagrams illustrating a method for detecting an elevation difference in the elevation difference detection system of FIG. 1 . FIG. 10 is a diagram showing a schematic configuration of an altitude difference detection system according to a second embodiment of the present invention. 10 is an example of an image in which color is added to a predetermined area a. 10 is an example of an image in which color is added to a predetermined area b. 10 is an example of an image in which color is added to a predetermined area c. FIG. 10 is a diagram illustrating a method for calculating the ratio of a dark color area. FIG. 10 is a diagram illustrating a method for calculating a ratio of a hue boundary. 16A and 16B are diagrams illustrating a method for detecting an elevation difference in the elevation difference detection system of FIG. 15. FIG. 22(a) is a diagram showing, by color, the elevation difference in a specified area at the time of repair work commencement, and FIG. 22(b) is a diagram showing, by color, the elevation difference in a specified area after repair work.

Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
An altitude difference detection system 1 according to an embodiment of the present invention includes a 3D scanner 2 (three-dimensional scanning device) and an altitude difference detection device 10 to which the 3D scanner 2 is wirelessly connected.

The 3D scanner 2, installed at known points, emits laser light to acquire three-dimensional coordinated point cloud data (a collection of elevations with planar position coordinates) of each point on the road surface and its surroundings, and supplies the point cloud data to the elevation difference detection device 10. The 3D scanner 2 emits line laser light, for example, vertically and horizontally, toward the object to be measured (the road surface), and measures the time it takes for the laser pulse to travel back and forth between the measurement point on the object to be measured and the sensor, thereby determining the distance to the measurement point. The point cloud data acquired by the 3D scanner 2 is data at positions spaced, for example, at intervals of 25 cm or less; in this embodiment, the 3D scanner 2 acquires point cloud data at positions spaced, for example, at intervals of 5 mm. This makes it possible to detect the elevation of the road surface at small intervals when repair work begins, enabling accurate detection of digging in the road surface.

In this embodiment, we will explain the case where the unevenness of a specified area (survey range) on the road surface is investigated, and repair areas are identified based on the unevenness.

As shown in FIG. 1, the elevation difference detection device 10 has a control unit 10a, which is composed of, for example, a microcomputer and includes a CPU, ROM storing a program that controls the operation of the elevation difference detection device 10, and RAM for temporarily storing data used when executing the program. In other words, the control unit 10a is primarily composed of a typical microcomputer including a CPU, memory, and interface, and performs predetermined calculations and processing in accordance with the elevation difference detection program stored in memory, detecting elevation differences on the road surface based on point cloud data captured from the 3D scanner 2 and separately captured plan data in cooperation with peripheral hardware.

The control unit 10a of the elevation difference detection device 10 has a point cloud data reception unit 11 including a point cloud data storage unit 11a, a 3D image creation unit 12, a plan surface data reception unit 13 including a plan surface data storage unit 13a, an elevation difference calculation unit 14, a first color determination unit 15, and a display control unit 16. The control unit 10a of the elevation difference detection device 10 also has a display unit 5 such as a display screen.

The point cloud data receiving unit 11 receives point cloud data for each point in a specified area on the road surface supplied from the 3D scanner 2. The point cloud data storage unit 11a stores the point cloud data for each point in a specified area on the road surface supplied from the 3D scanner 2. The point cloud data includes data corresponding to the planar position (latitude, longitude) and height of each point on the road surface.

In this embodiment, when road repair work begins, the 3D scanner 2 acquires point cloud data for each point in a specified area of the road surface, and the point cloud data is stored in the point cloud data storage unit 11a.

The 3D image creation unit 12 creates a 3D image of the road surface at the time of road repair work commencement based on the point cloud data stored in the point cloud data storage unit 11a. Figure 2 shows a 3D image of a specified area of the road surface at the time of road repair work commencement.

The planning surface data receiving unit 13 receives planning surface data that indicates the repair planning surface when repairing a specified area of the road surface. The planning surface data storage unit 13a stores planning surface data that indicates the repair planning surface when repairing a specified area of the road surface. The planning surface data indicates the repair planning surface obtained by a separately implemented repair plan, and is used as reference surface data when calculating the elevation difference between each planar position. The repair plan is carried out for the entire specified area of the road surface, and includes repair locations that require repair due to significant digging in the road surface, and locations that do not require repair due to minimal digging in the road surface.

The planning surface data storage unit 13a stores the elevation of each planar position in a specified area as repair planning surface data when repairing a specified area of the road surface, and road repairs are carried out so that the elevation of each planar position in the specified area at the time road repair work begins matches the elevation of each planar position planned as the repair planning surface.

The repair plan includes longitudinal and transverse plans. After a longitudinal plan is made along the longitudinal direction of the road, transverse plans are made along the transverse direction at multiple locations on the road, thereby obtaining a repair plan surface for repairing a specified area. Therefore, the repair plan surface includes plan surface data showing the longitudinal plan surface and plan surface data showing multiple transverse plan surfaces.

A longitudinal plan includes a plan for the elevation of each point on a line along the longitudinal direction of the road in the center of the road. For example, Figure 3 shows a longitudinal plan surface for the elevation of each point on a line along the center of the road. In Figure 3, a repair area requiring a repair plan is located between an unrepaired area on the left and an unrepaired area on the right. The repair area in Figure 3 is shown with an elevation change based on point cloud data, as well as a longitudinal plan surface.

The longitudinal section plan in Figure 3 is obtained by connecting the elevations at each position on a line along the center of the road, after the elevations at each position on the line along the center of the road are planned taking into account factors such as the flatness of the road. The positions on the line along the center of the road are, for example, every 10 meters or every 20 meters.

In longitudinal planning, elevations at each position on a line along the center of the road are planned, followed by cross-sectional planning. Cross-sectional planning is a plan for the elevations of each point on a line along the transverse direction of the road at each position on the line along the center of the road. For example, Figure 4 shows a cross-sectional planning surface for the elevations of each point on a line along the transverse direction of the road at point a in Figure 3. In Figure 4, a repair location requiring a repair plan is located between the left and right ends of the road. The repair location is shown with elevation changes based on point cloud data, as well as a cross-sectional planning surface. Figure 4 also illustrates the slope of the road for easy understanding.

The cross-sectional plan surface is obtained by planning each position on a line along the center of the road shown in Figure 3, taking into account the slope of the slope that slopes downward from the road center toward both ends. For example, when planning a road cross-section, it is common to design the road so that it slopes downward at a predetermined slope from the center toward the road ends. For example, in the cross-sectional plan surface of Figure 4, the elevation decreases from the elevation of the road center at point a on the longitudinal plan surface of Figure 3 to point _a1 along a slope that slopes downward at a predetermined slope toward both ends of the road. Then, the elevation decreases along the connecting surfaces that connect point _a1 to the left and right ends of the road to the left and right ends of the road. Therefore, when repairs are made based on the cross-sectional plan surface, the surface layer of the asphalt pavement formed at the repaired area and the concrete portions at the left and right ends of the road are connected without any steps. Note that the cross-sectional plan surface of Figure 4 is an example of a cross-sectional plan surface, and the cross-sectional plan method is not limited to this. Therefore, the cross-sectional plan surface may be designed so that, for example, slopes sloping downward at different gradients from the center of the road toward the edge of the road are connected.

By connecting the cross-sectional plan surfaces at each position on the line along the center of the road obtained as described above in the longitudinal direction, a repair plan surface for repairing a specified area of the road surface is obtained. Figure 5 is a plan view of the repair plan surface, and Figure 6 is a side view of the repair plan surface.

The elevation difference calculation unit 14 calculates the elevation difference for each identical planar position within a specified area of the road surface based on the point cloud data stored in the point cloud data storage unit 11a and the plan surface data stored in the plan surface data storage unit 13a. Therefore, for the specified area of the road surface shown in FIG. 2, the elevation difference calculation unit 14 calculates the elevation difference between the time of road repair commencement and the repair plan surface for each identical planar position within the specified area of the road. Specifically, based on the point cloud data stored in the point cloud data storage unit 11a, the elevation difference calculation unit 14 converts the point cloud data acquired by the 3D scanner 2 into a three-dimensional TIN model (irregular triangular network), which is a collection of triangular planes connected at their vertices, and derives data corresponding to the latitude, longitude, and elevation of each point for each identical planar position within the specified area of the road at the time of road repair commencement. Therefore, even if point cloud data for each point within a specified area of the road is not stored in the point cloud data storage unit 11a, the elevation difference calculation unit 14 can derive data corresponding to the latitude, longitude, and altitude of each point within the specified area of the road.

The first color determination unit 15 determines a color according to the magnitude of the elevation difference calculated by the elevation difference calculation unit 14. For example, multiple different colors are set to correspond to the magnitude of the elevation difference. The multiple colors may be multiple different colors, or may be colors with different densities.

The display control unit 16 controls the content displayed on the display unit 5. For example, the display control unit 16 displays a 3D image created by the 3D image creation unit 12 on the display unit 5. The display control unit 16 also adds the color determined by the first color determination unit 15 to the 3D image of a predetermined area of the road, and displays the elevation difference at each position within the predetermined area of the road surface on the display unit 5. Therefore, as shown in Figures 7 and 8, the display control unit 16 displays the elevation difference between the elevation at the time of repair work commencement and the elevation on the repair plan surface for each identical planar position within the predetermined area of the road using multiple different colors. Figure 8 is an enlarged view of a portion of Figure 7.

For example, if the elevation difference is displayed in a color density between white and black, as shown in Figures 7 and 8, areas where the elevation difference between the time of repair work commencement and the repair plan surface is small are displayed in a color close to white, and areas where the elevation difference between the time of repair work commencement and the repair plan surface is large are displayed in a color close to black. Therefore, on the road surface, areas displayed in a color close to black are areas where the road surface was heavily dug up when road repair work commenced, and can be identified as repair areas that require repair.

The user can perform an operation by pressing the display surface 5a of the display unit 5. For example, as shown in FIG. 7, when the elevation difference in a predetermined area of the road surface is displayed on the display unit 5, the user can perform an operation to specify the predetermined position by pressing a predetermined position within the predetermined area displayed on the display surface 5a of the display unit 5. When an operation to specify a predetermined position within the predetermined area is performed, the display control unit 16 displays a numerical value indicating the elevation difference at the specified predetermined position on the display unit 5, as shown in FIG. 9. In this embodiment, the display surface 5a of the display unit 5 is the specifying means for specifying the predetermined position.

Figure 10 is a diagram showing the elevation difference between the elevation at the time of repair work commencement and the elevation of the repair plan surface for each identical planar position within the specified area of the road, after investigating the unevenness of different specified areas (survey ranges) of the road surface in the same manner as described above. Figure 11 is an enlarged view of part A within the survey area shown in Figure 10.

As shown in Figures 10 and 11, the display control unit 16 displays the elevation difference between the elevation at the time of repair work commencement and the elevation of the repair plan surface for each identical planar position within a specified area of the road using multiple different colors.

As shown in FIG. 12 , the display control unit 16 displays lines indicating portions of a predetermined area of the road where the elevation difference is the same. FIG. 12 is a diagram in which lines indicating portions of the road where the elevation difference is the same are added to the display of FIG. 11 . In FIG. 12 , lines indicating the elevation difference are displayed in accordance with the color indicating the amount of digging of the road surface. Lines indicating portions with multiple types of elevation difference are shown as the elevation difference lines, but the elevation difference displayed as lines on the display unit 5 can be set arbitrarily. FIG. 13 is a schematic diagram of lines indicating the elevation difference displayed on the display unit 5. For example, as shown in FIGS. 13( a) and 13(b), when an operation is performed to specify a predetermined position within the predetermined area, the display control unit 16 displays on the display unit 5 a numerical value indicating the area of the area surrounded by lines indicating portions with the same elevation difference near the specified predetermined position. In Fig. 13(a), when an operation to designate a predetermined position within a predetermined region is performed, a numerical value indicating the area of one region surrounded by a line A _a1 is displayed on the display unit 5, and in Fig. 13(b), when an operation to designate a predetermined position within a predetermined region is performed, a numerical value indicating the sum of the areas of two regions surrounded by a line A _a2 is displayed on the display unit 5. In Fig. 13(b), when an operation to designate a predetermined position within a predetermined region is performed, a numerical value indicating the area of one region that includes the predetermined position out of the two regions surrounded by a line A _a2 may be displayed on the display unit 5.

The elevation difference detection method of the elevation difference detection system 1 of this embodiment will be explained with reference to Figure 14.

In step S1 (point cloud data acquisition step), when road repair work begins, a 3D scanner 2 installed around the road scans a predetermined area of the road surface to acquire point cloud data. Then, in the elevation difference detection device 10, the point cloud data reception unit 11 receives the point cloud data supplied from the 3D scanner 2, and the point cloud data supplied from the 3D scanner 2 to the elevation difference detection device 10 is stored in the point cloud data storage unit 11a.

In step S2 (reference surface data acquisition step), longitudinal and cross-sectional planning is performed, and plan surface data indicating the repair plan surface when repairing a specified area of the road is acquired. Then, in the elevation difference detection device 10, the plan surface data acceptance unit 13 accepts the supplied plan surface data, and the plan surface data is stored in the plan surface data storage unit 13a.

In step S3 (altitude difference calculation step), the elevation difference is calculated for each identical planar position within a specified area of the road surface based on the point cloud data acquired in step S1 and the plan surface data acquired in step S2.

In step S4 (image display step), a 3D image of a specified area of the road surface at the time of repair work commencement is displayed on the display unit 5 based on the point cloud data acquired in step S1.

In step S5 (first color determination step), the first color determination unit 15 determines a color according to the magnitude of the elevation difference for each identical planar position within the specified area calculated in step S3.

In step S6 (first elevation difference color display step, elevation difference line display step), the color determined in step S5 is added to the 3D image of the specified area of the road surface displayed on the display unit 5, and the elevation difference in the specified area is displayed in multiple colors on the display unit 5, and lines indicating the same elevation difference are displayed on the display unit 5 for the 3D image of the specified area of the road surface displayed on the display unit 5.

If a specified position in a specified area is specified in step S7 (specifying step), then in step S8 (numerical value display step), a numerical value indicating the elevation difference at the specified specified position and a numerical value indicating the area of the area surrounded by lines indicating the area with the same elevation difference near the specified specified position are displayed on the display unit 5.

The elevation difference detection method of this embodiment comprises a point cloud data acquisition step that acquires point cloud data converted into three-dimensional coordinates for each point within a specified area of the road surface at the time repair work begins, using laser light emitted from a 3D scanner 2 installed at a known point; a plan surface data acquisition step that acquires plan surface data that shows the repair plan surface when repairing the specified area; and an elevation difference calculation step that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the plan surface data acquired in the plan surface acquisition step.

The elevation difference detection system 1 of this embodiment includes a point cloud data storage unit 11a that stores point cloud data converted into three-dimensional coordinates for each point within a specified area of the road surface at the time of repair work commencement, which is acquired using laser light emitted from a 3D scanner 2 installed at a known point; a plan surface data storage unit 13a that stores plan surface data that indicates the repair plan surface when repairing the specified area; and an elevation difference calculation unit 14 that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage unit 11a and the plan surface data stored in the plan surface data storage unit 13a.

The elevation difference detection program according to this embodiment, when loaded into a computer, causes the computer to function as a point cloud data receiving unit 11 that receives point cloud data converted into three-dimensional coordinates for each point within a specified area of the road surface at the time of repair work commencement, obtained using laser light emitted from a 3D scanner 2 installed at a known point; a plan surface data receiving unit 13 that receives plan surface data that indicates the repair plan surface when repairing the specified area; and an elevation difference calculation unit 14 that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data received by the point cloud data receiving unit 11 and the plan surface data received by the plan surface data receiving unit 13.

As a result, with the elevation difference detection method, elevation difference detection system 1, and elevation difference detection program of this embodiment, when repairing a specified area of a road surface, the elevation difference at each planar position within the specified area is calculated based on point cloud data for each point on the road surface at the time repair work begins and planning surface data showing the repair planning surface, making it possible to accurately identify repair locations where diggings have formed on the road surface. It is also possible to accurately detect the amount of digging on the road surface, and based on the amount of digging on the road surface at the time repair work begins, it is possible to accurately predict the material costs required for repairs to eliminate diggings in the road surface. It is also possible to accurately predict the cutting volume when repairs are performed using the cutting overlay method.

The elevation difference detection method of this embodiment includes an image display step for displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a first color determination step for determining a color for each identical planar position within a specified area according to the magnitude of the elevation difference calculated in the elevation difference calculation step, and an elevation difference color display step for adding the color determined in the first color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area.

The elevation difference detection system 1 of this embodiment includes a display control unit 16 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit 5, and a first color determination unit 15 that determines a color for each identical planar position within a specified area according to the magnitude of the elevation difference calculated by the elevation difference calculation unit 14.The display control unit 16 adds the color determined by the first color determination unit 15 to the three-dimensional image displayed by the display unit 5 to display the elevation difference in the specified area.

As a result, the elevation difference detection method and elevation difference detection system 1 of this embodiment displays the elevation difference at each planar position within a specified area in a color corresponding to its magnitude, making it easy to grasp the locations where depressions have formed on the road surface and the amount of depression on the road surface.

The elevation difference detection method of this embodiment includes an image display step for displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, and an elevation difference line display step for displaying lines indicating portions of a predetermined area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step.

The elevation difference detection system of this embodiment is equipped with a display control unit 16 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit, and the display control unit 16 displays lines on the three-dimensional image displayed on the display unit to indicate areas within a specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated by the elevation difference calculation unit 14.

As a result, the elevation difference detection method and elevation difference detection system of this embodiment display areas within a specified area with the same elevation difference using lines, making it easy to grasp the locations where depressions have formed on the road surface and the amount of depression on the road surface.

The elevation difference detection method of this embodiment includes a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5 in the first elevation difference display step, and a numerical display step of displaying a numerical value indicating the elevation difference at the predetermined position on the display unit when the predetermined position is designated in the designation step.

The elevation difference detection method of this embodiment includes a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5 in the first elevation difference line display step, and a numerical value display step of displaying on the display unit 5, when the predetermined position is designated in the designation step, a numerical value indicating the area of an area surrounded by lines indicating portions with the same elevation difference near the predetermined position.

In this embodiment, the elevation difference detection system 1 includes a display surface 5a of the display unit 5 that specifies a predetermined position within a predetermined area while the elevation difference within the predetermined area is displayed on the display unit 5. When a predetermined position is specified using the display surface 5a of the display unit 5, the display control unit 16 displays a numerical value indicating the elevation difference at the predetermined position on the display unit 5.

In this embodiment, the elevation difference detection system 1 includes a display surface 5a of the display unit 5 that specifies a predetermined position within the predetermined area while the elevation difference within the predetermined area is displayed on the display unit 5. When a predetermined position is specified on the display surface 5a of the display unit 5, the display control unit 16 displays on the display unit 5 a numerical value indicating the area of an area surrounded by lines indicating parts of the same elevation difference near the predetermined position.

As a result, the elevation difference detection method and elevation difference detection system 1 of this embodiment can numerically detect the elevation difference at a specified position within a specified area, or the area surrounded by lines indicating areas with the same elevation difference near a specified position.

Second Embodiment
The elevation difference detection system 101 of the second embodiment differs from the elevation difference detection system 1 of the first embodiment in that, whereas in the first embodiment, an inspector determines the condition of the road surface based on an image to which multiple colors corresponding to the magnitude of the elevation difference have been added, in the second embodiment, the elevation difference detection system 101 automatically determines the condition of the road surface. Note that detailed description of the configuration of the elevation difference detection system 101 of the second embodiment that is similar to that of the elevation difference detection system 1 of the first embodiment will be omitted.

As shown in FIG. 15, the altitude difference detection system 101 according to this embodiment includes a 3D scanner 2 (three-dimensional scanning device) and an altitude difference detection device 110 to which the 3D scanner 2 is wirelessly connected.

The elevation difference detection device 110 has a control unit 110a, which has a point cloud data reception unit 11 including a point cloud data storage unit 11a, a 3D image creation unit 12, a plan surface data reception unit 13 including a plan surface data storage unit 13a, an elevation difference calculation unit 14, a comparison unit 115, a second color determination unit 116, a display control unit 117, a first ratio calculation unit 118, a first judgment unit 118a, a second ratio calculation unit 119, a second judgment unit 119a, a third ratio calculation unit 120, and a third judgment unit 120a.

The point cloud data acceptance unit 11, 3D image creation unit 12, plan surface data acceptance unit 13, and elevation difference calculation unit 14 are the same as those in the first embodiment.

The comparison unit 115 compares the magnitude of the elevation difference with a predetermined value for each identical planar position within the predetermined area. In this embodiment, the comparison unit 115 divides the predetermined area into rectangular areas of 0.25 meters by 0.25 meters (hereinafter sometimes referred to as detection areas), and compares the magnitude of the elevation difference with a predetermined value for each detection area. That is, the predetermined area is divided into multiple detection areas, and each detection area is assumed to be a single planar position, and the magnitude of the elevation difference with a predetermined value is compared for each detection area. In this embodiment, the elevation difference for each detection area is calculated as the average elevation difference of the multiple point cloud data within the detection area, using the elevation difference for each point cloud data at positions spaced, for example, at intervals of 5 millimeters.

Specifically, the comparison unit 115 compares the magnitude of the elevation difference with a predetermined value of 0 for each identical detection area within the predetermined area. In this embodiment, the comparison unit 115 will be described assuming that the predetermined value compared with the magnitude of the elevation difference is 0. In other words, the magnitude of the elevation difference is the elevation at the time of repair work commencement minus the elevation of the repair planning surface. If the elevation at the time of repair work commencement is the same as the elevation of the repair planning surface, the magnitude of the elevation difference will be the predetermined value of 0. If the elevation at the time of repair work commencement is higher than the elevation of the repair planning surface, the magnitude of the elevation difference will be a positive value. If the elevation at the time of repair work commencement is lower than the elevation of the repair planning surface, the magnitude of the elevation difference will be a negative value.

Therefore, the comparison unit 115 determines whether the difference between the elevation at the time of repair work commencement and the elevation of the repair planning surface is greater than 0 (whether the elevation at the time of repair work commencement is a convex area where the elevation is higher than the elevation of the repair planning surface), or whether the difference between the elevation at the time of repair work commencement and the elevation of the repair planning surface is 0 or less (whether the elevation at the time of repair work commencement is a concave area where the elevation is lower than the elevation of the repair planning surface).

The second color determination unit 116 determines a color for each detection area depending on whether the detection area has an elevation difference greater than 0 or an elevation difference less than or equal to 0. Specifically, if the elevation difference is greater than 0, the second color determination unit 116 determines the color of the detection area to be a cool color, and if the elevation difference is less than or equal to 0, the second color determination unit 116 determines the color of the detection area to be a warm color.

More specifically, for a detection area where the magnitude of the elevation difference is greater than 0, the second color determination unit 116 determines the color to be a dark cool color when the magnitude of the elevation difference is greater than _a1 (where _a1 is a number greater than 0), and determines the color to be a light cool color when the magnitude of the elevation difference is greater than 0 and equal to or less than _a1 . That is, the larger the elevation difference, the darker the cool color determined by the second color determination unit 116. In this embodiment, _a1 is, for example, 50 millimeters.

Furthermore, for a detection area where the elevation difference is 0 or less, the color determination unit 116 determines a dark warm color when the elevation difference is smaller than _a2 (where _a2 is a number smaller than 0), and determines a light warm color when the elevation difference is smaller than 0 and larger than _a2 . That is, the larger the elevation difference, the darker the warm color determined by the color determination unit 116. In this embodiment, _a2 is, for example, 50 millimeters.

The display control unit 117 controls the content displayed on the display unit 5. For example, the display control unit 117 displays a 3D image created by the 3D image creation unit 12 on the display unit 5. The display control unit 117 also adds the color determined by the color determination unit 116 to the 3D image of a predetermined area of the road, and displays the elevation difference in each detection area within the predetermined area of the road surface on the display unit 5. Therefore, the display control unit 117 displays, for each identical detection area within the predetermined area of the road, the magnitude of the difference between the elevation at the time of repair work commencement and the elevation of the repair plan surface using different colors.

Figures 16 to 18 are example images in which the road surface is divided into predetermined regions, each having a length of, for example, 10 meters, and the colors determined by the second color determination unit 116 are added to the predetermined regions. Figure 16 shows the state of predetermined region a, Figure 17 shows the state of predetermined region b, and Figure 18 shows the state of predetermined region c. Figures 16(a) to 18(a) are color images to which the colors determined by the second color determination unit 116 have been added, and Figures 16(b) to 18(b) are schematic diagrams showing the color arrangement for Figures 16(a) to 18(a).

As described above, in each specified area, detection areas where the elevation at the time of repair work commencement is lower than the elevation of the repair plan surface are displayed in warm colors (dark warm colors or light warm colors) as concave areas, and detection areas where the elevation at the time of repair work commencement is higher than the elevation of the repair plan surface are displayed in cool colors (dark cool colors or light cool colors) as convex areas.

As shown in Figures 16(a) and 16(b), the left-hand region of the specified area a is mostly displayed in dark warm colors, the right-hand region is mostly displayed in light cool colors, and a dark cool color region is displayed within the light cool color region. Therefore, it can be seen that the left-hand region of the specified area a is mostly recessed relative to the repair plan surface, and the right-hand region is mostly protruding relative to the repair plan surface.

As shown in Figures 17(a) and 17(b), the majority of the specified area b is displayed in a light warm color, with a dark warm color area displayed within the light warm color area, and some areas at both ends being displayed in a light cool color. Therefore, it can be seen that the majority of the specified area b is recessed relative to the repair plan surface, while some areas at both ends are protruding relative to the repair plan surface.

As shown in Figures 18(a) and 18(b), most of the specified area c is displayed in a light cool color, and the area where the vehicle wheels come into contact is displayed in a light warm color. Therefore, it can be seen that most of the specified area c is a convex portion relative to the repair plan surface, and the area where the vehicle wheels come into contact is a concave portion relative to the repair plan surface.

As can be seen from Figures 16 to 18, the unevenness of designated areas a, b, and c differs depending on the hue of the designated area.

Based on the comparison results from the comparison unit 115, the first ratio calculation unit 118 calculates the ratio of detection areas where the magnitude of the elevation difference is greater than 0 and the ratio of detection areas where the magnitude of the elevation difference is 0 or less. That is, the first ratio calculation unit 118 calculates the ratio of areas that are concave relative to the repair planning surface (areas in warm colors) to areas that are convex relative to the repair planning surface (areas in cool colors). In this embodiment, because a color is added to each detection area, when the entire specified area is divided into multiple detection areas, the first ratio calculation unit 118 calculates the ratio of the number (area) of warm-colored detection areas to the number of detection areas in the entire specified area, and the ratio of the number (area) of cool-colored detection areas to the number of detection areas in the entire specified area.

The second ratio calculation unit 119 calculates the ratio of the sum of detection areas where the magnitude of the elevation difference is greater than 0 and where the magnitude of the elevation difference is greater than _a1 (where _a1 is a number greater than 0) to detection areas where the magnitude of the elevation difference is equal to or less than 0 and where the magnitude of the elevation difference is equal to or less than _a2 (where _a2 is a number less than 0) based on the comparison result of the comparison unit 115. In other words, the second ratio calculation unit 119 calculates the ratio of the sum of depression areas (areas with dark warm colors) where the elevation difference is large relative to the repair plan surface and projection areas (areas with dark cool colors) where the elevation difference is large relative to the repair plan surface, relative to the entire specified area. In this embodiment, the ratio of detection areas in the first specified area is the ratio of detection areas where the magnitude of the elevation difference is greater than 0 and the magnitude of the elevation difference is greater than _a1 (where _a1 is a number greater than 0), and the ratio of detection areas in the second specified area is the ratio of detection areas where the magnitude of the elevation difference is 0 or less and the magnitude of the elevation difference is _a2 or less (where _a2 is a number less than 0).

The method for calculating the ratio of the total area of concave areas with large elevation differences to the total area of convex areas with large elevation differences will be explained with reference to Figure 19. Figure 19 is an example of a schematic diagram of a portion of a specified area, showing 60 detection areas.

The ratio of the total of concave areas with large elevation differences to the total of convex areas with large elevation differences is calculated as the ratio of the total of concave areas with large elevation differences to the total of convex areas with large elevation differences for all detection areas in a specified area. That is, in the schematic diagram of Figure 19, there are 60 detection areas in total, 10 detection areas that are concave areas with large elevation differences (areas with dark warm colors), and 10 detection areas that are convex areas with large elevation differences (areas with dark cool colors). Therefore, the ratio of the total of concave areas with large elevation differences to the total of convex areas with large elevation differences is calculated to be (10 + 10) / 60 = 0.33.

Based on the comparison results from the comparison unit 115, the third ratio calculation unit 120 calculates the ratio of the boundary portion (hue boundary) between detection areas in the specified area where the magnitude of the elevation difference is greater than 0 and detection areas where the magnitude of the elevation difference is 0 or less. In other words, the third ratio calculation unit 120 calculates the ratio of the hue boundary between areas that are concave relative to the repair plan surface (warm color areas) and areas that are convex relative to the repair plan surface (cool color areas) for the entire specified area.

A method for calculating the ratio of the hue boundary will be described with reference to Fig. 20. Fig. 20(a) is a diagram showing the boundary region for a predetermined region b, and Fig. 20(b) is a schematic diagram of a portion of the predetermined region, showing 25 detection regions. For the purpose of explanation, in a detection region of 5 rows and 5 columns, the detection region in row 1, column 1 will be referred to _{as a11} , and the detection region in row 1, column 2 will be referred to as _a12 .

Figure 20(b) shows a simplified grid in which the color of each detection area is separated into RGB, and a warm or cool color is determined based on the ratio of the R and B components. That is, in Figure 20(b), detection areas with diagonal lines indicate warm color areas, and detection areas without diagonal lines indicate cool color areas.

In Figure 20(b), for all detection areas starting from the top left, if there is a detection area of a different color adjacent to it to the left or above, that detection area is determined to be a boundary area.

Specifically, since there is no detection area to the left or above the detection area _a11 , it is determined that there is no adjacent detection area of a different color.
With respect to the detection area _a12 , since there is a detection area of the same color to the left and no detection area above, it is determined that there are no adjacent detection areas of different colors.
As for the detection area a ₁₄ , since there is a detection area of a different color to the left, it is determined that the detection areas of different colors are adjacent, and the detection area a ₁₄ is determined to be a boundary area.
Thereafter, when all the detection areas are similarly determined to be boundary areas, five detection areas are determined to be boundary areas, as shown in FIG. 20(c).

The hue boundary ratio is calculated as the ratio of boundary areas to all detection areas in the specified area. That is, in Figure 20(c), there are 25 total detection areas and 5 boundary areas, so the hue boundary ratio is calculated as 5/25 = 0.2. Therefore, if the hue boundary ratio is calculated for the entire specified area in the same way, the greater the hue boundary ratio in the entire specified area, the more concave and convex areas there are in the specified area.

Table 1 shows the ratio of dark warm color areas, light warm color areas, light cool color areas, and dark cool color areas, the ratio of all warm color areas (concave areas), the ratio of all cool color areas (convex areas), the ratio of dark color areas, and the ratio of hue boundaries for the entire specified area for specified area a, specified area b, and specified area c.

(color bias judgment)
The first determination unit 118a determines the state of the predetermined area based on the ratio calculated by the first ratio calculation unit 118. That is, the first determination unit 118a determines the state of the predetermined area as shown in Table 2, based on the overall ratio of warm colors and the overall ratio of cool colors shown in Table 1.

As shown in Table 1, the color bias judgment is as follows: specified area a is judged as poor, specified area b is judged as good, and specified area c is judged as poor.

(Dark color judgment)
The second determination unit 119a determines the state of the predetermined region based on the ratio calculated by the second ratio calculation unit 119. That is, the second determination unit 119a determines the state of the predetermined region as shown in Table 3, based on the ratio of the dark color region shown in Table 1.

As shown in Table 1, the dark color judgment is as follows: specified area a is judged as good, specified area b is judged as good, and specified area c is judged as good.

(Border area determination)
The third determination unit 120a determines the state of the predetermined region based on the ratio calculated by the third ratio calculation unit 120. That is, the third determination unit 120a determines the state of the predetermined region as shown in Table 4 based on the ratio of the hue boundary shown in Table 1.

As shown in Table 1, for the boundary area judgment, specified area a is judged as poor, specified area b is judged as acceptable, and specified area c is judged as poor.

Therefore, based on the color bias judgment, dark color judgment, and boundary area judgment, it can be seen that predetermined area b is an area with relatively few irregularities, while predetermined area a and predetermined area c are areas with many irregularities.

The elevation difference detection method of the elevation difference detection system 101 of this embodiment will be explained with reference to Figure 21.

Step S1 (point cloud data acquisition step), step S2 (reference surface data acquisition step), step S3 (elevation difference calculation step), and step S4 (image display step) are the same as in the first embodiment, so detailed explanations will be omitted.

In step S105 (comparison step), the magnitude of the elevation difference is compared with a predetermined value for each identical planar position within the specified area. In this embodiment, the predetermined value is 0, so it is determined whether the area is a depression or a protrusion relative to the repair planning surface.

In step S106 (second color determination step), the second color determination unit 116 determines a color according to the magnitude of the elevation difference for each identical planar position within the specified area calculated in step S3. In this embodiment, a warm color (dark warm color or light warm color) is determined for the concave area, and a cool color (dark cool color or light cool color) is determined for the convex area.

In step S107 (second elevation difference color display step), the color determined in step S106 is added to the 3D image of the specified area of the road surface displayed on the display unit 5, and the elevation difference in the specified area is displayed on the display unit 5. In other words, concave and convex areas are displayed for the specified area.

In step S108 (first ratio calculation step), the ratio of detection areas where the magnitude of the elevation difference in the specified area is greater than 0 and the ratio of detection areas where the magnitude of the elevation difference in the specified area is 0 or less are calculated. Specifically, the ratio of concave areas (warm color areas) relative to the repair plan surface to convex areas (cool color areas) relative to the repair plan surface is calculated.

In step S109 (second ratio calculation step), the ratio of the total dark color areas in the specified area is calculated. Specifically, the ratio of the total dark warm color areas to the total dark cool color areas is calculated.

In step S110 (third ratio calculation step), the ratio of the boundary portion (hue boundary) between detection areas in which the magnitude of the elevation difference in the specified area is greater than 0 and detection areas in which the magnitude of the elevation difference is 0 or less is calculated. Specifically, the ratio of the hue boundary between the area of depressions (warm color areas) relative to the repair plan surface and the area of protrusions (cool color areas) relative to the repair plan surface is calculated.

In step S111 (first determination step), the condition of the specified area is determined based on the ratio calculated in step S108. Specifically, the condition of the specified area is determined based on the ratio of all concave portions and the ratio of all convex portions, as shown in Table 2.

In step S112 (second determination step), the state of the specified area is determined based on the ratio calculated in step S109. Specifically, the state of the specified area is determined based on the total ratio of dark color areas, as shown in Table 3.

In step S113 (third determination step), the state of the specified area is determined based on the ratio calculated in step S110. Specifically, the state of the specified area is determined based on the ratio of the hue boundary, as shown in Table 4.

The altitude difference detection method of this embodiment includes a comparison step in which, for each identical detection area within a predetermined area, the magnitude of the altitude difference calculated in the altitude difference calculation step is compared with 0 (a predetermined value); a first ratio calculation step in which, based on the comparison result in the comparison step, the proportion of detection areas in the predetermined area where the magnitude of the altitude difference is greater than 0 (a predetermined value) and the proportion of detection areas in the predetermined area where the magnitude of the altitude difference is 0 (a predetermined value) or less; and a first determination step in which the state of the predetermined area is determined based on the ratio calculated in the first ratio calculation step.

The altitude difference detection system 101 of this embodiment is characterized by including a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (predetermined value) for each identical detection area within a predetermined area; a first ratio calculation unit 118 that calculates, based on the comparison result of the comparison unit 115, the proportion of detection areas in the predetermined area where the magnitude of the altitude difference is greater than 0 (predetermined value) and the proportion of detection areas in the predetermined area where the magnitude of the altitude difference is 0 (predetermined value) or less; and a first determination unit 118a that determines the state of the predetermined area based on the ratio calculated by the first ratio calculation unit 118.

As a result, the elevation difference detection method and elevation difference detection system 101 of this embodiment calculates the proportion of detection areas where the elevation difference is greater than 0 (predetermined value) or the proportion of detection areas where the elevation difference is less than or equal to 0 (predetermined value) based on the results of comparing the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within a predetermined area, and determines the state of the predetermined area based on this proportion. Therefore, because the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area.

The elevation difference detection method of this embodiment includes an image display step for displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a second color determination step for determining, for each detection area, a color corresponding to either a detection area where the magnitude of the elevation difference is greater than 0 (a predetermined value) or a detection area where the magnitude of the elevation difference is equal to or less than 0 (a predetermined value); and a second elevation difference color display step for adding the color determined in the second color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the predetermined area.

The elevation difference detection system 101 of this embodiment includes a display control unit 117 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit 5, and a color determination unit 116 that determines a color for each detection area depending on whether the detection area has an elevation difference magnitude greater than 0 (a predetermined value) or an elevation difference magnitude less than or equal to 0 (a predetermined value). The display control unit 117 adds the color determined by the color determination unit 116 to the three-dimensional image displayed on the display unit 5 to display the elevation difference in the predetermined area.

As a result, in the elevation difference detection method and elevation difference detection system 101 of this embodiment, detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value) and detection areas where the magnitude of the elevation difference is 0 (predetermined value) or less are displayed in different colors, making it easy to detect the state of the specified area.

The elevation difference detection method of this embodiment includes a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with 0 (predetermined value) for each identical detection area within a predetermined area; a second ratio calculation step of calculating, based on the comparison result in the comparison step, for detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value), the ratio of the sum of detection areas (detection areas in a first predetermined range) where the magnitude of the elevation difference is greater than ₀ (predetermined value) and the magnitude of the elevation difference is greater than _a1 (where _a1 is a number greater than 0) to detection areas (detection areas in a second predetermined range) where the magnitude of the elevation difference is 0 (predetermined value) or less and the magnitude of the elevation difference is a2 (where _a2 is a number less than 0); and a second determination step of determining the state of the predetermined area based on the ratio calculated in the second ratio calculation step.

The altitude difference detection system of this embodiment includes a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (a predetermined value) for each identical detection area within a predetermined area, a second ratio calculation unit 119 that calculates, based on the comparison result of the comparison unit 115, the ratio of the sum of detection areas where the magnitude of the altitude difference is greater than ₀ (a predetermined value) and where the magnitude of the altitude difference is greater than a1 (where _a1 is a number greater than 0) and detection areas where the magnitude of the altitude difference is ₀ (a predetermined value) or less and where the magnitude of the altitude difference is a2 (where _a2 is a number less than 0), and a second determination unit 119a that determines the state of the predetermined area based on the ratio calculated by the second ratio calculation unit 119.

As a result, the elevation difference detection method and elevation difference detection system of this embodiment calculate the proportion of detection areas with very large elevation differences based on the results of comparing the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within a predetermined area, and determine the condition of the predetermined area based on this proportion. Therefore, since the condition of the predetermined area is determined automatically, there is no need for an inspector to determine the condition of the predetermined area.

The elevation difference detection method of this embodiment includes an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a third color determination step of determining, for each detection area, a color corresponding to either a detection area where the magnitude of the elevation difference is greater than 0 and the magnitude of the elevation difference is greater than _a1 (where _a1 is a number greater than 0) (detection area in a first predetermined range), or a detection area where the magnitude of the elevation difference is 0 or less and the magnitude of the elevation difference is _a2 or less (where _a2 is a number less than 0) (detection area in a second predetermined range), and a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the predetermined area.

The elevation difference detection method of this embodiment includes a display control unit 117 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage means on the display unit, and a color determination unit 116 that determines a color for each detection area according to either a detection area where the magnitude of the elevation difference is greater than ₀ and the magnitude of the elevation difference is greater than a1 (where _a1 is a number greater than 0) (detection area in a first predetermined range), or a detection area where the magnitude of the elevation difference is 0 or less and the magnitude of the elevation difference is _a2 or less (where _a2 is a number less than 0), (detection area in a second predetermined range), and the display control unit 117 adds the color determined by the color determination unit 116 to the three-dimensional image displayed by the image display means to display the elevation difference in the predetermined area.

As a result, in the elevation difference detection method and elevation difference detection system of this embodiment, detection areas with very large elevation differences are displayed in a color that corresponds to that difference, making it easy to detect the condition of a specific area.

The elevation difference detection method of this embodiment includes a comparison step in which, for each identical detection area within a predetermined area, the magnitude of the elevation difference calculated in the elevation difference calculation step is compared with 0 (a predetermined value); a third ratio calculation step in which, based on the comparison result in the comparison step, the ratio of the boundary portion in the predetermined area between detection areas where the magnitude of the elevation difference is greater than 0 (a predetermined value) and detection areas where the magnitude of the elevation difference is 0 (a predetermined value) or less; and a third determination step in which the state of the predetermined area is determined based on the ratio calculated in the third ratio calculation step.

The altitude difference detection system 101 of this embodiment includes a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (predetermined value) for each identical detection area within a predetermined area; a third ratio calculation unit 120 that calculates the ratio of the boundary portion in the predetermined area between detection areas where the magnitude of the altitude difference is greater than 0 (predetermined value) and detection areas where the magnitude of the altitude difference is 0 (predetermined value) or less based on the comparison result of the comparison unit 115; and a third determination unit 120a that determines the state of the predetermined area based on the ratio calculated by the third ratio calculation unit 120.

As a result, the elevation difference detection method and elevation difference detection system 101 of this embodiment compare the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within a predetermined area, and based on the comparison results, calculate the ratio of the boundary between detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value) and detection areas where the magnitude of the elevation difference is 0 (predetermined value) or less, and determine the state of the predetermined area based on this ratio. Therefore, because the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area.

The above describes an embodiment of the present invention, but the specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention.

In the first embodiment described above, when a predetermined position is designated, a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of an area surrounded by lines indicating parts of the vicinity of the predetermined position with the same elevation difference are displayed. However, the present invention also includes a display in which at least one of a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of an area surrounded by lines indicating parts of the vicinity of the predetermined position with the same elevation difference is displayed.

In the first embodiment described above, the elevation difference between the time when road repair work began and the repair plan surface is displayed in multiple colors on the display unit 5 for each planar position within a specified area of the road surface, as shown in FIG. 22(a). However, as shown in FIG. 22(b), it is also possible to display the elevation difference between the post-repair road surface and the repair plan surface in multiple colors on the display unit 5. In this case, after the road is repaired, the 3D scanner 2 acquires point cloud data for each point in a specified area of the road surface, and the point cloud data is stored in the point cloud data storage unit 11, and the elevation difference between the post-repair road surface and the repair plan surface is calculated. At the time when repair work began, as shown in FIG. 22(a), there are some locations with a large elevation difference from the repair plan surface. However, after repair, as shown in FIG. 22(b), there are almost no locations with a large elevation difference from the repair plan surface, indicating that the road repair was carried out in accordance with the repair plan.

In the first embodiment described above, the user designates a predetermined position by pressing the display surface 5a of the display unit 5, but the method for designating a predetermined position is not limited to this. Therefore, the altitude difference detection device 10 may have an operation unit, and the user may designate a predetermined position within a predetermined area by operating the operation unit.

In the second embodiment described above, the magnitude of the elevation difference was compared with a predetermined value of 0 for each identical planar position within a predetermined area, and areas where the elevation at the time of repair work commencement was lower than the elevation of the repair planning surface were designated as concave areas, and areas where the elevation at the time of repair work commencement was higher than the elevation of the repair planning surface were designated as convex areas, but this is not limited to this. For example, the predetermined value used to compare the magnitude of the elevation difference may be a value other than 0.

In the second embodiment described above, areas where the elevation at the time of repair work commencement was lower than the elevation of the repair planning surface were displayed in warm colors (dark warm colors or light warm colors), and areas where the elevation at the time of repair work commencement was higher than the elevation of the repair planning surface were displayed in cool colors (dark cool colors or light cool colors), but this is not limited to this. For example, the colors used to display each area are arbitrary.

In the second embodiment described above, examples of methods for calculating the ratios of the first ratio calculation unit 118, the second ratio calculation unit 119, and the third ratio calculation unit 120 were explained, but the methods for calculating these ratios are not limited to these. In the second embodiment described above, examples of methods for determining the ratios of the first determination unit 118a, the second determination unit 119a, and the third determination unit 120a were explained, but the methods for determining the ratios are not limited to these.

In the second embodiment described above, the state of the specified area was determined by color bias judgment, dark color judgment, and hue boundary judgment, but the state of the specified area may be determined by at least one of color bias judgment, dark color judgment, and hue boundary judgment.

In the first and second embodiments described above, the elevation difference calculation unit 14 calculates the elevation difference for each identical planar position within a specified area of the road surface based on point cloud data for each point within the specified area of the road surface at the time repair work begins and reference surface data, which is planning surface data that indicates the repair planning surface when repairing the specified area of the road surface. However, instead of planning surface data that indicates the repair planning surface when repairing the specified area of the road surface, road surface data when the specified area of the road surface was newly constructed or road surface data when the specified area of the road surface was repaired may be used as the reference surface data.

In other words, the elevation difference detection method, elevation difference detection system, and elevation difference detection program of the present invention may calculate elevation differences for each identical planar position within a specified area of the road surface based on point cloud data for each point within a specified area of the road surface at the time of repair work commencement and reference surface data, which is road surface data when the specified area was newly constructed or repaired. The road surface data when the specified area was newly constructed or repaired is data that indicates the surface condition of the road surface at that time, and is data that indicates the elevation of each planar position within the specified area when the specified area was newly constructed or repaired. For example, if point cloud data for each point within a specified area of the road surface after the specified area of the road surface has been constructed or repaired using a three-dimensional scanning device (3D scanner), the elevation differences may be calculated for each identical planar position within the specified area of the road surface using the road surface data based on that point cloud data as reference surface data. In this case, the surface condition of the road after the specified area is newly constructed or repaired will be almost free of damage such as diggings, but by comparing the elevation at the time of repair work commencement with road surface data after the specified area is newly constructed or repaired, it is possible to detect unevenness in the road surface caused by damage such as diggings after the specified area is newly constructed or repaired.

1. Elevation Difference Display System (Elevation Difference Display System)
2. 3D scanner (3D scanning device)
5 Display section 5a Display surface (operation detection means)
10 Elevation difference detection device 11 Point cloud data reception unit (point cloud data reception means)
11a Point cloud data storage unit (point cloud data storage means)
12 3D image creation unit 13 Planning surface data reception unit (reference surface data reception means)
13a Plan surface data storage unit (reference surface data storage means)
14 Elevation difference calculation unit (elevation difference calculation means)
15 First color determination unit (first color determination means)
16 Display control unit (display control means)
101 Elevation Difference Display System (Elevation Difference Display System)
110: Altitude difference detection device 115: Comparison unit (comparison means)
116 Color determination unit (second color determination means, third color determination means)
117 Display control unit (display control means)
118 First ratio calculation unit (first ratio calculation means)
118a First determination unit (first determination means)
119 Second ratio calculation unit (second ratio calculation means)
119a Second determination unit (second determination means)
120 Third ratio calculation unit (third ratio calculation means)
120a Third determination unit (third determination means)

Claims (23)

a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point within a predetermined area of the road surface at the time of starting repair work by using laser light irradiated from a three-dimensional scanning device installed at a known point;
a reference surface data acquisition step of acquiring, as reference surface data, any one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired;
an elevation difference calculation step of calculating an elevation difference for each identical planar position within the predetermined area based on the point cloud data acquired in the point cloud data acquisition step and the reference plane data acquired in the reference plane data acquisition step;
and an elevation difference display image creation step of creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step to a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step. a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point within a predetermined area of the road surface at the time of starting repair work by using laser light irradiated from a three-dimensional scanning device installed at a known point;
a reference surface data acquisition step of acquiring, as reference surface data, any one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired;
an elevation difference calculation step of calculating an elevation difference for each identical planar position within the predetermined area based on the point cloud data acquired in the point cloud data acquisition step and the reference plane data acquired in the reference plane data acquisition step;
and an elevation difference display image creation step of creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding lines indicating areas where the elevation difference within the specified area is the same, in accordance with the magnitude of the elevation difference calculated in the elevation difference calculation step, to a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step. The elevation difference display image creating step includes:
an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit;
a first color determination step of determining a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step for each identical planar position within the predetermined area;
2. The method for creating an elevation difference display image according to claim 1, further comprising a first elevation difference color display step of adding the color determined in the first color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area. The elevation difference display image creating step includes:
an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit;
3. The method for creating an elevation difference display image according to claim 1, further comprising an elevation difference line display step for displaying a line indicating an area within the specified region where the elevation difference is the same, in accordance with the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step. The elevation difference display image creating step includes:
a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit by the first elevation difference color display step;
The elevation difference display image creation method according to claim 3, further comprising a numerical display step of displaying on the display unit a numerical value indicating the elevation difference at a specified position when the specified position is specified in the designation step. The elevation difference display image creating step includes:
a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit by the elevation difference line display step;
The elevation difference display image creation method according to claim 4, further comprising a numerical display step of displaying on the display unit, when a predetermined position is designated by the designation step, a numerical value indicating the area of an area surrounded by lines indicating parts with the same elevation difference near the predetermined position. The elevation difference display image creating step includes:
a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region;
a first ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value;
The method for creating an elevation difference display image according to any one of claims 1 to 6, further comprising a first determination step of determining the state of the specified area based on the ratio calculated in the first ratio calculation step. The elevation difference display image creating step includes:
an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit;
a second color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is equal to or less than a predetermined value;
The elevation difference display image creation method according to claim 7, further comprising a second elevation difference color display step of adding the color determined in the second color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area. The elevation difference display image creating step includes:
a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region;
a second ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value to planar positions where the magnitude of the elevation difference is within a first predetermined range, and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value to planar positions where the magnitude of the elevation difference is within a second predetermined range;
An elevation difference display image creation method as described in any one of claims 1 to 8, characterized in that it comprises a second judgment step of judging the state of the specified area based on the ratio calculated in the second ratio calculation step. The elevation difference display image creating step includes:
an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit;
a third color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range;
The elevation difference display image creation method according to claim 9, further comprising a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area. The elevation difference display image creating step includes:
a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region;
a third ratio calculation step of calculating a ratio of a boundary portion between a planar position in the predetermined region where the magnitude of the elevation difference is greater than a predetermined value and a planar position in the predetermined region where the magnitude of the elevation difference is equal to or less than the predetermined value, based on the comparison result in the comparison step;
An elevation difference display image creation method as described in any one of claims 1 to 10, characterized in that it comprises a third judgment step of judging the state of the specified area based on the ratio calculated in the third ratio calculation step. a point cloud data storage means for storing point cloud data converted into three-dimensional coordinates for each point within a predetermined area of the road surface at the time of starting repair work, the point cloud data being acquired by laser light irradiated from a three-dimensional scanning device installed at a known point;
a reference surface data storage means for storing, as reference surface data, one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired;
an elevation difference calculation means for calculating an elevation difference for each identical planar position within the predetermined area based on the point cloud data stored in the point cloud data storage means and the reference plane data stored in the reference plane data storage means;
and an elevation difference display image creation means for creating an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding a color according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data stored in the point cloud data storage means. a point cloud data storage means for storing point cloud data converted into three-dimensional coordinates for each point within a predetermined area of the road surface at the time of starting repair work, the point cloud data being acquired by laser light irradiated from a three-dimensional scanning device installed at a known point;
a reference surface data storage means for storing, as reference surface data, one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired;
an elevation difference calculation means for calculating an elevation difference for each identical planar position within the predetermined area based on the point cloud data stored in the point cloud data storage means and the reference plane data stored in the reference plane data storage means;
and an elevation difference display image creation means for creating an elevation difference display image that displays the elevation difference at the same horizontal position within the specified area by adding lines indicating areas where the elevation difference within the specified area is the same in accordance with the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data stored in the point cloud data storage means. The altitude difference display image creating means
a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit;
a first color determining means for determining a color corresponding to the magnitude of the elevation difference calculated by the elevation difference calculating means for each identical planar position within the predetermined area,
The elevation difference display image creation system according to claim 12, characterized in that the display control means adds the color determined by the first color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the specified area. The altitude difference display image creating means
a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit,
The elevation difference display image creation system of claim 12 or 13, characterized in that the display control means displays lines indicating parts of the specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated by the elevation difference calculation means, on the three-dimensional image displayed on the display unit. The altitude difference display image creating means
a designation unit for designating a predetermined position within the predetermined area while the elevation difference within the predetermined area is displayed on the display unit;
The elevation difference display image creation system according to claim 14, characterized in that when a predetermined position is designated by the designation means, the display control means displays a numerical value indicating the elevation difference at the predetermined position on the display unit. The altitude difference display image creating means
a designation unit for designating a predetermined position within the predetermined area while the elevation difference within the predetermined area is displayed on the display unit;
The elevation difference display image creation system of claim 15, characterized in that when a specified position is specified by the designation means, the display control means displays on the display unit a numerical value indicating the area of an area surrounded by lines indicating parts with the same elevation difference near the specified position. The altitude difference display image creating means
a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area;
a first ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value;
An elevation difference display image creation system as described in any one of claims 12 to 17, characterized in that it comprises a first judgment means for judging the state of the specified area based on the ratio calculated by the first ratio calculation means. The altitude difference display image creating means
a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit;
a second color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is equal to or less than a predetermined value;
The elevation difference display image creation system according to claim 18, characterized in that the display control means adds the color determined by the second color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the specified area. The altitude difference display image creating means
a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area;
a second ratio calculation means for calculating, based on the comparison result by the comparison means, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and falls within a first predetermined range, and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value and falls within a second predetermined range;
An elevation difference display image creation system as described in any one of claims 12 to 19, characterized in that it comprises a second judgment means for judging the state of the specified area based on the ratio calculated by the second ratio calculation means. The altitude difference display image creating means
a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit;
a third color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range;
The elevation difference display image creation system according to claim 20, characterized in that the display control means adds the color determined by the third color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the specified area. The altitude difference display image creating means
a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area;
a third ratio calculation means for calculating a ratio of a boundary portion between a planar position where the magnitude of the elevation difference is greater than a predetermined value and a planar position where the magnitude of the elevation difference is equal to or less than the predetermined value, based on a comparison result by the comparison means;
An elevation difference display image creation system as described in any one of claims 12 to 21, characterized in that it comprises a third judgment means for judging the state of the specified area based on the ratio calculated by the third ratio calculation means. When loaded into a computer, the computer:
a point cloud data receiving means for receiving point cloud data converted into three-dimensional coordinates for each point within a predetermined area of the road surface at the time of starting repair work, the point cloud data being obtained by using a laser beam irradiated from a three-dimensional scanning device installed at a known point;
a reference surface data receiving means for receiving, as reference surface data, any one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired;
an elevation difference calculation means for calculating an elevation difference for each identical planar position within the predetermined area based on the point cloud data received by the point cloud data receiving means and the reference plane data received by the reference plane data receiving means;
an elevation difference display image creation program that functions as an elevation difference display image creation means that creates an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding a color according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data received by the point cloud data receiving means , or an elevation difference display image that displays the elevation difference at the same planar position within the specified area by adding lines indicating parts of the specified area where the elevation difference is the same according to the magnitude of the elevation difference calculated by the elevation difference calculation means to a three-dimensional image based on the point cloud data received by the point cloud data receiving means.