JP7740825B2 - Survey information management system, survey information management method, and survey information management program - Google Patents

Description

This disclosure relates to a survey information management system, a survey information management method, and a survey information management program.

In recent years, ICT technology has been used in construction work at construction sites. Due to labor shortages and recent infectious disease infection control measures, there is a demand for ICT technology to improve work efficiency and reduce the number of workers required.

One known system that utilizes ICT technology to acquire 3D data on topography, features, etc. is one that uses a ground-mounted 3D scanner to measure objects from multiple locations, acquires 3D point cloud data, and displays it on a terminal (Patent Document 1).

JP 2020-56616 A

The only ways to check the acquisition status of such three-dimensional point cloud data were to check the distribution of the point cloud data on a flat map or to check the three-dimensional point cloud data by drawing it in a virtual space that imitates three-dimensional space. However, when checking the distribution of point cloud data on a flat map, it was not clear whether the required three-dimensional point cloud volume was met, and when checking by drawing it in an imitative three-dimensional space, there was a limit to the amount of space that could be drawn and checked at one time, making it a burden to check the entire area.

Based on the above, the object of the present invention is to provide a survey information management system, survey information management method, and survey information management program that allows efficient scanning on-site in a survey information management system that measures point clouds in three-dimensional space, and that allows the scanning status and data acquisition results to be visually confirmed.

To achieve the above-mentioned objectives, a surveying information management system according to an embodiment of the present disclosure includes a surveying information acquisition unit that acquires surveying information including point cloud data linked to location information from the surveying device using an information display terminal and a surveying device that measures point clouds in three-dimensional space, a range setting unit that sets the display range of the point cloud, a section setting unit that divides the display range into specified unit sections, a point cloud quantity calculation unit that calculates the point cloud quantity contained in the space for each unit section, and a point cloud quantity display unit that displays on the information display terminal the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range.

Furthermore, in order to achieve the above-mentioned object, a surveying information management method according to an embodiment of the present disclosure includes a surveying information acquisition step in which a surveying information acquisition unit acquires surveying information including point cloud data linked to location information from the surveying device using an information display terminal and a surveying device, a range setting step in which a range setting unit sets a display range for the point cloud quantity, a section setting step in which a section setting unit divides the display range into predetermined unit sections, a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the point cloud quantity contained in space for each unit section, and a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, the point cloud quantity for each section of the display range calculated in the point cloud quantity calculation step.

Furthermore, to achieve the above-mentioned object, a surveying information management method according to an embodiment of the present disclosure causes a computer to execute the following steps to display surveying information using an information display terminal and a surveying device: a surveying information acquisition step in which a surveying information acquisition unit acquires surveying information including point cloud data linked to location information from the surveying device; a range setting step in which a range setting unit sets a display range for the point cloud; a section setting step in which a section setting unit divides the display range into predetermined unit sections; a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the point cloud quantity contained in space for each unit section; and a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, the point cloud quantity for each section of the display range calculated in the point cloud quantity calculation step.

This invention allows for efficient on-site scanning and allows for visual confirmation of the scanning status and data acquisition results.

1 is a system configuration diagram showing a configuration of a survey information management system according to an embodiment of the present disclosure. FIG. 10 is a flowchart illustrating a processing flow. 10 shows an example of a screen displayed on an information display terminal. 10 shows an example of a screen displayed on an information display terminal. 10 shows an example of a screen displayed on an information display terminal. 10 shows an example of a screen displayed on an information display terminal. 10 shows an example of a screen displayed on an information display terminal.

<Overview>
For example, at outdoor construction sites such as civil engineering works, work is carried out to confirm the site conditions by acquiring three-dimensional point cloud data (hereinafter sometimes referred to as point cloud data) using surveying devices such as 3D scanners before the start of construction or at successive times, such as at the start of construction. Such site conditions are submitted as deliverables to required agencies in a predetermined format, such as a report. Acquiring a point cloud at a site typically involves setting up a surveying device and acquiring a point cloud around that location, a process that is repeated multiple times at different locations. Alternatively, it is also possible to mount a 3D scanner on a mobile vehicle and acquire point clouds while moving within a controlled area.

The acquisition status of 3D point cloud data is checked using an information display device such as a smartphone, tablet, or PC that can be viewed by the worker at hand. When doing so, the method of displaying point cloud volume and point clouds by drawing them in a virtual space that mimics 3D space is limited in the amount of space that can be drawn and checked at one time, so it takes time to check all areas and it is not possible to check them all at once.

In addition, when workers complete the work of checking the point cloud acquisition status on-site, they are required to confirm that the required amount of point cloud data is met within all areas of the range to be managed, and it is also necessary to be able to confirm this quantitatively.

Another problem is that it is not desirable for all of the acquired 3D point cloud data to be displayed. When carrying out construction work, areas that must be managed are defined, and displaying and counting point clouds for areas outside of that managed range is a waste of computing resources and places a heavy load on the system.

As a measure to address each of the above-mentioned issues, the inventors of the present disclosure came up with the concept of point cloud volume management, which they implemented within a designated management area, with the aim of enabling efficient scanning on-site, making it possible to visually predict the scanning situation and confirm the results of data acquisition, thereby streamlining work.

Embodiments of the present disclosure will now be described with reference to the accompanying drawings. Figure 1 is a system configuration diagram showing the configuration of a survey information management system according to an embodiment of the present disclosure.

<System configuration>
The surveying information management system 1 includes an information display terminal 100 and a surveying device 200, which are used by a worker 2. The worker 2 uses the surveying information management system 1, which includes these components, to check three-dimensional point cloud data acquired outdoors, for example, at a civil engineering construction site.

One example of a surveying device 200 for measuring and acquiring three-dimensional point cloud data is, for example, a three-dimensional scanner device, and more specifically, a three-dimensional laser scanner device. The surveying device 200 has a surveying instrument memory unit 220, a scanner unit 260, an attitude drive unit 281, an attitude detection unit 282, a surveying instrument display unit 250, a surveying instrument operation unit 240, a surveying instrument communication unit 230, a surveying instrument processing unit 210, and a position acquisition unit 270, and each of these components is electrically connected to each other. In addition, although not shown, the surveying device 200 may also have a camera unit for taking panoramic photographs of the site.

The surveying instrument storage unit 220 is a storage device using memory or magnetic disk, and stores various design information for the site. This design information includes, for example, BIM (Building Information Modeling). Note that the design information is not limited to BIM and may be, for example, three-dimensional CAD data. It may also be a graphical drawing with a scale added to an image file.

The scanner unit 260 is, for example, a laser scanner, and has a distance measurement unit 261 and a deflection unit 262. The distance measurement unit 261 has the function of measuring distance and angle by emitting laser light, which is distance measurement light, and receiving the reflected light.

The attitude drive unit 281 is an actuator that rotates the scanner unit 260 in the horizontal and vertical directions. By driving the attitude drive unit 281, the orientation of the scanner unit can be changed.

The attitude detection unit 282 is a rotation angle sensor (encoder) that can detect the horizontal and vertical angles driven by the attitude drive unit 281. The attitude detection unit 282 may also have an inclination measuring device (tilt sensor) that detects the inclination angle of the surveying device 200. The attitude detection unit 282 can detect the direction in which the scanner unit 260 is pointed.

The surveying instrument display unit 250 is a display capable of displaying various information, such as a virtual space based on the design information stored in the surveying instrument memory unit 220, the results of measurements taken by the scanner unit 260, and the results of analysis performed by the surveying instrument processing unit 210.

The surveying instrument operation unit 240 is a part that allows settings and operations such as measurements by the scanner unit 260 and driving of the attitude driving unit 281. This surveying instrument operation unit 240 may be physical buttons, or it may be a touch screen integrated with the surveying instrument display unit 250.

The surveying instrument communication unit 230 is a communication device capable of communicating with at least various information terminals. For example, the communication unit may be a communication device that can connect to a network such as the Internet, or a device that can connect to the information display terminal 100 wirelessly or via a wired connection to communicate.

The position acquisition unit 270 has the function of acquiring the position of the surveying device 200 while it is stationary or moving. Specifically, for example, it has the function of acquiring the position by installing the surveying device 200 at an instrument point, and can measure its own position by measuring a target such as a retroreflective prism installed at a known position. Alternatively, the position acquisition unit 270 may be a GNSS receiving device.

The surveying instrument processing unit 210 is the central processing unit that performs various controls in the surveying instrument 200, and has a point cloud data generation unit 221, an actual position calculation unit 222, and a display control unit 223 as functions realized by programs stored in the surveying instrument storage unit 220.

The display control unit 223 has the function of generating a three-dimensional virtual space display of the construction site based on the design information stored in the surveying instrument storage unit 220, and displaying the point cloud data displayed in the virtual space, the actual measured positions calculated by the actual measured position calculation unit 222, etc. on the surveying instrument display unit 250.

The point cloud data generation unit 221 has the function of generating three-dimensional point cloud data from the distances of each ranging point (point cloud) measured by the scanner unit 260 and the horizontal and vertical angles detected by the orientation detection unit 282.

The actual position calculation unit 222 has the function of calculating the actual position of the three-dimensional point cloud data generated by the point cloud data generation unit 221.

The surveying device 200 may also have other surveying functions. For example, it may be a total station (TS) with a three-dimensional scanner function. It may also have a mobile function that enables it to autonomously navigate a predetermined route, or it may be capable of remotely controlling its travel route. Examples of mobile objects with a mobile function include vehicles, robots, and unmanned aerial vehicles (UAVs). Vehicles also include heavy machinery that travels within a site.

The information display terminal 100 may be, for example, a smartphone, feature phone, tablet, handheld computer device (e.g., PDA (Personal Digital Assistant)), wearable device (glasses-type device, watch-type device, etc.), etc. By installing application software on a general-purpose terminal, it can be used as the information display terminal of this embodiment. These information display terminals 100 are equipped with a terminal display unit 150 and can be easily carried to construction sites. Furthermore, the terminal display unit 150 can be viewed hands-free or by holding it in one hand. Furthermore, they are equipped with an internal power source such as a battery, and can operate for a certain period of time without requiring an external power source.

The information display terminal 100 has a terminal communication unit 130, a terminal memory unit 120, a terminal processing unit 110, a terminal input unit 140, and a terminal display unit 150.

The device processing unit 110 executes functions and/or methods implemented by code or instructions contained in a program stored in the device storage unit 120 (not shown). The device processing unit 110 may include, for example, a central processing unit (CPU), MPU, GPU, microprocessor, processor core, multiprocessor, ASIC, FPGA, etc., and may implement each process disclosed in each embodiment using a logic circuit or dedicated circuit formed in an integrated circuit, etc. Furthermore, these circuits may be implemented using one or more integrated circuits, and multiple processes shown in each embodiment may be implemented using a single integrated circuit. Furthermore, the device may include a main memory unit (not shown) that temporarily stores programs read from the device storage unit 120 and provides a working area for the device processing unit 110.

The terminal communication unit 130 is capable of communicating with the surveying instrument communication unit 230 of the surveying device 200, and is capable of receiving three-dimensional point cloud data measured and calculated by the surveying device 200, as well as the position information of the surveying device 200. Calculation of the measured position information for the three-dimensional point cloud data may be performed on the surveying device 200 side, or on the information display terminal 100 side. Communication may be performed either wired or wirelessly, and any communication protocol may be used as long as mutual communication is possible.

The terminal input unit 140 is realized by any type of device, or combination thereof, that can accept input from the user, i.e., worker 2, and transmit information related to that input to the terminal processing unit 110. For example, in addition to hardware input means such as buttons, it includes software input means displayed on a display unit such as a touch panel, a remote controller, a microphone, and other audio input means.

The terminal display unit 150 can be realized by any one or combination of devices capable of displaying a screen. Examples include flat displays such as LCD or OLED displays, curved displays, foldable screens on foldable terminals, head-mounted displays, or devices capable of displaying by projecting onto a material using a small projector.

The terminal storage unit 120 has the function of storing various necessary programs and data. It can also store surveying information (three-dimensional point cloud data, position information of the surveying device 200) received by the terminal communication unit 130. For example, the terminal storage unit 120 stores information about the land to be used at the construction site (elevation, etc.) and design information including slope design information. The terminal storage unit 120 is realized by various storage media such as an HDD, SSD, or flash memory.

Design information includes the blueprints required for construction work. Construction work includes the construction of structures such as buildings, roads, railways, tunnels, bridges, ditches, waterways, and rivers. Blueprints include floor plans, longitudinal and transverse cross-sections, as well as the linear data, point data, the position, coordinates, and elevations of each point and line segment.

The terminal storage unit 120 stores application software programs, including a survey information acquisition unit 121, a range setting unit 122, a division setting unit 123, a point cloud quantity calculation unit 124, a point cloud quantity display unit 125, and a point cloud quantity management unit 126, which implement various functions. The terminal storage unit 120 may also store programs that implement the functions of the point cloud data generation unit 221 and the actual position calculation unit 222 stored in the surveying device 200, and these functions may be implemented by executing them on the terminal processing unit 110.

The surveying information acquisition unit 121 has the function of acquiring surveying information including point cloud data linked with position information from the surveying device 200. More specifically, three-dimensional point cloud data is generated by the point cloud data generation unit 221 through measurements by the scanner unit 260 of the surveying device 200. The position information of each point cloud in the three-dimensional point cloud data is assigned and linked by the measured position calculation unit 222. The point cloud data linked with the position information is acquired through communication between the surveying instrument communication unit 230 and the terminal communication unit 130.

The range setting unit 122 has the function of setting the display range of the point cloud. More specifically, it sets a specified range on the map of the construction site as the display range for managing the point cloud quantity. The range may be set by the worker 2 using the terminal input unit 140 of the information display terminal 100 to input the display range of the point cloud, or it may be obtained using site management software that is installed and executed on a specified information processing management server that the information display terminal 100 can access by communicating with the terminal communication unit 130. Alternatively, the range setting unit 122 may read and specify management area information included in the design information stored in the terminal memory unit 120. The display range can be specified, for example, so that it is surrounded by a boundary line on the map that separates the inside and outside of the range. Furthermore, the set display range is set on the map, and location information on the map or blueprint is also assigned so that it can be displayed linked to the map or blueprint.

The division setting unit 123 has the function of dividing the display range into specified unit divisions. More specifically, it divides the display range set by the range setting unit 122 into a set of multiple unit divisions separated by specified unit area divisions. A non-limiting, but most typical, example is division into square sections of the same area, known as grid units. In addition to squares, any shape that can divide the display range into multiple continuous unit divisions without gaps, such as hexagons or triangles, can be used. The size of each unit division can also be freely set. Unit divisions that intersect with boundary lines may include those that extend beyond the boundary lines, or may have a shape with a portion missing so as not to extend beyond the boundary lines. Location information is assigned to each unit division using the map location information assigned to the display range.

The point cloud quantity calculation unit 124 has the function of calculating the point cloud quantity contained in the space of each unit segment. More specifically, the point cloud quantity calculation unit 124 uses the position information linked to the acquired three-dimensional point cloud data and compares it with the position information of each unit segment to calculate the point cloud quantity contained in the space of each unit segment. "Point cloud quantity" is a quantitative indicator of point clouds, including the number of point clouds, the number of point clouds per unit area, the number of point clouds per unit volume, the average elevation value of the point clouds contained in the unit segment, and other statistical quantities, and is not limited to simply the number of point clouds.

Furthermore, the calculation of point cloud quantities can be limited to point clouds that meet specified conditions. Specifically, the surveying device 200 can be used to calculate only point clouds within a specified distance. For example, only point clouds within a 30-meter radius from the surveying device 200 can be used for calculation. The specified distance here is set by calculating the measurement distance that the surveying device 200 can use on-site, for example, using a specified testing method. One example of a specified testing method is an accuracy confirmation test in which the results of measuring the distance between two or more known points using a total station or the like are compared with the distance between two points obtained from measurements using the surveying device 200, and the difference is confirmed to be within a specified range. Furthermore, since the measurement accuracy of the surveying device 200 generally decreases as the incident angle of the laser light relative to the road surface becomes shallower, only point clouds with an incident angle greater than a specified angle can be used to calculate point cloud quantities.

The point cloud quantity calculation unit 124 may also have a function to calculate the amount of point clouds contained in the space within a specified altitude range for each unit section. More specifically, it sets upper and lower altitude limits and calculates the amount of point clouds contained in the space of the unit section within that altitude range.

The point cloud quantity calculation unit 124 may also have the function of calculating an index (such as a fulfillment rate) related to the fulfillment of the required point cloud quantity for the display range or unit section. More specifically, it can read the required point cloud quantity per unit section stored in the design information of the device storage unit 120, compare it with the actually calculated point cloud quantity, and calculate an index related to the fulfillment of the required point cloud quantity. The index related to the fulfillment of the required point cloud quantity may be the fulfillment rate of the required point cloud quantity (e.g., "80% fulfilled") or the insufficiency rate of the required point cloud quantity (e.g., "20% insufficient"). It may be expressed numerically, or may be expressed as a rank such as high, medium, or low, or may be indicated by a predetermined threshold and only indicate fulfillment or insufficiency. Furthermore, the fulfillment rate may be calculated for all unit sections to calculate the fulfillment rate for the entire display range. The fulfillment rate, etc. for the entire display range may be, for example, the average fulfillment rate, etc. for all unit categories, or it may be the number of unit categories that fulfill the required fulfillment rate, etc. divided by the total number of unit categories.

The point cloud quantity calculation unit 124 may also have a function to calculate, based on the position of the acquired point cloud, the range and predicted point cloud quantity that can be acquired when a point cloud is surveyed at that position. More specifically, when the surveying device 200 is installed at a location within the display range and a point cloud is about to be acquired, the position information of the surveying device 200 is acquired as described above, and an estimate of the amount of three-dimensional point cloud data that can be acquired from around the surveying device 200 is calculated. Regarding the range and amount of point clouds that can be acquired, information related to the performance of the surveying device 200 is stored in advance in the unit memory unit, and the acquisition range and number of point clouds can be calculated based on the performance of the device, with the location where the surveying device 200 is installed as the center.

The point cloud quantity calculation unit 124 may also have a function to, when calculating a predicted value, calculate an added value by adding the calculated point cloud quantity and the predicted point cloud quantity for the overlapping section if there is an overlapping section within the predicted range for which a point cloud quantity has already been calculated based on measurement information and set as an existing value. More specifically, the point cloud quantity calculation unit 124 retrieves the measurement information of already measured three-dimensional point cloud data as an existing value from the terminal storage unit 120, and, if there is an area among the predicted values calculated as above where the observation range overlaps with the existing value, i.e., a unit section where the observation range overlaps, it can add the existing value and planned value for that unit section to calculate an added value that indicates an estimate of how the point cloud quantity will increase if a survey is carried out in the future.

In addition, the point cloud quantity calculation unit 124 may calculate the added value in the unit sections where the above-mentioned observation ranges overlap not only by using existing values and predicted values, but also by using existing values that have already been measured and existing values.

The point cloud quantity display unit 125 has the function of displaying on the information display terminal 100 the calculated point cloud quantity for each unit section for each section of the display range. More specifically, if the point cloud quantity is the number of point clouds, the number of point clouds per unit area, or the number of point clouds per unit volume, the above-mentioned calculated point cloud quantity, the predicted value of the point cloud quantity, and the added value obtained by adding the predicted value to the existing value of the calculated point cloud quantity can be displayed differently depending on the level of the point cloud quantity so that the level of the point cloud quantity can be seen. This is not a limitation, and the most typical display is color-coded, for example, a color distribution in which unit sections with high point cloud quantities are displayed in red, unit sections with low point cloud quantities in blue, and yellow in between. Furthermore, if the point cloud quantity is the elevation value of the point cloud, the average elevation value of the point clouds included in the unit section, or a statistical quantity of these, a color distribution in which unit sections with high elevations are displayed in red, low elevations in blue, and yellow in between can be displayed.

The point cloud quantity display unit 125 may also have the function of displaying the point cloud quantity contained within a predetermined elevation range for each unit segment, an indicator of whether the required point cloud quantity for the display range or unit segment is met, the point cloud quantity for each segment according to a predicted value, the point cloud quantity for each segment according to an added value obtained by adding a predicted value to an existing value that has already been calculated, and the point cloud quantity for each segment according to an added value obtained by adding existing values together. More specifically, the display method that shows the level of the indicator, such as the color-coded display described above, can also be applied to the point cloud quantity contained within a predetermined elevation range for each unit segment, the indicator of whether the required point cloud quantity for the display range or unit segment is met, the point cloud quantity for each segment according to a predicted value, and the point cloud quantity for each segment according to an added value obtained by adding a predicted value to an existing value that has already been calculated.

The point cloud quantity management unit 126 has a function to display information indicating a lack of point cloud quantity on the information display terminal 100 when there is a section within the display range where the point cloud quantity does not reach a predetermined required point cloud quantity. More specifically, as in the example above, a predetermined threshold for point cloud quantity stored in advance in the terminal storage unit 120 is used to determine whether the point cloud quantity is sufficient or insufficient for each unit section, and for unit sections with an insufficient quantity, a display indicating the lack of quantity is displayed on the terminal display unit 150 of the information display terminal 100 as a so-called alert so that the worker 2 can see it. Furthermore, if the point cloud quantity is the point cloud elevation value, average elevation value, or a statistical value thereof, it may be compared with other three-dimensional data that serves as a reference, such as the design elevation value of the design information to be compared, and a display indicating whether the value is higher or lower than the reference value may be similarly displayed as an alert for unit sections that deviate from the reference.

The point cloud quantity management unit 126 also has the function of calculating the accuracy of the instrument installation of the surveying device 200 based on point cloud data measured from multiple installation positions, and displaying information related to the accuracy of the instrument installation on the information display terminal 100. More specifically, in a unit section containing multiple point cloud data measured from different directions, it calculates comparison indices such as average elevation and median for each of the multiple point cloud data, and calculates the accuracy of the instrument installation based on the difference between the comparison indices.

For example, if there is point cloud data (first point cloud data Da, second point cloud data Db, third point cloud data Dc) measured from three installation locations within the same unit section, the difference (Ea-Eb, Ea-Ec, Eb-Ec) between the average elevations (Ea, Eb, Ec) calculated from each point cloud data is calculated as the accuracy of each instrument installation. If this difference is less than a predetermined value, the point cloud quantity management unit 126 determines that there is no problem with any of the instrument installations. On the other hand, if any two differences are equal to or greater than a predetermined value, it determines that there is a problem with the instrument installation. For example, if the difference Eb-Ec not involving the first point cloud data Da is less than a predetermined value, while the differences Ea-Eb and Ea-Ec involving the first point cloud data Da are both equal to or greater than a predetermined value, it determines that there is a problem with the instrument installation at the location where the first point cloud data Da was measured. Regarding the accuracy of instrument installation, the number of types of point cloud data contained within the same unit division is not limited to three and can be four or more, or it can be two if there is point cloud data that has been determined to be problem-free in other unit divisions.

The point cloud quantity management unit 126 then displays the difference between the above-mentioned comparison indices for each unit segment on the information display terminal 100 as information regarding the accuracy of the instrument installation. For example, unit segments where the difference between the comparison indices is less than a predetermined value may be displayed in blue, those where the difference is equal to or greater than the predetermined value may be displayed in red, and those where there is no point cloud data measured from at least three locations within the same unit segment may be displayed in white. Alternatively, the numerical value of the difference between the comparison indices may be displayed for each unit segment. This display of the instrument installation accuracy may be displayed together with the above-mentioned point cloud quantity display, or may be displayed on a separate screen. Furthermore, for unit segments determined to be problematic, a detailed display may be displayed, re-examining the surveying location and installation method of the surveying device 200 that measured the point cloud data, and an alert requesting remeasurement may be displayed. Note that the accuracy does not necessarily have to be calculated for each unit segment where overlaps occur; the accuracy of the instrument installation may be calculated and displayed for the entire area where point cloud data overlaps, such as by showing the percentage of unit segments where the difference between the comparison indices of other point cloud data is equal to or greater than a predetermined value. Furthermore, when measuring point cloud data, if there is point cloud data acquired from another installation location in the same unit division, and the difference between the currently measured point cloud data and the comparison index (for example, average elevation) of the other point cloud data is greater than a predetermined value, an alert will be displayed at that point, and the surveying location, installation method, etc. may be re-verified and a request for re-measurement may be made.

<Processing flow>
FIG. 2 shows a flowchart illustrating the processing flow of a surveying information management method and a surveying information management program using the surveying information management system according to an embodiment of the present disclosure.

First, in step S101, the surveying information acquisition unit 121 acquires surveying information including point cloud data linked to location information from the surveying device 200. Note that acquisition of this point cloud data may be performed after the range setting in step S102 and the division setting in step S103, which will be described later.

In step S102, the range setting unit 122 sets the display range of the point cloud. Figure 3 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the information display terminal 100 is a so-called tablet terminal, the terminal display unit 150 is, for example, an LCD or OLED display, and the terminal input unit 140 is an input unit implemented by the touch panel function of these displays. In this figure, a map display (not shown) such as a map or aerial photograph is displayed on the terminal display unit 150. On this map display, worker 2 inputs the display range while referring to the map display, and the range setting unit 122 sets the display range based on that input. Input can be done using various methods, such as freely drawing boundary lines using a finger or a stylus, or setting a rectangular range by setting two diagonal points. In this figure, a display range DA is displayed on the map display. At this point, position information is also assigned to the display range DA.

In step S103, the division setting unit 123 divides the display range into specified unit divisions. Figure 4 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the display range DA is divided into multiple unit divisions GU. Note that the unit divisions are exaggerated and shown larger in the drawing for ease of understanding, but in reality, they would be easier to understand if they were more precise, such as in units of one dot or one pixel. Also, in this figure, for areas where the boundary lines of the display range DA intersect, the unit divisions outside the boundary lines are displayed, but the area outside the boundary lines does not need to be displayed. Note that the acquired 3D point cloud data can be managed regardless of whether it is enclosed by the display range or not.

In step S104, the point cloud quantity calculation unit 124 calculates the point cloud quantity contained in the space for each unit section. The point cloud quantity is calculated for all of the above-mentioned unit sections.

In step S105, the point cloud quantity display unit 125 displays the calculated point cloud quantity for each unit section of the display range on the information display terminal 100. Figure 5 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the surveying device 200 has been installed in the unit section at position SP and has completed surveying. The point cloud quantity based on the 3D point cloud data acquired at this surveying device position SP is displayed in a shaded color for the unit sections surrounding position SP according to the point cloud quantity. Note that in reality, point clouds at the location where the surveying device 200 is installed and directly below it are not acquired, so the point cloud quantity is low. However, for ease of understanding, the point cloud quantity is displayed as higher the closer to the surveying device position SP. For example, between unit section GU2 and unit section GU1, unit section GU2 is displayed in a darker color, allowing intuitive understanding that the acquired point cloud quantity is higher. Similarly, it is also possible to display differences in comparative indices such as elevation based on point cloud data from multiple installation locations as information regarding the accuracy of instrument installation.In this way, the point cloud acquisition status and differences in comparative indices can be clearly displayed using colors, and the display range can be viewed at a glance.This allows Worker 2 to easily check whether the point cloud quantity of 3D point cloud data and the accuracy of instrument installation have been acquired in the required number and with the required accuracy for each section within the display range where the point cloud quantity should be managed, allowing for efficient scanning on site and allowing for visual confirmation of the scanning status and data acquisition results.

Figure 6 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. This figure illustrates an example in which the predicted value of the point cloud quantity that can be obtained by the next measurement is added to the existing value of the point cloud that has already been obtained, and the result is displayed as an added value. For example, in the previous stage of this figure, as shown in Figure 5, the surveying device 200 has already been installed at a certain position SP and a point cloud has been obtained. In contrast, when the surveying device 200 is installed at a new position NSP, a predicted value is calculated for how the point cloud will be obtained and added, and for areas where the observation ranges overlap, the predicted value is added to the existing value to calculate the added value. Then, the unit section within the display range is displayed according to the point cloud quantity of the added value. For example, unit section GU3 is a unit section where the observation range of the surveying device 200 at position SP overlaps with the observation range of the surveying device 200 at position NSP. In this type of unit section GU3, the point cloud quantity, which is an existing value already measured at position SP, and the point cloud quantity, which is a predicted value to be obtained by measuring at position NSP, are added together and displayed as the added value. For this reason, the point cloud quantity for unit section GU3 is displayed in a darker color than unit section GU4, where the observation ranges of the two points do not overlap. This allows operator 2 to carry out the survey while considering where to install the surveying device 200 to obtain the point cloud in order to proceed with the work efficiently.

Figure 7 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. This figure illustrates an example of a so-called alert display regarding the fulfillment rate, etc. The unit segments included in the display range DA shown in this figure have high point cloud amounts throughout almost the entire area, but as indicated by "5% missing" in the upper left corner of the screen, the point cloud amounts are low in some segments. For example, unit segment GU5 is a unit segment whose point cloud amount does not reach the required point cloud amount. To distinguish this unit segment from other unit segments, an alert display, for example, using hatching, is used. Whether to display an alert is determined by the point cloud amount management unit 126 based on the level of the point cloud amount of this unit segment compared to the required point cloud amount stored in advance, as described above. In this way, by displaying so-called alerts for unit segments that do not reach the required point cloud amount, worker 2 can perform point cloud acquisition work without any omissions. Furthermore, if point cloud data is found whose difference with a comparison index (for example, average elevation) of point cloud data acquired from other installation locations in the same unit division is greater than a specified value, an alert will be displayed, and the surveying location, installation method, etc. will be re-verified, and re-measurement will be requested, making it easy to improve the accuracy of the point cloud data.

As such, the survey information management system according to an embodiment of the present disclosure uses an information display terminal 100 and a surveying device 200 that measures point clouds in three-dimensional space. It includes a survey information acquisition unit 121 that acquires survey information including point cloud data linked to location information from the surveying device 200, a range setting unit 122 that sets the display range of the point cloud, a segment setting unit 123 that divides the display range into specified unit segments, a point cloud quantity calculation unit 124 that calculates the point cloud quantity contained in the space for each unit segment, and a point cloud quantity display unit 125 that displays on the information display terminal the point cloud quantity for each unit segment calculated by the point cloud quantity calculation unit for each segment of the display range. This makes it easy to check whether the required number of point cloud quantities of three-dimensional point cloud data have been acquired for each segment within the display range where the point cloud quantities are to be managed. This allows for efficient scanning on-site, and also allows for visual confirmation of the scanning status and data acquisition results.

In addition, by further providing a point cloud quantity management unit 126 that displays information indicating the lack of point cloud on the information display terminal when there is a section within the display range where the point cloud quantity does not reach the specified required point cloud quantity, worker 2 can perform point cloud acquisition work without any omissions.

In addition, the point cloud quantity calculation unit 124 calculates the point cloud quantity contained in the space within a specified altitude range for each unit section, and the point cloud quantity display unit 125 displays the point cloud quantity contained in the space within the specified altitude range for each section on the information display terminal 100, allowing the user to check the acquisition status of the point cloud within the desired altitude range.

In addition, the point cloud quantity calculation unit 124 calculates an index related to the sufficiency of the required point cloud quantity for the display range or unit section, and the point cloud quantity display unit 125 displays the sufficiency index on the information display terminal 100, allowing the acquisition status of the point cloud to be quantitatively confirmed.

In addition, the surveying information acquisition unit 121 acquires the position information of the surveying device 200, and the point cloud quantity calculation unit 124 calculates the range and predicted value of the point cloud quantity that can be obtained when a point cloud is surveyed at that position based on the position of the surveying device 200.The point cloud quantity display unit 125 displays the predicted value for each section on the information display terminal, allowing the worker 2 to understand how a point cloud can be obtained when the surveying device 200 is installed at that position, and allowing the point cloud acquisition work to proceed efficiently.

Furthermore, when calculating predicted values, if there are overlapping sections within the predicted range for which point cloud quantities have already been calculated based on survey information and are set as existing values, the point cloud quantity calculation unit 124 calculates an added value for the overlapping sections by adding the calculated point cloud quantities and the predicted point cloud quantities, and the point cloud quantity display unit 125 displays the added value for each section on the information display terminal 100.This allows the user to understand how a point cloud can be acquired when the surveying device 200 is installed at that location, taking into account past measurements that have already been taken, and allows the point cloud acquisition work to proceed efficiently.

In addition, the point cloud quantity calculation unit 124 only calculates the point cloud quantity from the point cloud data acquired by the measurement information acquisition unit 121 that meets specified conditions based on the measurement distance, incident angle, etc., thereby reducing unnecessary data and making point cloud data processing more efficient.

In addition, the point cloud quantity management unit 126 calculates the accuracy of the instrument installation of the surveying device 200 based on point cloud data measured from multiple installation positions, and displays information regarding the accuracy of the instrument installation on the information display terminal 100, making it possible to easily check and correct the quality of the instrument installation and further improve the efficiency of scanning.

This concludes the description of the embodiment of the present invention, but the aspects of the present invention are not limited to this embodiment.

For example, in the above embodiment, the scanner unit 260 of the surveying device 200 is a laser scanner, but the scanner unit that performs measurements to acquire three-dimensional point cloud data is not limited to this. For example, the scanner unit may be a LIDAR (Light Detection and Ranging) unit that measures distance by measuring scattered light in response to pulsed laser irradiation. Alternatively, the scanner unit may be equipped with an imaging unit such as a camera, and the point cloud data generation unit may use so-called SfM (Structure from Motion) or photogrammetry techniques to generate point cloud data from one or more images captured by the imaging unit.

1 Survey information management system 2 Worker 100 Information display terminal 110 Terminal processing unit 120 Terminal storage unit 121 Survey information acquisition unit 122 Range setting unit 123 Division setting unit 124 Point cloud quantity calculation unit 125 Point cloud quantity display unit 126 Point cloud quantity management unit 130 Terminal communication unit 140 Terminal input unit 150 Terminal display unit 200 Surveying device 210 Surveying instrument processing unit 220 Surveying instrument storage unit 221 Point cloud data generation unit 222 Actual measurement position calculation unit 223 Display control unit 230 Surveying instrument communication unit 240 Surveying instrument operation unit 250 Surveying instrument display unit 260 Scanner unit 261 Distance measurement unit 262 Deflection unit 270 Position acquisition unit 281 Attitude drive unit 282 Attitude detection unit DA Display range GU Unit division SP Surveying equipment position

Claims (10)

A survey information management system for displaying survey information using an information display terminal and a surveying device that measures a point cloud in a three-dimensional space, comprising:
a surveying information acquisition unit that acquires surveying information including point cloud data linked with position information from the surveying instrument;
a range setting unit that sets a display range of the point cloud;
a division setting unit that divides the display range into predetermined unit divisions;
a point cloud quantity calculation unit that calculates a point cloud quantity included in a space for each unit section;
a point cloud quantity display unit that displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range ,
the surveying information acquisition unit acquires position information of the surveying device,
the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity;
A surveying information management system in which the point cloud quantity display unit displays information corresponding to the predicted value for each section on the information display terminal. A survey information management system for displaying survey information using an information display terminal and a surveying device that measures a point cloud in a three-dimensional space, comprising:
a surveying information acquisition unit that acquires surveying information including point cloud data linked with position information from the surveying instrument;
a range setting unit that sets a display range of the point cloud;
a division setting unit that divides the display range into predetermined unit divisions;
a point cloud quantity calculation unit that calculates a point cloud quantity included in a space for each unit section;
a point cloud quantity display unit that displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range;
and a point cloud quantity management unit that calculates the accuracy of instrument installation of the surveying instrument based on point cloud data measured from a plurality of installation positions and displays information relating to the accuracy of instrument installation on the information display terminal.
Survey information management system. A survey information management system as described in claim 1 or 2, further comprising a point cloud quantity management unit that, when there is a section within the display range in which the point cloud quantity does not reach a predetermined required point cloud quantity, displays information indicating a shortage of point clouds on the information display terminal. the point cloud amount calculation unit calculates the amount of point clouds included in a space within a predetermined altitude range for each unit section;
The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays, for each section, on the information display terminal according to the point cloud quantity contained in a space within a predetermined altitude range. the point cloud quantity calculation unit calculates an index relating to the fulfillment of a required point cloud quantity for the display range or the unit segment;
The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays an index relating to the satisfaction on the information display terminal. When calculating the predicted value, if there is an overlapping section within the predicted range for which a point cloud amount has already been calculated based on measurement information and is set as an existing value, the point cloud amount calculation unit calculates an added value for the overlapping section by adding the calculated point cloud amount and the point cloud amount of the predicted value,
The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays information corresponding to the added value for each division on the information display terminal. A surveying information management system according to any one of claims 1 to 6, wherein the point cloud quantity calculation unit calculates the point cloud quantity only for point cloud data acquired by the surveying information acquisition unit that meets predetermined conditions. A surveying information management method for displaying surveying information using an information display terminal and a surveying instrument, comprising:
a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device;
a range setting step in which a range setting unit sets a display range of the point cloud;
a division setting step in which a division setting unit divides the display range into predetermined unit divisions;
a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section;
a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range;
a step in which the surveying information acquisition unit acquires position information of the surveying instrument;
a step in which the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity;
a step in which the point cloud quantity display unit displays information corresponding to the predicted value for each of the sections on the information display terminal;
A survey information management method including: A surveying information management method for displaying surveying information using an information display terminal and a surveying instrument, comprising:
a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device;
a range setting step in which a range setting unit sets a display range of the point cloud;
a division setting step in which a division setting unit divides the display range into predetermined unit divisions;
a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section;
a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range;
a step in which a point cloud quantity management unit calculates the accuracy of instrument installation of the surveying instrument based on point cloud data measured from a plurality of installation positions, and displays information regarding the accuracy of instrument installation on the information display terminal;
A survey information management method including: A survey information management program for displaying survey information using an information display terminal and a surveying instrument, comprising:
a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device;
a range setting step in which a range setting unit sets a display range of the point cloud;
a division setting step in which a division setting unit divides the display range into predetermined unit divisions;
a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section;
a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range;
a step in which the surveying information acquisition unit acquires position information of the surveying instrument;
a step in which the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity;
a step in which the point cloud quantity display unit displays information corresponding to the predicted value for each of the sections on the information display terminal;
A survey information management program that allows a computer to execute the above.