Evaluation device, evaluation system, evaluation method, and program

Abstract

To efficiently evaluate irregularities when a reference of an allowable range for the irregularities is limited to a range with a specific radius.SOLUTION: A data acquisition unit acquires spatial data indicating normal direction coordinates which are the coordinates in the normal direction of a plane for each sample point. A detection unit searches for a minimum point which gives the minimum value of the normal direction coordinates from other sample points distributed within a range of the search radius from an evaluation sample point for each evaluation sample point being sample points distributed in the evaluation region, and detects the evaluation sample point in which a difference value of the minimum value exceeds the allowable range of the normal direction coordinates from the normal direction coordinates corresponding to the evaluation sample point as a target sample point. The search radius is set to twice the reference radius that gives the reference of the allowable range.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The embodiments of the present application relate to an evaluation device, an evaluation system, an evaluation method, and a program. [Background technology]

[0002] Flattening is often required for the surfaces of floors, buildings, structures, objects, etc. Conventionally, methods for measuring surface unevenness have been proposed. For example, a shape measurement method described in Patent Document 1 sets a reference plate with a flat surface and a known surface height around a structure, obtains three-dimensional shape data of the surface of the structure including the reference plate for a plurality of measurement points, sets a virtual plane including the surface of the reference plate from the three-dimensional shape data corresponding to the surface of the reference plate, and measures the surface height of the structure from the three-dimensional shape data corresponding to the surface of the structure using the virtual plane as a reference.

[0003] In addition, the method of managing a truss screed described in Patent Document 2 measures the heights of multiple reference points for measuring the height of the blade portion, and adjusts multiple adjustment nuts provided on the truss screed while checking a display image showing information regarding the heights of the multiple reference points based on the measurement results, thereby changing the amount of deflection of the truss screed and adjusting the height of the blade portion.

[0004] Vertical unevenness is usually evaluated based on a reference level or the average level of the entire evaluation area. For example, the surface of ice laid on an ice rink is required to suppress unevenness over the entire target area, not just localized unevenness. This is because melted water accumulates in areas that are lower than the surrounding area, which can impair safety and the feeling of gliding. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-60317 [Patent Document 2] Patent Publication No. 2021-70920 Summary of the Invention [Problem to be solved by the invention]

[0006] However, evaluation of the entire evaluation area is not always required. In order to flatten the surface over the entire evaluation area, cutting or covering is required in many areas more than necessary, which requires a lot of labor and time. In addition, it is necessary to secure facilities for disposing of waste materials generated by cutting, or to procure many materials for covering. In some cases, the unevenness of a limited area is emphasized, and a difference in height between distant positions is allowed. For example, in a basketball court, it is required to limit the unevenness of a certain area to within an acceptable range, but it is not required to limit the unevenness over the entire basketball court. [Means for solving the problem]

[0007] The evaluation device according to the first aspect includes a data acquisition unit that acquires spatial data indicating a normal direction coordinate, which is a coordinate in the normal direction of a plane, for each sample point, and a detection unit that searches for a minimum point that gives the minimum value of the normal direction coordinate from other sample points distributed within a search radius from an evaluation sample point, which is a sample point distributed within an evaluation area, and detects, as a target sample point, an evaluation sample point whose difference value of the minimum value from the normal direction coordinate corresponding to the evaluation sample point exceeds an allowable range of the normal direction coordinate, wherein the search radius is twice a reference radius that provides a standard for the allowable range.

[0008] The evaluation system according to the second aspect includes a data acquisition unit that acquires spatial data indicating a normal direction coordinate, which is a coordinate in the normal direction of a plane, for each sample point, and a detection unit that searches for a minimum point that gives the minimum value of the normal direction coordinate from other sample points distributed within a search radius from an evaluation sample point, which is a sample point distributed within an evaluation area, and detects as a target sample point an evaluation sample point whose difference value of the minimum value from the normal direction coordinate corresponding to the evaluation sample point exceeds an allowable range of the normal direction coordinate, wherein the search radius is twice a reference radius that provides a standard for the allowable range.

[0009] In an evaluation method according to a third aspect, an evaluation device acquires spatial data indicating a normal direction coordinate, which is a coordinate in the normal direction of a plane, for each sample point, searches for a minimum point that gives the minimum value of the normal direction coordinate from other sample points distributed within a search radius from the evaluation sample point, which is a sample point distributed within an evaluation area, and detects, as a target sample point, an evaluation sample point whose difference value of the minimum value from the normal direction coordinate corresponding to the evaluation sample point exceeds an allowable range of the normal direction coordinate, wherein the search radius is twice a reference radius that provides a standard for the allowable range. Effect of the Invention

[0010] According to the present application, when the standard for the allowable range of unevenness is limited to within a certain radius range, unevenness can be efficiently evaluated. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic block diagram illustrating an example of a functional configuration of an evaluation device according to an embodiment of the present invention. [Diagram 2] 11 is a diagram illustrating an example of spatial data indicating the height of an evaluation area on a horizontal plane. FIG. [Diagram 3] 1 is a cross-sectional view illustrating a cross section passing through an evaluation sample point and a lowest point. [Figure 4] FIG. 11 is a diagram illustrating an example of difference value data. [Diagram 5]FIG. 13 is a diagram illustrating an example distribution of target sample points. [Figure 6] 13 is a diagram illustrating an example of the positional relationship between a circular region of search radius 2R centered on an evaluation sample point and a circular region of reference radius R centered on another sample point within the circular region of reference radius R. FIG. [Figure 7] 1 is a schematic block diagram illustrating an example of a functional configuration of an evaluation system according to an embodiment of the present invention. [Figure 8] FIG. 13 is a cross-sectional view showing an example of a target area based on the lowest point of the entire evaluation area. [Figure 9] 11 is an explanatory diagram for explaining a target region determination method based on a comparative example. FIG. [Figure 10] 11A and 11B are cross-sectional views showing examples of target regions based on a comparative example. [Figure 11] 1 is a flowchart illustrating a target region determination method according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The outline of the evaluation device 10 according to this embodiment will be described below. The evaluation device 10 acquires spatial data indicating the height of each of a plurality of sample points. The height is expressed using coordinates in the height direction perpendicular to the horizontal plane. The height direction corresponds to the opposite direction to the vertical direction. The spatial data is data indicating the height for each sample point. The evaluation device 10 specifies sample points distributed within an evaluation area of ​​unevenness as evaluation sample points. For each evaluation sample point, the evaluation device 10 searches for a sample point that gives the smallest coordinate in the height direction among other sample points distributed within a range of a radius 2R from the evaluation sample point, as the lowest point. The evaluation device 10 calculates a difference value by subtracting the height coordinate of the lowest point from the height coordinate of the evaluation sample point. The evaluation device 10 detects evaluation sample points whose difference value exceeds a predetermined height tolerance as target sample points. The radius 2R corresponds to twice the radius R that gives a standard for the height tolerance range. In this application, the radius R may be called the "reference radius" and the radius 2R may be called the "search radius".

[0013] Next, an example of the functional configuration of the evaluation device 10 according to this embodiment will be described. Fig. 1 is a schematic block diagram showing an example of the functional configuration of the evaluation device 10 according to this embodiment. The evaluation device 10 includes a calculation processing unit 110, a storage unit 120, a display unit 132, an operation unit 134, and an input / output unit 136.

[0014] The arithmetic processing unit 110 controls the processes for performing the functions of the evaluation device 10 and the processes. The arithmetic processing unit 110 includes a data acquisition unit 112, a detection unit 114, and an output processing unit 116. The arithmetic processing unit 110 includes a general-purpose processor, and can be realized as a computer system by executing the processes indicated by the instructions written in a predetermined program on the processor. The arithmetic processing unit 110 may include a dedicated arithmetic circuit. An example of the functional configuration of each unit of the arithmetic processing unit 110 will be described later. In this application, the execution of the processes indicated by the instructions written in various programs may be simply referred to as "executing a program" or "running a program".

[0015] The storage unit 120 stores various types of data. The stored data may include parameters and data used in the processing of the arithmetic processing unit 110, data obtained by the processing, etc. The storage unit 120 includes a storage medium such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The display unit 132 displays various information according to the display data input from the arithmetic processing unit 110. The display unit 132 may include, for example, a liquid crystal display, an organic electroluminescence display, or the like.

[0016] The operation unit 134 receives a user's operation and generates an operation signal in response to the received operation. The operation unit 134 outputs the generated operation signal to the arithmetic processing unit 110. The operation unit 134 may have general-purpose members such as a mouse, a touch sensor, or a joystick, or may have dedicated members such as a button or a knob. The input / output unit 136 is connected wirelessly or wired to a device separate from the evaluation device 10 so as to input and output various types of data. The input / output unit 136 may be connected to the separate device via a communication network. The input / output unit 136 includes, for example, one or both of an input / output interface conforming to a predetermined input / output standard and a communication interface conforming to a predetermined communication method.

[0017] Next, an example of the functional configuration of the arithmetic processing unit 110 will be described. The data acquisition unit 112 mainly performs processing related to acquisition of spatial data. For example, the data acquisition unit 112 acquires spatial data from another device via the input / output unit 136. The other device may be the measurement device 20 (described later) or may be a device separate from the measurement device 20. The data acquisition unit 112 may read spatial data stored in advance in the storage unit 120. The data acquisition unit 112 identifies a device or a storage area from which the spatial data is acquired according to an operation signal input from the operation unit 134. The data acquisition unit 112 may display a setting screen on the display unit 132 to guide the user to specify the source of the spatial data by an operation. The data acquisition unit 112 outputs the acquired spatial data to the detection unit 114.

[0018] The spatial data may have any data structure as long as it indicates coordinate values ​​in a direction perpendicular to a plane for each of a plurality of sample points associated with different coordinates on the plane. The spatial data is, for example, height data indicating heights perpendicular to the XY plane for each sample point distributed on the XY plane, which is a horizontal plane forming a two-dimensional space. When the spatial data has a data format similar to that of image data, individual pixels can be applied as sample points. The spatial data may be point cloud data indicating the coordinates of each sample point distributed on the surface of an object to be observed in a three-dimensional space. In the following description, the spatial data is mainly height data.

[0019] The detection unit 114 identifies, as evaluation sample points, a plurality of sample points distributed within an evaluation region to be evaluated for height, among the sample points related to the spatial data. For each evaluation sample point, the detection unit 114 identifies the height coordinates of each of the other sample points distributed within a range of a search radius 2R from the evaluation sample point. The detection unit 114 searches for the sample point that gives the smallest height coordinate among the coordinates identified for each sample point, as the lowest point.

[0020] FIG. 2 is a diagram illustrating spatial data indicating heights in an evaluation area on a horizontal plane. Sample points are arranged at different positions at regular intervals in both the horizontal (width) and vertical (depth) directions within an approximately square area. The height of each sample point is expressed by shading. Brighter areas indicate higher points, i.e., larger coordinate values ​​in the height direction. Darker areas indicate lower points, i.e., smaller coordinate values ​​in the height direction. The heights illustrated in FIG. 2 are normalized so that the minimum value is -10 and the maximum value is 10. 2 indicates an evaluation sample point to be processed. The detection unit 114 detects the sample point P[i] with the smallest coordinate value in the height direction among the sample points included in a circle with a search radius of 2R centered on the evaluation sample point P[i]. min can be identified as the lowest point.

[0021] Next, the detection unit 114 detects the lowest point P[i] from the coordinates in the height direction of the evaluation sample point P[i]. min The height coordinate of the point is subtracted from the height coordinate of the point to calculate the difference value. Figure 3 shows the evaluation sample points P[i] and the lowest point P min 3 is a cross-sectional view illustrating a cross section passing through. The evaluation sample point P[i] is shown in the center of FIG. min In FIG. 3, h[i] indicates the height of the evaluation sample point P[i], and h min is the lowest point P min The detection unit 114 detects the height h[i] of the evaluation sample point P[i] from the lowest point P min Height at h minThe difference value Δh[i] can be calculated by subtracting min Height h min This corresponds to the relative height of the evaluation sample point P[i] based on the reference point.

[0022] The detection unit 114 detects one lowest point P[i] within a circle with a search radius of 2R for each evaluation sample point P[i]. min Explore and explore P min The output processing unit 116 then repeats the process of calculating the height difference value Δh[i] based on the above equation. After that, the output processing unit 116 can obtain, from the detection unit 114, difference value data indicating the distribution of the difference values ​​Δh[i] in the evaluation region.

[0023] FIG. 4 is a diagram showing an example of difference value data. FIG. 4 illustrates an example of difference value data generated from the spatial data shown in FIG. 2. The difference value for each evaluation sample point is expressed in shades of gray. Brighter areas indicate larger values, and darker areas indicate smaller values. There is a tendency for the difference value at a sample point with a higher height indicated in the section data to be larger. However, the difference value for each evaluation sample point is a non-negative real number with a minimum value of 0. The difference values ​​illustrated in FIG. 4 are normalized so that the maximum value is 10.

[0024] The detection unit 114 detects, as target sample points, evaluation sample points whose difference values ​​exceed a predetermined height tolerance. For example, the detection unit 114 detects, as target sample points, evaluation sample points whose difference values ​​exceed a threshold value corresponding to the width of the tolerance. The detection unit 114 may output, to the output processing unit 116, one or both of difference value data indicating the difference value Δh[i] for each evaluation sample point P[i] and target area data indicating the target sample points in the evaluation area. The target area data indicates the distribution of the target sample points in the evaluation area. The distribution of the target sample points corresponds to a target area that exceeds the tolerance.

[0025] Fig. 5 is a diagram showing an example distribution of target sample points. Fig. 5 illustrates the distribution of target sample points detected based on the difference value data shown in Fig. 4. In Fig. 5, the shaded portion indicates the area in which the target sample points are distributed. In the example of Fig. 5, evaluation sample points with difference values ​​greater than 7 are determined as target sample points.

[0026] Under the constraint that the height range is within a predetermined tolerance within a range of a reference radius R centered on each sample point in the evaluation area, the target sample point corresponds to a sample point that does not satisfy the constraint because its height exceeds the tolerance. This constraint indicates that for each evaluation sample point P[i], the height falls within the tolerance within a circle of a reference radius R centered on the evaluation sample point P[i]. In this embodiment, the lowest point P min The height of the evaluation sample point P[i] is evaluated based on the height of the evaluation sample point P[i].

[0027] The search radius 2R circular region includes all the circular regions of the reference radius R centered on the evaluation sample point P[i] and the other sample points in the circle of the reference radius R, as illustrated in FIG. 6. The height of the evaluation sample point P[i] and the lowest point P min Whether or not the evaluation sample point P[i] belongs to a sample point target area based on a circle centered on that sample point is determined depending on whether or not the difference value between the height of the evaluation sample point P[i] and the height of the sample point exceeds the allowable range.

[0028] On the other hand, the target area for the entire evaluation area is an area including all the target areas by sample points. Therefore, whether the evaluation sample point P[i] belongs to the target area for the entire evaluation area is determined depending on whether it belongs to at least one target area by sample. Therefore, the detection unit 114 can determine whether the evaluation sample point P[i] falls within the allowable range using the difference in height based on the lowest point in the area of ​​a circle with a search radius of 2R centered on each evaluation sample point P[i].

[0029] The evaluation area may be set in advance in the detection unit 114, or may be specified according to an operation signal input from the operation unit 134. The detection unit 114 may display an evaluation area setting screen on the display unit 132 and guide the user in setting the evaluation area based on the operation input. The setting screen may illustrate the distribution of heights on a plane and the evaluation area set at that time. However, the evaluation area does not include the periphery of the placement area in which the sample points constituting the spatial data are placed. This is because the evaluation area is set to include all circular areas of a search radius 2R centered on each evaluation sample point, without going beyond the evaluation area.

[0030] 1, the output processing unit 116 mainly performs processing related to the output of various data. For example, the output processing unit 116 generates display data illustrating the distribution of target sample points indicated in the target area data input from the detection unit 114, and outputs the generated display data to the display unit 132. The display unit 132 displays an image representing the target area in which the target sample points are distributed in the evaluation area. The output processing unit 116 may generate display data representing the difference value for each sample point indicated in the difference value data input from the detection unit 114, and output the generated display data to the display unit 132. The display unit 132 displays an image representing the distribution of the difference values ​​in the evaluation region.

[0031] The output processing unit 116 outputs the target area data to, for example, a work device 30 (described later). The working device 30 can identify a target region in which the difference value exceeds the allowable range of height based on the target region data input from the output processing unit 116. The working device 30 can execute an operation for adjusting the height of the identified target region so that the amount by which the difference value exceeds the allowable range is reduced.

[0032] The output processing unit 116 may output the difference value data to the maintenance device 30. The operation device 30 judges whether or not the difference value for each evaluation sample point indicated in the difference value data input from the output processing unit 116 exceeds the width of the allowable range of height previously set in the own device. The operation device 30 can specify a target area including, as target sample points, evaluation sample points whose difference value exceeds the width of the allowable range. Furthermore, the operation device 30 can specify the distribution of the excess amount of the difference value from the allowable range for each target sample point. In this case, the operation device 30 can be considered to share a part of the processing of the detection unit 114 in determining the target sample point from the difference value. Furthermore, the operation device 30 may calculate the difference of the width of the allowable range from the difference value for each target sample as the excess amount, or may specify the distribution of the excess amount for each target sample. Based on the identified target area and excess amount, the work device 30 can perform an action on the target area to adjust the height in the target area so that the excess amount is reduced.

[0033] This embodiment may be realized as an evaluation system S1 including the evaluation device 10 and one or both of the measurement device 20 and the operating device 30. Fig. 7 is a schematic block diagram showing an example of the functional configuration of the evaluation system S1 according to this embodiment. In the example of Fig. 7, the evaluation system S1 includes all of the evaluation device 10, the measurement device 20, and the operating device 30. The measurement device 20 and the operating device 30 are each connected to the evaluation device 10 wirelessly or via a wire so as to be able to transmit and receive various data.

[0034] The measuring device 20 measures the spatial distribution of the surface of the object to be observed, and generates spatial data indicating the coordinates of each sample point showing the measured spatial distribution. The measuring device 20 outputs the generated spatial data to the evaluation device 10. The object to be observed may be any object, structure, ground, floor, etc. to be observed. The measuring device 20 may be any device capable of measuring the shape or depth of a surface, such as a light detection and ranging (LIDAR) device or a stereo camera.

[0035] The operating device 30 receives, from the evaluation device 10, either or both of the target area data and the difference value data. Based on either or both of the target area data and the difference value data, the operating device 30 identifies, as the target area, an area in the evaluation area in which the target sample is distributed. The operating device 30 adjusts the shape of the surface of the object to be observed so that the amount by which the difference value exceeds the allowable range in the target area is reduced. Examples of the operating device 30 include a screed (leveling machine), a cutting device, and a paving device.

[0036] 7 illustrates an example in which the evaluation device 10, the measurement device 20, and the operation device 30 are separate devices in the evaluation system S1, but the present invention is not limited to this. The evaluation device 10 may be integrated with the measurement device 20 to form a single evaluation device 10. The evaluation device 10 may also be integrated with the operation device 30 to form a single evaluation device 10.

[0037] In addition, when the area whose height exceeds a predetermined allowable range H is uniformly determined as the target area over the entire evaluation area, the target area tends to be larger than the target area determined by this embodiment. FIG. 8 is a cross-sectional view showing an example of a cross section of the evaluation area. In the example of FIG. 8, P min indicates the lowest point where the surface height is the lowest in the entire evaluation area. The cutting range is the lowest point P min The relative height based on the height at the lowest point P min This corresponds to the target area where the difference in height between the height at and the height at exceeds the tolerance range H. In the cutting range, the height is adjusted by cutting so that the difference in height falls within the tolerance range H. In the example of FIG. 8, the cutting range corresponds to roughly the right half of the area.

[0038] Next, as a comparative example, let us assume that a constraint is imposed that the difference in height within a circular region of a reference radius R must be within a tolerance range H. In this case, the difference in height between positions that are farther apart is allowed to exceed the tolerance range H. Focusing on the circular region of a reference radius R illustrated in FIG. 9, the lowest point P minThe target area where the difference value of the height between the height of and the height of exceeds the tolerance H is determined as the cutting area. For each evaluation sample point P[i], the lowest point P min Then, the height h[i] at the evaluation sample point P[i] and the lowest point P min At height h min It is also possible to repeat the process of determining the target area for each evaluation sample point based on the difference value Δh[i] between the evaluation sample points, and determine the final target area as an area including all the target areas for each evaluation sample point. In the example of Fig. 10, for the surface illustrated in Fig. 8, a target area that covers the target areas for each evaluation sample point determined for each of the areas R1 to R5 of a circle having a reference radius R centered on each evaluation sample point is determined as the cutting area. This cutting area is limited to the center of Fig. 10 and is smaller than the cutting area illustrated in Fig. 8.

[0039] In this way, the process for each evaluation sample point in the comparative example is to find the lowest point P within a circle of a reference radius R centered on that evaluation sample point. min The process of searching for the evaluation sample points and the lowest point P min This involves a process of determining an area where the difference in elevation between the evaluation sample point and the lowest point P within a circle with a search radius of 2R and the evaluation sample point as a target area for each evaluation sample point. This results in a large amount of calculations. min Search for the evaluation sample points and the lowest score P min Including the process of determining the difference in height between the evaluation sample score and the minimum score P min It does not include a process of determining, as a target region, a region in which the height difference Δh[i] between the target region and the low level difference Δh[i] exceeds the allowable range H. Therefore, according to this embodiment, it is possible to suppress an increase in the amount of calculation compared to the comparative example.

[0040] For example, the amount of calculations is compared assuming that the number of evaluation sample points in the evaluation area is 10,000, the number of evaluation sample points within a circle of reference radius R is 100, and the number of evaluation sample points within a circle of search radius 2R is 400. In the comparative example, for each evaluation sample point, the lowest point P is calculated from the other evaluation sample points within a circle of a reference radius R centered on that evaluation sample point. max Search for each evaluation sample point in the circle and the lowest point P max This involves calculating the difference between the heights of the evaluation sample points. That is, the calculation process for each evaluation sample point is 100×99 / 2 times. Therefore, in the comparative example, the calculation process is required 100×99 / 2×10000 (=49500000) times for the entire evaluation area.

[0041] In this embodiment, for each evaluation sample point, the lowest point P min Search for the evaluation sample points and the lowest score P min The difference value between the height and the minimum height is calculated. That is, the calculation process for each evaluation sample point is 399 times. Therefore, in this embodiment, the calculation process is required 399×10000 (=3990000) times for the entire evaluation area. In this way, according to this embodiment, the minimum height P min By evaluating the difference in elevation between the two points, the amount of calculation can be reduced compared to the comparative example.

[0042] Next, an example of the target region determination process according to this embodiment will be described below. Fig. 11 is a flowchart showing an example of the target region determination process according to this embodiment. (Step S102) The data acquiring unit 112 acquires from the measuring device 20 spatial data indicating the spatial distribution on the surface of the object to be observed. (Step S104) The detection unit 114 sets an evaluation area to be evaluated based on an operation signal from the operation unit 134.

[0043] (Step S106) The detection unit 114 selects one of the unprocessed evaluation sample points arranged in the evaluation area as an evaluation target. (Step S108) The detection unit 114 detects the lowest point P min Explore. (Step S110) The detection unit 114 detects the lowest point P min At height h min The difference value Δh[i] (=h[i]-h min ) is calculated. (Step S112) The detection unit 114 determines whether or not there is an unprocessed evaluation sample in the evaluation region. If it is determined that there is an unprocessed evaluation sample (step S112 YES), the process returns to step S106. If it is determined that there is no unprocessed evaluation sample (step S112 NO), the process proceeds to step S114.

[0044] (Step S114) The detection unit 114 specifies, as the detection region, a region occupying an evaluation sample point P[i] whose difference value Δh[i] exceeds a width H of a predetermined allowable range. (Step S116) The detection unit 114 outputs detection area data indicating the identified detection area to the working device 30. The working device 30 performs the work so that the excess amount Δh[i] of the height of the detection area is reduced with respect to the detection area input from the detection unit 114. Then, the processing of FIG. 11 is terminated.

[0045] In the above description, the measurement target for a sample point on the surface of an object to be observed is mainly a case where the normal coordinate to a plane is a coordinate in the vertical direction (opposite to the height direction), but this is not limited to this. The plane may be parallel to a direction intersecting a horizontal plane. The direction intersecting a horizontal plane includes, for example, a direction perpendicular to the horizontal plane and an inclined direction intersecting both the horizontal plane and its normal direction. In addition, the sample points related to the spatial data do not necessarily have to be distributed at equal intervals on the plane. As long as each sample point is distributed throughout the evaluation region, the intervals between adjacent sample points may be random.

[0046] In this embodiment, the reference radius R may be set to any real number greater than a typical sample point interval. The tolerance range H may be set to any real number significantly greater than 0 and greater than the accuracy measurable by the measurement device 20. Parameters such as the reference radius R and the tolerance range H may vary depending on the object to be observed, the work to be performed on the object to be observed, and other application cases.

[0047] The data acquisition unit 112 may determine the type of the object to be observed by performing a known image recognition process on the image of the object to be observed shown in the acquired spatial data. The data acquisition unit 112 may refer to the parameter setting data, identify one or both of the detection parameters of the reference radius R and the allowable range H corresponding to the determined type of the object to be observed, and set the identified detection parameters in the detection unit 114. The data acquisition unit 112 sets the parameter setting data including information indicating one or both of the reference radius R and the allowable range H for each type of object to be observed. This makes it possible to detect a target region including a target sample point using detection parameters suitable for each object to be observed.

[0048] As described above, the evaluation system S1 according to this embodiment includes a data acquisition unit 112 that acquires spatial data indicating normal coordinates, which are coordinates in the normal direction of a plane, for each sample point, and a detection unit 114 that searches for a minimum point (e.g., the lowest point) that provides a minimum value of normal coordinates (e.g., coordinates in the height direction) from other sample points distributed within a search radius from each evaluation sample point that is a sample point distributed in an evaluation area, and detects an evaluation sample point whose difference value from the normal coordinate corresponding to the evaluation sample point exceeds an allowable range of normal coordinates as a target sample point. The search radius is twice the reference radius that provides a standard for the allowable range.

[0049] In the evaluation system S1, the plane may be a horizontal plane, and the normal direction coordinate may indicate the height in the vertical direction. The evaluation system S1 may include an output processing unit 116 that outputs object region data indicating the distribution of object sample points in the evaluation region. The evaluation system S1 may include at least one of a measuring device 20 that measures spatial data indicating the spatial distribution of the surface of the observed object, and a working device 30 that adjusts the shape of the surface of the observed object so as to reduce the amount by which the difference value exceeds the allowable range in a target region including the target sample point. This embodiment may be realized as a program for causing a computer to function as the evaluation device 10 including at least the data acquisition unit 112 and the detection unit 114.

[0050] According to this configuration, a minimum point that gives the minimum value of the normal coordinate from other sample points distributed within a search radius from an evaluation sample point of interest as an evaluation target is searched for, a difference value of the normal coordinate between the evaluation sample point and the searched minimum point is calculated, and whether or not the calculated difference value exceeds an allowable range is determined. The area within the search radius range centered on the evaluation sample point of interest includes all areas within a reference radius range centered on other sample points distributed within a reference radius range centered on the evaluation sample point of interest. Whether or not the evaluation sample point of interest is included in the target area determined as a whole evaluation area is determined depending on whether or not it is included in the target area determined based on at least one other sample point. For each evaluation sample point of interest, whether or not it is included in the target sample point is determined based on the difference value of the normal coordinate between the evaluation sample point of interest and the searched minimum point, without determining whether or not it exceeds the allowable range for all sample points within the search radius range. Therefore, the amount of calculations required for determining the target sample point in the whole evaluation area can be significantly reduced.

[0051] Although the present embodiment has been described above in detail with reference to the drawings, the specific configuration is not limited to the above-mentioned configurations, and includes designs within the scope of the present embodiment. The above-mentioned configurations can be arbitrarily combined, and some of them may be omitted. The "Sustainable Development Goals (SDGs)" are 17 international goals that were adopted at the United Nations Summit in September 2015. The evaluation device, evaluation system, and evaluation method according to the present embodiment can contribute to the achievement of, for example, "11. Sustainable cities and towns" among the 17 SDGs. [Explanation of symbols]

[0052] S1... evaluation system, 10... evaluation device, 20... measurement device, 30... operation device, 110... calculation processing unit, 112... data acquisition unit, 114... detection unit, 116... output processing unit, 120... storage unit, 132... display unit, 134... operation unit, 136... input / output unit

Claims

1. a data acquisition unit that acquires spatial data indicating normal direction coordinates, which are coordinates in a normal direction of a plane, for each sample point; For each evaluation sample point that is a sample point distributed within the evaluation region, a minimum point that gives a minimum value of the normal direction coordinate is searched for from other sample points distributed within a range of a search radius from the evaluation sample point; a detection unit that detects, as a target sample point, an evaluation sample point whose difference value from the normal direction coordinate corresponding to the evaluation sample point to the minimum value exceeds an allowable range of the normal direction coordinate, The search radius is twice the reference radius that provides the tolerance criteria. Rating system.

2. The plane is a horizontal plane, and the normal coordinate indicates a vertical height. The evaluation system according to claim 1 .

3. an output processing unit that outputs target region data indicating a distribution of the target sample points in the evaluation region; The evaluation system according to claim 1 .

4. A measuring device for measuring the spatial data indicating a spatial distribution on a surface of an object to be observed; and at least one of a working device that adjusts the shape of the surface of the object to reduce the amount by which the difference value exceeds the allowable range in a target region that includes the target sample points. The evaluation system according to claim 1 .

5. a data acquisition unit that acquires spatial data indicating normal direction coordinates, which are coordinates in a normal direction of a plane, for each sample point; For each evaluation sample point that is a sample point distributed within the evaluation region, a minimum point that gives a minimum value of the normal direction coordinate is searched for from other sample points distributed within a range of a search radius from the evaluation sample point; a detection unit that detects, as a target sample point, an evaluation sample point whose difference value from the normal direction coordinate corresponding to the evaluation sample point to the minimum value exceeds an allowable range of the normal direction coordinate, The search radius is twice the reference radius that provides the tolerance criteria. Evaluation equipment.

6. To your computer A program for causing the evaluation device according to claim 5 to function.

7. The evaluation device is Obtain spatial data indicating normal coordinates, which are coordinates in the normal direction of the plane, for each sample point; For each evaluation sample point that is a sample point distributed within the evaluation region, a minimum point that gives a minimum value of the normal direction coordinate is searched for from other sample points distributed within a range of a search radius from the evaluation sample point; An evaluation method for detecting, as a target sample point, an evaluation sample point whose difference value from a normal direction coordinate corresponding to the evaluation sample point to the minimum value exceeds an allowable range of the normal direction coordinate, comprising: The search radius is twice the reference radius that provides the tolerance criteria. Evaluation method.

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