Road examination method

Abstract

To facilitate examination of a road state.SOLUTION: A method comprises: a coordinate acquisition step for acquiring three-dimensional coordinates in multiple feature points on a road; an imaging step for imaging multiple photographic images by an unmanned aircraft flying in the sky, so that each feature point is included in at least two photographic images; an ortho image generation step for generating an ortho image, on the basis of three-dimensional coordinate of each feature point acquired by the coordinate acquisition step and multiple photographic images imaged by the imaging step; a point group data acquisition step for acquiring point group data which is made into a three-dimensional coordinate, on each point on the road, by laser light radiated from a three-dimensional scanning device; a prescribed point designation step for designating a prescribed point included in the ortho image; and a height information deriving step for, on the basis of the point group data acquired by the point group data acquisition step, deriving the height information corresponding to a plane position on the prescribed point designated by the prescribed point designation step.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a road inspection method for carrying out pavement repair work on a road where damage such as digging has occurred. [Background technology]

[0002] When damage such as digging occurs on the surface of asphalt pavement that constitutes the surface layer of a road or the like, the unevenness of the road surface is surveyed and pavement repair work may be carried out to eliminate the unevenness of the road (see Patent Document 1). For this purpose, it is necessary to accurately grasp, for example, the positions of concave and convex areas on the road by surveying the road condition. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-101129 Summary of the Invention [Problem to be solved by the invention]

[0004] Traditionally, road condition inspections were conducted visually by inspectors, but it is very difficult for each inspector to standardize the criteria for judging the degree of road damage. Therefore, in recent years, there has been an increasing demand for automatic measurement, and the unevenness of road surfaces is often inspected using dedicated road surface property measurement vehicles. However, when inspecting road conditions using dedicated road surface property measurement vehicles, it is difficult for the road surface property measurement vehicles to travel on narrow roads, for example, and it is sometimes impossible to inspect the road conditions.

[0005] Therefore, when investigating road conditions during road pavement repair work, it is necessary to detect the three-dimensional coordinates of each point on the road surface.The inventors of the present invention have devised a method of obtaining point cloud data in which each point on the road surface has been converted into three-dimensional coordinates by using laser light irradiated from a three-dimensional scanning device installed at known points around the road, and then detecting the three-dimensional coordinates of each point on the road surface based on the point cloud data.

[0006] However, the point cloud data obtained by the three-dimensional scanning device is a collection of many discrete points, and it is difficult to grasp the positional relationship between each point on the actual road surface and the many points included in the point cloud data. That is, even if an attempt is made to detect the three-dimensional coordinates of one specific point on the width direction end of the road based on the point cloud data obtained by the three-dimensional scanning device, it is not possible to grasp which position the specific point corresponds to within the range of the many points included in the point cloud data. Therefore, it is not easy to accurately detect the three-dimensional coordinates of a specific point on the road surface based on the point cloud data obtained by the three-dimensional scanning device.

[0007] It is to be noted that the above-mentioned technical issues are not limited to cases where road conditions are surveyed when carrying out road pavement repair work, but are also likely to arise when surveying road conditions for other purposes.

[0008] The present invention has been made in view of the above-mentioned problems, and has an object to provide a road inspection method that makes it possible to easily inspect road conditions. [Means for solving the problem]

[0009] In order to solve the above problems, the present invention takes the following measures.

[0010] That is, the road survey method of the present invention is characterized by comprising a coordinate acquisition step of acquiring three-dimensional coordinates for a plurality of characteristic points on a road; a photographing step of photographing a plurality of images for the plurality of characteristic points using an unmanned aerial vehicle or a model aerial vehicle flying in the sky so that each of the plurality of characteristic points is included in at least two photographed images; an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each characteristic point acquired by the coordinate acquisition step and the plurality of photographed images captured by the photographing step; a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point on the road using laser light irradiated from a three-dimensional scanning device; a specified point designation step of designating a specified point included in the orthoimage; and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated by the specified point designation step based on the point cloud data acquired by the point cloud data acquisition step.

[0011] The road inspection system according to the present invention further comprises: a coordinate acquisition means for acquiring three-dimensional coordinates for a plurality of characteristic points on a road; an imaging means for capturing a plurality of images for the plurality of characteristic points by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two captured images; an orthoimage creation means for creating an orthoimage based on the three-dimensional coordinates of each of the characteristic points acquired by the coordinate acquisition means and the plurality of captured images acquired by the imaging means; and a point cloud data acquisition means for acquiring point cloud data converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device. The system is characterized by comprising a specified point designation means for designating a specified point contained in the orthoimage, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on the point cloud data acquired by the point cloud data acquisition means.

[0012] In addition, the road inspection program of the present invention, when loaded into a computer, causes the computer to function as an orthoimage creation means for creating an orthoimage based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of captured images taken by an unmanned aerial vehicle or model aircraft flying above so that each of the plurality of characteristic points is included in at least two captured images, a specified point designation means for designating a specified point included in the orthoimage, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

[0013] This allows the user to specify a specific point included in the ortho-image, and the elevation information corresponding to the planar position of that specific point is derived based on the point cloud data obtained by the 3D scanning device. This makes it possible to accurately obtain the 3D coordinates (planar position and elevation information) of each point on the road required for road surveys. As a result, it is easy to survey road conditions.

[0014] The road survey method according to the present invention includes a step of specifying a predetermined point included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the images; and a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0015] The road inspection system of the present invention is characterized in that it comprises a specified point designation means for designating a specified point included in an orthoimage created based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of captured images taken by an unmanned aerial vehicle or model aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two captured images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data that converts each point on the road into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0016] The road inspection program of the present invention is characterized in that, when loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an orthoimage created based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of captured images taken by an unmanned aerial vehicle or model aircraft flying overhead so that each of the plurality of characteristic points is included in at least two captured images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data that converts each point on the road into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0017] The road inspection program of the present invention is characterized in that, when loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an ortho-image of an area including a road, and as height information derivation means for deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

[0018] This allows the user to specify a specific point included in the ortho-image, and the elevation information corresponding to the planar position of that specific point is derived based on the point cloud data obtained by the 3D scanning device. This makes it possible to accurately obtain the 3D coordinates (planar position and elevation information) of each point on the road required for road surveys. As a result, it is easy to survey road conditions.

[0019] The road survey method of the present invention is characterized by comprising a specified point designation step of designating a specified point included in an ortho-image of an area including a road, and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device, or a three-dimensional TIN model created from the point cloud data.

[0020] The road inspection system of the present invention is characterized in that it comprises a specified point designation means for designating a specified point included in an ortho-image of an area including a road, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device, or a three-dimensional TIN model created from the point cloud data.

[0021] The road inspection program of the present invention is characterized in that, when loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an orthoimage of an area including a road, point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device, or height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on a three-dimensional TIN model created from the point cloud data.

[0022] This allows the user to specify a specific point included in the ortho-image, and the elevation information corresponding to the planar position of that specific point is derived based on the point cloud data obtained by the 3D scanning device. This makes it possible to accurately obtain the 3D coordinates (planar position and elevation information) of each point on the road required for road surveys. As a result, it is easy to survey road conditions.

[0023] The road survey method of the present invention is characterized by comprising a specified point designation step of designating a specified point included in an ortho-image of an area including a road, and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on a plurality of three-dimensionally coordinated points on the surface of the road or a three-dimensional TIN model created from the plurality of points.

[0024] The road inspection system of the present invention is characterized in that it comprises a specified point designation means for designating a specified point included in an ortho-image of an area including a road, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on a plurality of three-dimensionally coordinated points on the surface of the road, or a three-dimensional TIN model created from the plurality of points.

[0025] The road inspection program of the present invention is characterized in that, when loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an orthoimage of an area including a road, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on a plurality of points on the surface of the road that have been converted into three-dimensional coordinates, or a three-dimensional TIN model created from the plurality of points.

[0026] This allows the user to specify a specific point included in the ortho-image, and the elevation information corresponding to the planar position of that specific point is derived based on the point cloud data obtained by the 3D scanning device. This makes it possible to accurately obtain the 3D coordinates (planar position and elevation information) of each point on the road required for road surveys. As a result, it is easy to survey road conditions.

[0027] In the road survey method of the present invention, the specified point designation step is characterized in that, when two specific points contained in the ortho-image are identified, the two specific points and a plurality of points on a straight line or curve defined based on the two specific points are designated as specified points.

[0028] In the road inspection system of the present invention, the specified point designation means is characterized in that, when two specific points contained in the orthoimage are identified, the two specific points and a plurality of points on a straight line or curve defined based on the two specific points are designated as specified points.

[0029] This makes it possible to easily specify a plurality of predetermined points included in the orthoimage.

[0030] In the road inspection method according to the present invention, the road is a road in its current state before pavement repair work is carried out.

[0031] In the road inspection system according to the present invention, the road is a road in its current state before pavement repair work is carried out.

[0032] This makes it easy to survey the current road conditions before pavement repair work is carried out.

[0033] In the road inspection method according to the present invention, the road is a road after pavement repair work has been carried out.

[0034] In the road inspection system according to the present invention, the road is a post-construction road after pavement repair work has been carried out.

[0035] This makes it easy to inspect the road condition after pavement repair work has been carried out.

[0036] In the road inspection method according to the present invention, the road is a road under construction where pavement repair work is being carried out.

[0037] In the road inspection system according to the present invention, the road is a road under construction where pavement repair work is being carried out.

[0038] This makes it easy to inspect the road conditions on roads where pavement repair work is currently being carried out.

[0039] The road survey method according to the present invention includes a coordinate acquisition step of acquiring three-dimensional coordinates of a plurality of characteristic points on a road in its current state before pavement repair work is performed, a photographing step of taking a plurality of photographed images of the plurality of characteristic points by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two photographed images, an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each characteristic point acquired by the coordinate acquisition step and the plurality of photographed images taken by the photographing step, a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point on the road by a laser beam irradiated from a three-dimensional scanning device, and a point cloud data created by the orthoimage creation step. a road surface data creation step of creating road surface data including each planar position of the road and height information corresponding to that planar position based on the ortho-image and the point cloud data acquired by the point cloud data acquisition step; a design data creation step of creating 3D design data for performing pavement repair work on the road based on the road surface data created by the road surface data creation step; a specified point designation step of designating specified points included in the ortho-image; and a height information derivation step of deriving height information corresponding to the planar positions of the specified points designated by the specified point designation step based on the 3D design data created by the design data creation step.

[0040] As a result, when a specific point included in an ortho-image of the road in its current state before pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on the 3D design data for carrying out the road pavement repair work. Therefore, for a specific point on a road in its current state before pavement repair work is carried out, the 3D coordinates (planar position and height information) of the specific point can be accurately obtained based on the 3D design data. As a result, it is easy to survey the road condition.

[0041] The road survey method of the present invention is characterized by comprising a specified point designation step of designating specified points contained in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle or a model aircraft flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation step of deriving height information corresponding to the planar positions of the specified points designated in the specified point designation step based on three-dimensional design data for performing pavement repair work on the road.

[0042] The road inspection system of the present invention is characterized in that it comprises a specified point designation means for designating a specified point contained in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle or model aircraft flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the road.

[0043] The road inspection program of the present invention, when loaded into a computer, causes the computer to function as a specified point designation means for designating a specified point contained in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle or model aircraft flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and as height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the road.

[0044] As a result, when a specific point included in an ortho-image of the road in its current state before pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on the 3D design data for carrying out the road pavement repair work. Therefore, for a specific point on a road in its current state before pavement repair work is carried out, the 3D coordinates (planar position and height information) of the specific point can be accurately obtained based on the 3D design data. As a result, it is easy to survey the road condition.

[0045] The road survey method of the present invention is characterized by comprising a specified point designation step of designating a specified point included in an ortho-image of an area including a road in its current state before pavement repair work is performed, and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated by the specified point designation step, based on three-dimensional design data for performing pavement repair work on the road.

[0046] The road inspection system of the present invention is characterized in that it comprises a specified point designation means for designating a specified point included in an ortho-image of an area including a road in its current state before pavement repair work is performed, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the road.

[0047] The road inspection program of the present invention is characterized in that, when loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an ortho-image of an area including a road in its current state before pavement repair work is performed, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the road.

[0048] As a result, when a specific point included in an ortho-image of the road in its current state before pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on the 3D design data for carrying out the road pavement repair work. Therefore, for a specific point on a road in its current state before pavement repair work is carried out, the 3D coordinates (planar position and height information) of the specific point can be accurately obtained based on the 3D design data. As a result, it is easy to survey the road condition. Effect of the Invention

[0049] According to the present invention, the road condition can be easily surveyed. [Brief description of the drawings]

[0050] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a road inspection system 1 according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing a state in which a plurality of anti-aircraft markers 20 are installed near both ends of a road when the road is photographed from above. [Diagram 3] FIG. 2 shows an anti-aircraft marker 20. [Figure 4] 13 is a diagram illustrating a state in which an anti-aircraft marker 20 is included in two captured images. FIG. [Diagram 5] FIG. 1 is a diagram illustrating a method for specifying a predetermined point included in an orthoimage. [Figure 6] 11 is a table showing planar positions of predetermined points and height information corresponding to the planar positions; [Figure 7] FIG. 2 is a diagram for explaining a method for conducting road inspection in the road inspection system 1. [Figure 8] FIG. 1 is a diagram showing a schematic configuration of a road inspection system 101 according to a second embodiment of the present invention. [Figure 9] FIG. 13 is a diagram showing a schematic configuration of a road inspection system 201 according to a third embodiment of the present invention. [Figure 10] FIG. 2 is a plan view of a road where pavement repair work is being carried out. [Figure 11]FIG. 2 is a schematic diagram illustrating a longitudinal section plan. [Figure 12] FIG. 2 is a schematic diagram illustrating a cross-sectional plan view. [Figure 13] FIG. 2 is a schematic diagram illustrating a cross-sectional plan view. [Figure 14] FIG. 2 is a diagram for explaining design point data and three-dimensional design surface data. [Figure 15] 13 is a diagram for explaining a method of converting point cloud data into a three-dimensional TIN model and deriving data of survey points. [Figure 16] FIG. 13 is a diagram showing a state in which the upper surface of a manhole protrudes above the repair plan surface. [Figure 17] FIG. 1 is a diagram illustrating a method for specifying a predetermined point included in an orthoimage. [Figure 18] FIG. 1 is a diagram showing a schematic configuration of a road inspection system 301 according to a first embodiment of the present invention. [Figure 19] FIG. 1 is a diagram illustrating an image area of ​​an orthoimage and a georeferenced file associated therewith. [Figure 20] FIG. 1 illustrates an ortho-image with associated absolute coordinates. [Figure 21] FIG. 2 is a diagram for explaining a method for inspecting a road in the road inspection system 1. [Figure 22] FIG. 13 is a diagram showing a schematic configuration of a road inspection system 401 according to a second embodiment of the present invention. [Diagram 23] FIG. 1 is a diagram for explaining a conventional method for loading ortho-image data into a two-dimensional CAD device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051] (First embodiment) Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0052] In this embodiment, a case will be described in which, when road pavement repair work is to be carried out, a road survey is carried out on the current state of the road before the pavement repair work is carried out.

[0053] A road inspection system 1 according to an embodiment of the present invention comprises a total station 2 installed at a known point (e.g., a reference point), a UAV 3 (Unmanned Aerial Vehicle) which is an unmanned aerial vehicle used as an imaging device, a 3D scanner 5 (three-dimensional scanning device) installed at the known point, and a road inspection device 10 in which the total station 2, UAV 3 and 3D scanner 5 are wirelessly connected.

[0054] The total station 2 emits distance measurement light toward each point on the road surface, receives the light reflected at each point, and obtains the three-dimensional coordinates of each point relative to a known point based on the number of times the light wave oscillates from emission to reception, and supplies the three-dimensional coordinates to the road survey device 10. In this embodiment, the total station 2 is used to obtain the three-dimensional coordinates of a plurality of anti-aircraft signs 20.

[0055] The UAV 3 has an imaging device, photographs the road surface from the sky, acquires imaging data, and supplies the imaging data to the road inspection device 10.

[0056] The 3D scanner 5 irradiates laser light to obtain each point on the road surface as three-dimensional coordinated point cloud data (a set of elevations having planar position coordinates), and supplies the point cloud data to the road inspection device 10. The 3D scanner 5 can obtain the distance to the measurement point (the three-dimensional coordinates of each point) by emitting line laser light, for example, in the vertical and horizontal directions, toward the measurement object (road surface) and measuring the time it takes for the laser pulse to travel back and forth between the measurement point on the measurement object and the sensor.

[0057] In this embodiment, the 3D scanner 5 is used to acquire three-dimensional coordinates (point cloud data) of each point in the current state of the road before pavement repair work is performed, i.e., at the time repair work begins, including the repair locations where road repair work will be performed.

[0058] The 3D scanner 5 may be installed at a known point (e.g., a reference point) whose three-dimensional coordinates are already known, and may irradiate the laser light to acquire point cloud data. The 3D scanner 5 may be installed at a position whose three-dimensional coordinates are not known at the stage of irradiating the laser light to acquire point cloud data, but the installation position of the 3D scanner 5 may be measured and specified after irradiating the laser light to acquire point cloud data.

[0059] In this embodiment, the point cloud data acquired by the 3D scanner 5 is a collection of points with a distance between each point of, for example, 30 millimeters or less. The point cloud data acquired by the 3D scanner 5 includes, for example, a plurality of points with a distance between each point of, for example, 15 millimeters or a plurality of points with a distance of 30 millimeters. When it is necessary to investigate the shape of a road in more detail, it is preferable to acquire point cloud data so that a plurality of points are included in that portion so that the distance between each point is very small. Note that the density of the collection of points (the distance between two adjacent points) of the point cloud data acquired by the 3D scanner 5 can be set arbitrarily.

[0060] 1, the road inspection device 10 is composed of, for example, a microcomputer, and includes a CPU, a ROM in which a road inspection program that controls the operation of the road inspection device 10 is stored, and a RAM in which data and the like used when executing the road inspection program are temporarily stored. In this way, with regard to the road inspection program, information processing by software is specifically realized using hardware resources.

[0061] The road inspection device 10 has a coordinate storage unit 11, a captured image storage unit 12, an orthoimage creation unit 13, a point cloud data storage unit 14, a TIN model creation unit 15, a display control unit 16, a predetermined point designation unit 17, and an elevation information derivation unit 18. The road inspection device 10 also has a display unit 6 having a display surface 6a, and a mouse 8 serving as an operation means.

[0062] The coordinate storage unit 11 separately stores three-dimensional coordinates of characteristic points at which a plurality of anti-aircraft markers 20 are installed, the coordinates being acquired by the total station 2.

[0063] The photographed image storage unit 12 stores a plurality of images of the road photographed from the sky by the UAV 3 flying at a substantially constant altitude above the road. The altitude at which the UAV 3 flies can be set arbitrarily. For example, the UAV 3 may fly at an altitude of 20 meters or less above the ground during photography, for example, at an altitude of 5 to 20 meters, preferably at an altitude of 5 to 15 meters. In that case, an orthoimage with a ground pixel size of 5 millimeters or less can be created. Also, for example, the UAV 3 may fly at an altitude of 20 to 100 meters or less above the ground during photography, for example, at an altitude of 20 to 50 meters, preferably at an altitude of 20 to 30 meters. In that case, an orthoimage with a ground pixel size of 50 millimeters or less can be created, for example, at an altitude of 20 millimeters or less or 10 millimeters or less.

[0064] When a road is photographed from the sky by a UAV 3, as shown in FIG. 2, a plurality of anti-aircraft signs 20 are installed as a plurality of feature points, for example, near both ends of the road. The plurality of anti-aircraft signs 20 are installed, for example, at intervals of 5 to 15 meters along the ends of the road (longitudinal direction of the road). The plurality of anti-aircraft signs 20 are installed in consideration of connecting a plurality of photographed images taken from the sky to create an orthoimage. The anti-aircraft signs 20 are feature points to which three-dimensional coordinates are supplied, and are used as evaluation points. Note that, when connecting a plurality of photographed images to create an orthoimage, in addition to the anti-aircraft signs 20, feature points included in the plurality of photographed images and to which three-dimensional coordinates are not supplied may be used.

[0065] The anti-aircraft sign 20 is a square plate-like member as shown in FIG. 3, for example. The anti-aircraft sign 20 has a pattern that clearly identifies its center position. The anti-aircraft sign 20 has an adhesive layer formed on its back surface, and is in the form of a sticker with a backing paper attached to cover the adhesive layer. By removing the backing paper and attaching the anti-aircraft sign 20 to the road, it can be easily fixed to the installation location. Therefore, when using the anti-aircraft sign 20, the backing paper covering the adhesive layer is removed, and the back surface of the anti-aircraft sign 20 is attached to the road surface. The anti-aircraft sign 20 of this embodiment is, for example, a square shape of 9 cm x 9 cm, but the type, shape, size, pattern, etc. of the anti-aircraft sign 20 are not limited thereto.

[0066] As shown in Fig. 4, the multiple images captured by the UAV3 are captured such that each anti-aircraft sign 20 is included in at least two captured images. Therefore, at least one common anti-aircraft sign 20 is captured in two adjacent captured images. Note that Fig. 4 illustrates a case in which four anti-aircraft signs 20 are included in all captured images, but the multiple images captured by the UAV3 may be captured such that either the anti-aircraft sign 20 or a feature point other than the anti-aircraft sign 20 is included in at least two captured images.

[0067] The orthoimage creation unit 13 creates and stores an orthoimage based on the three-dimensional coordinates of the anti-aircraft sign 20 stored in the coordinate storage unit 11 and the multiple captured images stored in the captured image storage unit 12. The orthoimage is an image that is converted (orthogonally transformed) into an image that is displayed at the correct size and position without tilt as seen from directly above. Specifically, the orthoimage creation unit 13 performs SfM (Structure from Motion) analysis or the like on the data of the multiple captured images to connect two adjacent captured images based on the common anti-aircraft sign 20 captured in them to create an orthoimage. Note that when there is a vehicle on the road in the captured image for creating the orthoimage, it is possible to automatically recognize the vehicle (by automatic image recognition) and replace the area around the vehicle on the road with an image of the road without the vehicle in another captured image to create an orthoimage without the vehicle on the road.

[0068] The orthoimage created by the orthoimage creation unit 13 is linked to a georeference file such as location information and resolution. The location information is coordinate information based on the World Geodetic System coordinates. Therefore, absolute coordinates are associated with any point included in the orthoimage. When storing the created orthoimage, the orthoimage creation unit 13 stores it together with the georeference file linked to the orthoimage. In this embodiment, the orthoimage data is, for example, jpg data, and the georeference file is, for example, jgw data. The orthoimage data and the georeference file are not limited to jpg data and jgw data.

[0069] The point cloud data storage unit 14 stores point cloud data obtained by converting each point on the road surface into three-dimensional coordinates acquired by the 3D scanner 5. The point cloud data stored in the point cloud data storage unit 14 is, for example, a text file (common file) including three-dimensional coordinates for a large number of points on the road surface.

[0070] The TIN model creation unit 15 creates a three-dimensional TIN model (sometimes called a triangulated irregular network) which is a collection of triangular planes connected with each point as a vertex, using the point cloud data (point cloud data acquired by the 3D scanner 5) stored in the point cloud data storage unit 14. Specifically, the TIN model creation unit 15 forms a triangular plane connected with three points as vertices for each of three points adjacent to each point included in the point cloud data acquired by the 3D scanner 5, and connects these triangular planes to create a three-dimensional TIN model. The three-dimensional TIN model created by the TIN model creation unit 15 includes data corresponding to the latitude, longitude, and height of each point on the road surface. That is, the three-dimensional TIN model includes data corresponding to the latitude, longitude, and height of each point included in the point cloud data acquired by the 3D scanner 4, and also includes data corresponding to the latitude, longitude, and height of each point not included in the point cloud data.

[0071] The display control unit 16 controls the contents to be displayed on the display unit 6, and displays, for example, the orthoimage created by the orthoimage creation unit 13 on the display unit 6.

[0072] When the orthoimage created by the orthoimage creation unit 13 is displayed on the display unit 6, and the user operates the mouse 8 to identify a specific point within the orthoimage displayed on the display unit 6, the specific point designation unit 17 designates the specific point as a specific point.

[0073] FIG. 5(a) is an enlarged view of a portion of the orthoimage, and shows a case where the user operates the mouse 8 to sequentially specify five specific points A1 to A5 at positions along the lower end of the road. When two specific points included in the orthoimage are specified, the specific point specification unit 17 specifies the two specific points and a plurality of points on a line connecting the two specific points as specific points. Note that, as the plurality of points on a line connecting the two specific points, for example, points located at a predetermined distance (for example, every meter) from the first specific point of the two specific points to the other specific point are specified.

[0074] To explain this in detail based on FIG. 5(b), first, when two specific points A1 and A2 included in the ortho-image are identified, the two specific points A1 and A2 and a plurality of points a1 to a4 on the line N1 connecting the two specific points A1 and A2 are designated as the predetermined points. Similarly, when two specific points A2 and A3 included in the ortho-image are identified, the two specific points A2 and A3 and a plurality of points a5 and a6 on the line N2 connecting the two specific points A2 and A3 are designated as the predetermined points. Similarly, when two specific points A3 and A4 included in the ortho-image are identified, the two specific points A3 and A4 and a plurality of points a7 and a8 on the line N3 connecting the two specific points A3 and A4 are designated as the predetermined points. Similarly, when two specific points A4, A5 contained in the orthoimage are identified, the two specific points A4, A5 and multiple points a9, a10 on a straight line N4 connecting the two specific points A4, A5 are designated as predetermined points.

[0075] The method of specifying the plurality of predetermined points included in the ortho-image is not limited to the above. For example, when the left edge of the road in the ortho-image follows a curved line that bulges to the right as shown in Fig. 5(c), two specific points C1 and C2 included in the ortho-image are specified and "a curved line of radius r bulging to the right that passes through the specific points C1 and C2" is specified, the two specific points C1 and C2 and a plurality of points c1 to c3 on the curved line N5 of radius r bulging to the right that passes through the specific points C1 and C2 may be specified as the predetermined points.

[0076] Furthermore, in a state in which the orthoimage created by the orthoimage creation unit 13 is displayed on the display unit 6, when a user operates the display surface 6a (touch panel) of the display unit 6 while touching it to identify one specific point in the orthoimage displayed on the display unit 6, the specified point designation unit 17 designates the planar position of the specific point. Furthermore, when two specific points included in the orthoimage are identified, the specified point designation unit 17 designates the planar positions of multiple points on the straight line connecting the two specific points.

[0077] The height information derivation unit 18 derives height information corresponding to the planar position specified by the specific point designation unit 17, based on the three-dimensional TIN model created by the TIN model creation unit 15. The display control unit 14 may display the planar position specified by the specific point designation unit 17 and the height information derived by the height information derivation unit 18 on the display unit 6. "Height information corresponding to the planar position" means the z coordinate when the planar position is (x, y), for example, altitude (height).

[0078] For example, if there is a point included in the point cloud data acquired by the 3D scanner 5 at the planar position specified by the specified point designation unit 17, the height information derivation unit 18 derives height information for that point. Also, if there is no point included in the point cloud data acquired by the 3D scanner 5 at the planar position specified by the specified point designation unit 17, the height information derivation unit 18 derives height information corresponding to the specified point using a triangular plane connected with three points around the specified planar position as vertices. The method of deriving height information in the height information derivation unit 18 is the same as the method described as the explanation of FIG. 15.

[0079] In this manner, the height information derivation unit 18 derives height information corresponding to the planar positions of the five specific points A1 to A5 and the ten points a1 to a10, as shown in FIG.

[0080] In this embodiment, a case has been described in which the user operates the mouse 8 to sequentially specify five specific points A1 to A5 on a portion of an orthoimage, but in a similar manner, when one or more specific points are specified on the entire orthoimage, planar positions are specified accordingly, and height information corresponding to the planar positions is derived. As a result, the road inspection system 1 of this embodiment obtains road surface data including each planar position on the road surface and height information corresponding to the planar positions for the road in its current state before pavement repair work is carried out.

[0081] (Method of investigating road conditions) A method for inspecting road conditions in the road inspection system 1 will be described with reference to FIG.

[0082] In step S1 (coordinate acquisition step), the total station 2 acquires three-dimensional coordinates, i.e., planar positions (latitude, longitude) and altitude (height), for a number of specified positions around the repair area where road repairs are to be performed, i.e., the specified positions where a number of anti-aircraft signs 20 are to be installed.

[0083] In step S2 (photographing step), the road is photographed from above by the UAV 3 flying above the road. When photographing is performed, a plurality of anti-aircraft markers 20 are installed in advance at a plurality of predetermined positions surveyed in step S1. Therefore, a plurality of photographed images are taken of the plurality of anti-aircraft markers 20 such that each anti-aircraft marker 20 is included in at least two photographed images.

[0084] In step S3 (orthoimage creation step), an orthoimage is created based on the three-dimensional coordinates acquired in step S1 and the multiple captured images taken in step S2.

[0085] In step S4 (point cloud data acquisition step), the 3D scanner 5 acquires point cloud data in which each point on the road surface is converted into three-dimensional coordinates.

[0086] In step S5 (TIN model creation step), a TIN model is created based on the point cloud data acquired in step S4.

[0087] In step S6 (orthoimage display step), the orthoimage created in step S3 is displayed.

[0088] In step S7 (predetermined point designation step), a predetermined point in a region within the orthoimage is designated by the user.

[0089] In step S8 (height information derivation step), height information corresponding to the planar position of the predetermined point designated in step S7 is derived based on the TIN model created in step S5.

[0090] As described above, the road survey method of this embodiment includes a coordinate acquisition step of acquiring three-dimensional coordinates for a plurality of characteristic points on a road in its current state before pavement repair work is performed, a photographing step of taking a plurality of images using an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two photographed images, an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each characteristic point acquired in the coordinate acquisition step and the plurality of photographed images taken in the photographing step, a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point on the road using laser light irradiated from a three-dimensional scanning device, a specified point designation step of designating a specified point included in the orthoimage, and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on the point cloud data acquired in the point cloud data acquisition step.

[0091] In addition, the road inspection system according to this embodiment includes a coordinate acquisition means for acquiring three-dimensional coordinates of a plurality of characteristic points on the road in its current state before pavement repair work is performed, an imaging means for capturing a plurality of images for the plurality of characteristic points using an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two of the captured images, an orthoimage creation means for creating an orthoimage based on the three-dimensional coordinates of each characteristic point acquired by the coordinate acquisition means and the plurality of captured images captured by the imaging means, a point cloud data acquisition means for acquiring point cloud data converted into three-dimensional coordinates for each point on the road using laser light irradiated from a three-dimensional scanning device, a specified point designation means for designating a specified point included in the orthoimage, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on the point cloud data acquired by the point cloud data acquisition means.

[0092] In addition, when the road inspection program of this embodiment is loaded into a computer, it causes the computer to function as an orthoimage creation means that creates an orthoimage based on the three-dimensional coordinates of multiple characteristic points on the road in its current state before pavement repair work is performed and multiple captured images taken by an unmanned aerial vehicle or model aerial vehicle flying overhead so that each of the multiple characteristic points is included in at least two captured images, a specified point designation means that designates specific points included in the orthoimage, and a height information derivation means that derives height information corresponding to the planar position of a specific point designated by the specified point designation means based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

[0093] With this, when a specific point included in the ortho-image of the road in its current state before pavement repair work is specified, the height information corresponding to the planar position of the specific point is derived based on the point cloud data obtained by the 3D scanning device. Therefore, it is possible to accurately obtain the 3D coordinates (planar position and height information) of each point on the road, which is required for road survey of the road in its current state before pavement repair work is performed. As a result, it is easy to survey the road condition.

[0094] In the road survey method of the present invention, in the specified point designation step, when two specific points contained in the orthoimage are identified, the two specific points and a plurality of points on a straight line or curve defined based on the two specific points are designated as specified points.

[0095] In the road inspection system of the present invention, when two specific points contained in the orthoimage are identified, the specified point designation means designates the two specific points and a plurality of points on a straight line or curve defined based on the two specific points as specified points.

[0096] This makes it possible to easily specify a plurality of predetermined points included in the orthoimage.

[0097] Second embodiment The road inspection system 101 of this embodiment differs from the road inspection system 1 of the first embodiment in that the road inspection system 1 of the first embodiment includes a total station 2, a UAV 3, and a 3D scanner 5, and creates orthoimages and acquires point cloud data, whereas the road inspection system 101 of this embodiment does not include a total station 2, a UAV 3, and a 3D scanner 5, and a separately created orthoimage is supplied to the road inspection device 110, and separately acquired point cloud data is supplied. Note that detailed description of the configuration of the road inspection system 101 of this embodiment that is the same as that of the road inspection system 1 of the first embodiment will be omitted.

[0098] In this embodiment, a case will be described in which, when road pavement repair work is to be carried out, a road survey is carried out on the current state of the road before the pavement repair work is carried out.

[0099] 8, the road inspection device 110 of the road inspection system 101 has an orthoimage storage unit 113, a point cloud data storage unit 14, a TIN model creation unit 15, a display control unit 16, a predetermined point designation unit 17, and an elevation information derivation unit 18. The road inspection device 110 also has a display unit 6 having a display surface 6a, and a mouse 8 serving as an operation means.

[0100] The orthoimage storage unit 113 stores an orthoimage supplied from an external source to the road inspection device 110. The orthoimage includes an orthoimage created based on a plurality of images taken from the air of the road surface of the road on which the road inspection is to be performed, and a georeference file (e.g., location information, resolution, etc.) associated with the orthoimage.

[0101] The point cloud data storage unit 14 stores point cloud data, which is supplied to the road inspection device 10 from an external source and is the three-dimensional coordinate system of each point on the road surface of the road on which the road inspection is to be carried out.

[0102] The TIN model creation unit 15 creates a three-dimensional TIN model, which is a collection of triangular planes connected with each point as a vertex, using the point cloud data stored in the point cloud data storage unit 14 (point cloud data supplied from the outside).

[0103] The display control unit 16 controls the contents to be displayed on the display unit 6, and displays, for example, the orthoimages stored in the orthoimage storage unit 113 on the display unit 6.

[0104] When an orthoimage stored in the orthoimage memory unit 113 is displayed on the display unit 6, and the user operates the mouse 8 to identify one or more specific points within the orthoimage displayed on the display unit 6, the specific point designation unit 17 designates the specific points as specific points.

[0105] The height information derivation unit 18 derives height information corresponding to the planar position designated by the predetermined point designation unit 17 based on the three-dimensional TIN model created by the TIN model creation unit 15 .

[0106] As described above, the road survey method of this embodiment includes a specific point designation step of designating specific points included in an orthoimage created based on three-dimensional coordinates of multiple characteristic points on the road in its current state before pavement repair work is performed and multiple images taken by an unmanned aerial vehicle flying overhead such that each of the multiple characteristic points is included in at least two of the images, and a height information derivation step of deriving height information corresponding to the planar position of the specific points designated in the specific point designation step based on point cloud data in which each point on the road has been converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0107] The road inspection system of the present invention comprises a specified point designation means for designating a specified point included in an orthoimage created based on three-dimensional coordinates of a plurality of characteristic points on a road in its current state before pavement repair work is carried out and a plurality of images taken by an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data in which each point on the road has been converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0108] When the road inspection program of the present invention is loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point included in an ortho-image created based on the three-dimensional coordinates of a plurality of characteristic points on the road in its current state before pavement repair work is carried out and a plurality of images taken by an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on point cloud data in which each point on the road has been converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0109] The road inspection program of the present invention, when loaded into a computer, causes the computer to function as a specified point designation means for designating a specified point included in an ortho-image of an area including a road in its current state before pavement repair work is carried out, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on point cloud data in which each point on the road has been converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

[0110] With this, when a specific point included in the ortho-image of the current road before the pavement repair work is specified, the height information corresponding to the planar position of the specific point is derived based on the point cloud data obtained by the 3D scanning device. Therefore, the 3D coordinates (planar position and height information) of each point on the road required for road survey can be accurately obtained. As a result, the survey of road conditions can be easily carried out.

[0111] Third embodiment The road inspection system 201 of this embodiment differs from the road inspection system 1 of the first embodiment in that, while the road inspection system 1 of the first embodiment describes a road inspection of the current state of the road before pavement repair work is performed, the road inspection system 201 of this embodiment describes a road inspection of the current state of the road before pavement repair work is performed, and then creates three-dimensional design data (construction plan data) for the pavement repair work. Note that detailed descriptions of the configuration of the road inspection system 201 of this embodiment that is the same as that of the road inspection system 1 of the first embodiment will be omitted.

[0112] The 3D design data for pavement repair work is plan surface data showing the repair plan surface when repairing a road, and is created based on point cloud data in which each point on the road in its current state before the pavement repair work is performed is converted into 3D coordinates by laser light irradiated from the 3D scanner 5. In other words, when data on the unevenness of the road surface at the time of starting repair work is obtained, 3D design data is created as a repair plan surface for improving the unevenness of the road surface.

[0113] 9, the road inspection device 210 of the road inspection system 201 has a coordinate storage unit 11, a photographed image storage unit 12, an orthoimage creation unit 13, a point cloud data storage unit 14, a TIN model creation unit 15, a display control unit 16, a predetermined point designation unit 17, a height information derivation unit 18, a design point data storage unit (three-dimensional design point data storage unit) 215a, a design surface data creation unit (three-dimensional design surface data creation unit) 215b, a survey point designation unit 217, and a survey height derivation unit 218. The road inspection device 210 also has a display unit 6 having a display surface 6a, and a mouse 8 serving as an operation means.

[0114] In this embodiment, after a road survey is conducted on the current road condition before pavement repair work is performed, 3D design data is created based on the current road condition so that the current road unevenness can be improved. The method of creating 3D design data will be described later.

[0115] When separately created design point data is supplied to the road inspection device 210, the design point data storage unit 215a stores the supplied design point data.

[0116] The design surface data creation unit 215b creates three-dimensional design surface data based on the design point data stored in the design point data storage unit 215a. The method of creating the three-dimensional design surface data, which is a three-dimensional TIN model, based on the design point data in the design surface data creation unit 215b is similar to the method of creating the three-dimensional TIN model, which is a collection of triangular planes connected with each point as a vertex, by the point cloud data stored in the point cloud data storage unit 14 by the TIN model creation unit 15.

[0117] When the user operates the mouse 8 to specify a specific point corresponding to the center position of the upper surface of a manhole in the orthoimage displayed on the display unit 6 while the orthoimage (the orthoimage of the road in the current state before the pavement repair work is performed) created by the orthoimage creation unit 13 is displayed on the display unit 6, the survey point designation unit 217 designates the specific point as a survey point. In this embodiment, a case will be described in which the center position of the upper surface of the manhole is surveyed as the survey point, but the survey point is not limited to the center position of the upper surface of the manhole and may be set arbitrarily. In other words, when it is necessary to compare the height of a certain position on the surface of the road in the current state with the height of a certain position on the surface of the road in the repair plan plane at a specified planar position, the position may be designated as a survey point.

[0118] The survey height derivation unit 218 derives height information (survey height) corresponding to the survey point specified by the survey point specification unit 217, based on the three-dimensional design surface data created by the design surface data creation unit 215b. The method of deriving the height information in the survey height derivation unit 218 is the same as the method described in the explanation of FIG.

[0119] Hereinafter, a method for creating 3D design surface data by the design surface data creation unit 215b will be described based on road surface data including each planar position on the road surface and height information corresponding to that planar position for a road in its current state before pavement repair work is carried out. In this embodiment, as shown in Fig. 10, a case will be described in which 3D design surface data is created after a road survey is carried out for a one-lane straight road in its current state before pavement repair work is carried out. A manhole is provided on the road where pavement repair work is to be carried out.

[0120] Road design surface data contains design information called a "route," which contains a "linear line" that runs along the direction of the road at the center of the road's width, and "start and end points" that specify the length of the "linear line."

[0121] The repair plan includes a longitudinal and transverse plan, and after a longitudinal plan is made along the longitudinal direction of the road, transverse plans are made along the transverse direction at a plurality of points on the road to obtain a repair plan surface to be used when carrying out the repair. Therefore, the repair plan surface includes plan surface data showing a longitudinal plan surface and plan surface data showing a plurality of transverse plan surfaces.

[0122] The longitudinal plan includes, for example, a plan for the elevation of each point on a line along the longitudinal direction of the road in the center of the road. FIG. 11 shows a longitudinal plan surface for the elevation of each point on a line along the central part of the road. In FIG. 11, a repair area requiring a repair plan is between an unrepaired area on the left side and an unrepaired area on the right side. The longitudinal plan surface is also shown for the repair area in FIG. 11, along with a change in elevation based on point cloud data. Note that the longitudinal plan is not limited to the case where it includes a plan for the elevation of each point on a line along the longitudinal direction of the road in the central part of the road, but may also include a plan for the elevation of each point on a line along the longitudinal direction of the road in a location shifted in the width direction from the central part of the road.

[0123] The longitudinal plan surface in Fig. 11 is obtained by connecting the elevations at each position on a line along the center of the road in its current state before the pavement repair work is carried out, after the elevations at each position are planned taking into consideration the flatness of the road, etc. The positions on the line along the center of the road are, for example, positions every 1 m, but the distance between each position may be set arbitrarily.

[0124] In this embodiment, the elevation at the position on the line along the center of the road in the longitudinal planning plane of FIG. 11 is planned so that the difference between the elevation at each position on the line along the center of the road in the current state before pavement repair work is within a predetermined value (for example, within ±10 to 15 mm) at the same planar position. Therefore, the 3D design plane data is created so as to be close to the positions of points included in the road surface data of the current state of the road (positions of points on the surface of the road in the current state). That is, for example, when the elevation (height) of point T on the line along the center of the road in the road surface data of the current state of the road before pavement repair work is Ta, the longitudinal planning plane is planned so that the elevation (height) of point T is within Ta ±10 to 15 mm. For example, if there is a large depression in the road surface of the current road, the difference between the elevation at a position on a line along the center of the road on the longitudinal planning surface and the elevation at each position on the line along the center of the current road at the same horizontal position may be greater than a specified value.

[0125] In the longitudinal plan, the elevation at each position on the line along the center of the road is planned, and then the cross-sectional plan is performed. The cross-sectional plan is a plan for the elevation of each point on the line along the cross-sectional direction of the road at each position on the line along the center of the road. The positions on the line along the cross-sectional direction of the road are, for example, positions at 5 cm intervals. For example, FIG. 12 shows a cross-sectional plan surface for the elevation of each point on the line along the cross-sectional direction of the road at point a in FIG. 11. In FIG. 12, a repair location that requires a repair plan is between the left end of the road and the right end of the road. At the repair location, the elevation change based on the point cloud data is illustrated, and the cross-sectional plan surface is illustrated. In FIG. 12, the slope of the road is illustrated in an exaggerated manner for easy understanding.

[0126] The cross-section planning surface is obtained by planning, taking into consideration the gradient of the slope that slopes downward from the elevation of the road center toward both ends for each position on the line along the center of the road shown in Figure 11. For example, when planning a cross-section of a road, it is generally designed so that the road slopes downward at a predetermined gradient from the center of the road toward the ends.

[0127] For example, in the cross-sectional planning surface of Fig. 12, an inclined surface is connected from the elevation of the road center at point a in the longitudinal planning surface of Fig. 11 toward the concrete parts at the left and right ends of the road. In this case, no connection surface is formed that connects the surface layer of the asphalt pavement formed at the repair location to the concrete parts at the left and right ends of the road, as shown in Fig. 13, which will be described later. Note that the cross-sectional planning surface of Fig. 12 is an example of a cross-sectional planning surface, and the method of cross-sectional planning is not limited to this.

[0128] For example, the cross-sectional plan surface in Fig. 13 has an elevation that decreases from the elevation of the road center at point a on the longitudinal plan surface in Fig. 11 to point a1 along a slope that slopes downward at a predetermined slope toward both ends of the road, and then decreases to the left end and right end of the road along a connection surface that connects point a1 with the left end and right end of the road. Therefore, when repair is performed based on the cross-sectional plan surface, the surface layer of the asphalt pavement formed at the repaired area and the concrete parts at the left end and right end of the road are connected without any steps. In addition, although not shown in the figure, the cross-sectional plan surface may be designed so that slopes that slope downward at different slopes from the road center toward the road ends are connected.

[0129] When creating 3D design surface data for a road in its current state before pavement repair work is carried out, based on road surface data that contains each planar position on the road surface and height information corresponding to that planar position, various methods can be considered depending on the design concept. In this embodiment, however, a case will be described in which emphasis is placed on the longitudinal plan, and 3D design surface data is created so as to be as close as possible to the current road surface.

[0130] As shown in Fig. 14(a), design point data corresponding to the latitude, longitude and height of each position on the line along the center of the road, each position on the line along the left edge of the road, and each position on the line along the right edge of the road obtained on the longitudinal planning surface described above is created. The design point data created in this manner is supplied to the road survey device 210. The design point data has three-dimensional coordinates (planar position, height (elevation)) of a plurality of points on the surface of the road on which pavement repair work is to be carried out, which are included in the longitudinal planning surface (three-dimensional design surface data) described above.

[0131] Thereafter, the design surface data creation unit 215b creates three-dimensional design surface data, which is a three-dimensional TIN model that is a collection of triangular planes connected with each point included in the design point data as a vertex, as shown in Fig. 14(b). The three-dimensional design surface data created by the design surface data creation unit 215b includes data corresponding to the latitude, longitude, and height of each point on the repair plan surface for improving the unevenness of the road where the pavement repair work is performed. That is, the three-dimensional design surface data includes data corresponding to the latitude, longitude, and height of each point included in the design point data supplied to the road inspection device 210, and also includes data corresponding to the latitude, longitude, and height of each point not included in the design point data.

[0132] In Fig. 14(a), the positions on the line along the center of the road on the longitudinal planning surface are planned so that the difference from the elevation at each position on the line along the center of the road in the current state before pavement repair work is within a predetermined value, but the positions on the line along the center of the road on the longitudinal planning surface may be planned to match the elevation at each position on the line along the center of the road in the current state before pavement repair work is performed. That is, for example, if the elevation (height) of point T on the line along the center of the road is Ta in the road surface data of the road in the current state before pavement repair work is performed, the longitudinal planning surface may be planned so that the elevation (height) of point T is Ta.

[0133] In addition, in Figure 14(b), as shown in Figure 14(a), three-dimensional design surface data is created for all points included in the design point data, which is a three-dimensional TIN model that is a collection of triangular planes connected with each point as a vertex. However, it is also possible to extract some of the points included in the design point data and create three-dimensional design surface data for the extracted points, which is a three-dimensional TIN model that is a collection of triangular planes connected with each point as a vertex.

[0134] The repair plan surface (three-dimensional design surface data) shown in Figure 14(b) is converted into a three-dimensional TIN model (also called a triangulated irregular network) which is a collection of triangular planes connected with each point designed by the longitudinal and transverse plan (each position on the line along the center of the road, each position on the line along the left edge of the road, each position on the line along the right edge of the road) as a vertex. Therefore, it is possible to derive data corresponding to the latitude, longitude, and altitude of each point on the road surface, and even if each point in the survey area is not obtained by the longitudinal and transverse plan, it is possible to derive data corresponding to the latitude, longitude, and altitude of each point.

[0135] Specifically, in FIG. 15, when points A1, A2, and A3 are acquired by a longitudinal and transverse plan, a triangular plane is formed in which points A1, A2, and A3 are connected as vertices. For example, points a1 and a2, which are survey points, are inside the triangular plane and are assumed to be on a plane that passes through points A1, A2, and A3, and data corresponding to height information (altitude) corresponding to the planar positions of points a1 and a2 can be derived. For example, a plane including the triangular plane that passes through points A1, A2, and A3 can be expressed as a formula (formula for xyz), and the planar position of point a1 (x a1 , y a1 ) and calculate the height information (altitude) of point a1 z a1 is derived, and the plane position of point a2 (x a2 , y a2 ) and calculate the height information (altitude) of point a2, z a2 is derived.

[0136] In the repair planning surface (three-dimensional design surface data) shown in Fig. 14(b), a three-dimensional TIN model has been described which is a collection of triangular planes connected with vertices at each position on the line along the center of the road, each position on the line along the left end of the road, and each position on the line along the right end of the road, but the method of creating a three-dimensional TIN model can be changed. For example, a three-dimensional TIN model may be created which is a collection of triangular planes connected with vertices at each position on the line along the center of the road, each position on the line along the left end of the road, and each position on the line along the right end of the road, as well as each position on one or more lines along the road located between the center and the left end of the road, and each position on one or more lines along the road located between the center and the right end of the road.

[0137] As mentioned above, the road where the pavement repair work is carried out has a manhole, but the repair plan surface (three-dimensional design surface data) does not take into account the presence of the manhole. Therefore, if the road pavement repair work is carried out based on the repair plan surface (three-dimensional design surface data) so that the surface of the asphalt pavement coincides with the repair plan surface, the top surface of the manhole may protrude above the repair plan surface, as shown in Figure 16.

[0138] Therefore, if a manhole is installed on a road where pavement repair work is to be carried out, it is necessary to compare the elevation of the manhole with the elevation of the repair plan surface at the planar position of the manhole to confirm whether the elevation of the top surface of the manhole on the current road condition matches the repair plan surface before carrying out the pavement repair work. To do this, it is necessary to identify the position that corresponds to the planar position of the manhole on the repair plan surface (three-dimensional design surface data) shown in Figure 14, but identifying that position is difficult.

[0139] In this embodiment, when deriving the elevation corresponding to the planar position of a manhole on the repair planning surface (three-dimensional design surface data), as shown in FIG. 17, in a state where an orthoimage (orthoimage including a repaired portion) created by the orthoimage creation unit 13 when investigating the road condition before the road pavement repair work is carried out is displayed on the display unit 6, when the user operates the mouse 8 to identify one specific point corresponding to the center of the upper surface of the manhole displayed on the display unit 6, the specific point is designated as an investigation point (predetermined point). Note that FIG. 17 illustrates an enlarged portion of the orthoimage. Then, height information corresponding to the planar position of the designated investigation point is derived based on the repair planning surface (three-dimensional design surface data). Note that the planar position of the designated investigation point and height information corresponding to the planar position of the investigation point may be displayed on the display unit 6.

[0140] As described in the first embodiment, when investigating the road condition before pavement repair work is performed on the road, when the orthoimage created by the orthoimage creation unit 13 is displayed on the display unit 6, the user operates the mouse 8 to specify a specified point corresponding to the center position of the upper surface of a manhole in the orthoimage displayed on the display unit 6, and height information corresponding to the planar position of the center position of the upper surface of the manhole on the road before the pavement repair work is performed is derived based on the three-dimensional TIN model created by the TIN model creation unit 16.

[0141] In addition, in this embodiment, when the orthoimage (orthoimage including the repair area) created by the orthoimage creation unit 13 when investigating the road condition before the road pavement repair work is performed is displayed on the display unit 6, the user operates the mouse 8 to specify an investigation point corresponding to the center position of the top surface of the manhole displayed on the display unit 6, and height information (investigation height) corresponding to the planar position of the center position of the top surface of the manhole is derived based on the 3D design data created by the 3D design data creation unit 216.

[0142] Therefore, by comparing the current height of the center position of the manhole's top surface before road pavement repair work is carried out with the height based on the repair plan surface (3D design surface data), it is possible to confirm whether the top surface of the manhole will coincide with the repair plan surface when road pavement repair work is carried out based on the repair plan surface.

[0143] If, after checking whether the top surface of the manhole matches the repair plan surface, it is determined that when road pavement repair work is carried out based on the repair plan surface, the top surface of the manhole will protrude above the repair plan surface, it will be necessary to consider whether to redo the repair plan surface so that it matches the top surface of the manhole, or to adjust the height of the manhole so that the top surface of the manhole matches the repair plan surface.

[0144] In this embodiment, a case has been described in which, when road pavement repair work is carried out based on the created repair plan surface, the top surface of a manhole protrudes above the repair plan surface. However, the same applies to a case in which, when road pavement repair work is carried out based on the created repair plan surface, the top surface of a manhole is recessed below the repair plan surface.

[0145] In addition, for a road based on the construction plan data (3D design data) of the road pavement repair work, it is not possible to create an ortho-image based on multiple images taken from the sky. It is considered that each planar position of the road based on the construction plan data of the road pavement repair work and each planar position of the road in its current state before the pavement repair work are performed are approximately the same. Therefore, if an ortho-image of the road in its current state before the pavement repair work is already created, it is possible to specify the planar position using the ortho-image of the road in its current state before the pavement repair work is performed, without creating an ortho-image of the road based on the construction plan data of the road pavement repair work.

[0146] In this embodiment, it is possible to obtain height information corresponding to each planar position of the road based on the construction plan data (three-dimensional design data) of the road pavement repair work. Therefore, by calculating the difference between the height information corresponding to each planar position of the road based on the construction plan data of the road pavement repair work obtained in this embodiment and the height information corresponding to each planar position of the road in its current state before the pavement repair work is performed obtained in the first embodiment, it is possible to grasp the degree to which the height information at the same planar position differs between before the pavement repair work is performed and the construction plan data of the pavement repair work.

[0147] Furthermore, after the road pavement repair work is carried out, by calculating the difference between the height information corresponding to each planar position of the road based on the construction plan data for the road pavement repair work obtained in this embodiment and the height information corresponding to each planar position of the road after the pavement repair work is carried out obtained in the third embodiment, it is possible to grasp the extent to which the height information at the same planar position differs between the road pavement repair work after the construction and the construction plan data. In other words, it is possible to manage the extent to which the height of the road on which the pavement repair work has been carried out matches the height of the road based on the construction plan data for the pavement repair work (finished form management).

[0148] As described above, the road survey method according to this embodiment includes a coordinate acquisition step of acquiring three-dimensional coordinates for a plurality of characteristic points on a road in its current state before pavement repair work is performed, a photographing step of taking a plurality of photographed images by an unmanned aerial vehicle flying overhead such that each of the plurality of characteristic points is included in at least two photographed images, an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each characteristic point acquired in the coordinate acquisition step and the plurality of photographed images taken in the photographing step, a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point on the road by a laser beam irradiated from a three-dimensional scanning device, and .... The method includes a road surface data creation step of creating road surface data including each planar position of the road in its current state before the pavement repair work is performed and height information corresponding to that planar position based on the created ortho-image and the point cloud data acquired by the point cloud data acquisition step, a design data creation step of creating three-dimensional design data for performing road pavement repair work based on the road surface data created by the road surface data creation step, a specified point designation step of designating specified points included in the ortho-image, and a height information derivation step of deriving height information corresponding to the planar positions of the specified points designated by the specified point designation step based on the three-dimensional design data created by the design data creation step.

[0149] As a result, when a specific point included in an ortho-image of the road in its current state before pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on 3D design data for carrying out the pavement repair work, which was created based on road surface data of the road in its current state before pavement repair work is carried out. Therefore, for a specific point on a road in its current state before pavement repair work is carried out, it is possible to accurately obtain the 3D coordinates (planar position and height information) of the specific point when the pavement repair work is carried out based on the 3D design data. As a result, it is easy to survey the road condition.

[0150] The road survey method of the present invention includes a specified point designation step of designating a specified point contained in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation step of deriving height information corresponding to the planar position of the specified point designated in the specified point designation step based on three-dimensional design data for performing pavement repair work on the road in its current state before pavement repair work is performed.

[0151] The road inspection system of the present invention comprises a specified point designation means for designating a specified point contained in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and a height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the road in its current state before pavement repair work is performed.

[0152] When the road inspection program of the present invention is loaded into a computer, it causes the computer to function as a specified point designation means for designating a specified point contained in an ortho-image created based on the three-dimensional coordinates of a plurality of characteristic points in the current state of the road before pavement repair work is performed and a plurality of images taken by an unmanned aerial vehicle or model aircraft flying overhead so that each of the plurality of characteristic points is included in at least two of the images, and as height information derivation means for deriving height information corresponding to the planar position of the specified point designated by the specified point designation means based on three-dimensional design data for performing pavement repair work on the current state of the road before pavement repair work is performed.

[0153] As a result, when a specific point included in an ortho-image of the road in its current state before pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on the 3D design data for carrying out the pavement repair work on the road in its current state before pavement repair work is carried out. Therefore, for a specific point on a road in its current state before pavement repair work is carried out, it is possible to accurately obtain the 3D coordinates (planar position and height information) of the specific point when the pavement repair work is carried out based on the 3D design data. As a result, it is easy to survey the road condition.

[0154] (Fourth embodiment) The road inspection method of this embodiment differs from the road inspection method of the first embodiment in that, in the first embodiment, when pavement repair work is carried out on a road, a road inspection is carried out on the current state of the road before the pavement repair work is carried out, whereas in this embodiment, when pavement repair work is carried out on a road, a road inspection is carried out on the road after the pavement repair work is carried out. Note that in this embodiment, detailed explanations of the same configuration as the road inspection system 1 of the first embodiment will be omitted.

[0155] In the above third embodiment, a case has been described in which a road survey is carried out on the current state of a road before pavement repair work is carried out, and then 3D design surface data (construction plan data) for the pavement repair work is created, and the road pavement repair work is carried out based on the 3D design surface data. When the road pavement repair work is completed, an orthoimage is created based on multiple images taken from the sky of the road after the pavement repair work has been carried out, and point cloud data is acquired by the 3D scanner 5.

[0156] Note that the planar positions of the road after the pavement repair work is performed are considered to be substantially the same as the planar positions of the road in its current state before the pavement repair work is performed. Therefore, if an orthoimage of the road in its current state before the pavement repair work is already created, the planar positions may be specified using the orthoimage of the road in its current state before the pavement repair work is performed, without creating an orthoimage of the road after the pavement repair work is performed.

[0157] In this embodiment, when a user specifies a specific point in an area in an orthoimage, height information corresponding to the planar position of the specific point is derived based on a 3D TIN model, so that it is possible to obtain height information corresponding to each planar position of the road after pavement repair work has been performed. Therefore, by calculating the difference between the height information corresponding to each planar position of the road after pavement repair work has been performed obtained in this embodiment and the height information corresponding to each planar position of the road in its current state before the pavement repair work has been performed obtained in the first embodiment, it is possible to grasp the degree to which the height information at the same planar position has changed before and after the pavement repair work has been performed.

[0158] As described above, in this embodiment, when a specific point included in an ortho-image of a road after pavement repair work is specified, height information corresponding to the planar position of the specific point is derived based on the point cloud data obtained by the 3D scanning device. Therefore, it is possible to accurately obtain the 3D coordinates (planar position and height information) of each point of the road required for road survey of the road after pavement repair work is performed. As a result, it is possible to easily survey the road condition.

[0159] Fifth embodiment The road inspection method of this embodiment differs from the road inspection method of the first embodiment in that, in the first embodiment, when pavement repair work is to be carried out, a road inspection is carried out on the current state of the road before the pavement repair work is carried out, whereas in this embodiment, when pavement repair work is to be carried out, a road inspection is carried out on the road in progress where pavement repair work is being carried out. Note that in this embodiment, detailed explanations of the same configuration as the road inspection system 1 of the first embodiment will be omitted.

[0160] In this embodiment, an orthoimage is created based on a plurality of images taken from the sky for a road undergoing pavement repair work, and point cloud data is acquired by a 3D scanner 5.

[0161] Note that the planar positions of a road under construction where pavement repair work is being carried out are considered to be substantially the same as the planar positions of the road in its current state before the pavement repair work is carried out. Therefore, if an orthoimage of the road in its current state before the pavement repair work is carried out has already been created, the planar positions may be specified using the orthoimage of the road in its current state before the pavement repair work is carried out, without creating an orthoimage of the road under construction where pavement repair work is being carried out.

[0162] In this embodiment, when a user specifies a specific point in an area in an orthoimage, height information corresponding to the planar position of the specific point is derived based on a 3D TIN model, so that it is possible to obtain height information corresponding to each planar position of a road under construction where pavement repair work is being carried out. Therefore, by calculating the difference between the height information corresponding to each planar position of a road under construction where pavement repair work is being carried out obtained in this embodiment and the height information corresponding to each planar position of the road in its current state before the pavement repair work is carried out obtained in the first embodiment, it is possible to grasp the extent to which the height information at the same planar position has changed between before the pavement repair work is carried out and during the pavement repair work is being carried out.

[0163] As described above, in this embodiment, when a specific point included in an ortho-image of a road under construction where pavement repair work is being carried out is specified, height information corresponding to the planar position of the specific point is derived based on the point cloud data obtained by the 3D scanning device. Therefore, it is possible to accurately obtain the 3D coordinates (planar position and height information) of each point of the road required for road survey of a road under construction where pavement repair work is being carried out. As a result, it is possible to easily survey the road condition.

[0164] (1st reference example) Fig. 18 is a diagram showing a schematic configuration of a road inspection system 301 according to a first reference example. Fig. 19 is a diagram explaining an image area of ​​an orthoimage and a georeference file associated therewith. Fig. 20 is a diagram explaining an orthoimage associated with absolute coordinates. Fig. 21 is a diagram explaining a method of inspecting a road in the road inspection system 301.

[0165] The road survey system 301 of this first reference example comprises a total station 2 installed at a known point (e.g. a reference point), a UAV3 (Unmanned Aerial Vehicle) which is an unmanned aerial vehicle used as an imaging device, a 3D scanner 5 (three-dimensional scanning device) installed at the known point, an orthoimage creation device 310 to which the total station 2, UAV 3 and 3D scanner 5 are wirelessly connected, and a 2D CAD device 330.

[0166] The total station 2 emits distance measurement light toward each point on the road surface, receives the light reflected at each point, and obtains the three-dimensional coordinates of each point relative to a known point based on the number of times the light wave oscillates from emission to reception, and supplies the three-dimensional coordinates to the orthoimage creation device 310. In this reference example, the total station 2 is used to obtain the three-dimensional coordinates of multiple anti-aircraft signs 20.

[0167] The UAV3 has an imaging device, photographs the road surface from the sky, acquires imaging data, and supplies the imaging data to the orthoimage creation device 310.

[0168] The 3D scanner 5 irradiates laser light to obtain three-dimensional coordinated point cloud data (a set of elevations having planar position coordinates) of each point on the road surface, and supplies the point cloud data to the orthoimage creation device 310. The 3D scanner 5 can obtain the distance to the measurement point by emitting line laser light, for example, in the vertical and horizontal directions, toward the measurement object (road surface) and measuring the time it takes for the laser pulse to travel back and forth between the measurement point on the measurement object and the sensor.

[0169] In this reference example, the 3D scanner 5 is used to acquire three-dimensional coordinates (point cloud data) of each point in an area including the repair location where road repair is performed at the time of starting repair work. The point cloud data acquired by the 3D scanner 5 is data at positions spaced apart from each other, for example, at intervals of 25 cm or less, and in this reference example, the 3D scanner 5 acquires point cloud data at positions spaced apart from each other, for example, at intervals of 5 mm.

[0170] As shown in FIG. 18, the orthoimage creation device 310 is composed of, for example, a microcomputer, and includes a CPU, a ROM in which a program for controlling the operation of the orthoimage creation device 310 is stored, and a RAM in which data, etc. used when executing the program are temporarily stored.

[0171] The orthoimage creation device 310 has a coordinate storage unit 311 , a captured image storage unit 312 , an orthoimage creation unit 313 , an orthoimage data storage unit 314 , and a point cloud data storage unit 315 .

[0172] The coordinate storage unit 311 separately stores three-dimensional coordinates of characteristic points of a plurality of anti-aircraft signs 20 and the like acquired by the total station 2.

[0173] The captured image storage unit 312 stores a plurality of images of a road taken from above by the UAV 3 flying at a substantially constant altitude above the road. When taking images, the UAV 3 flies at an altitude of 20 meters or less above the ground, for example, at an altitude of 5 to 20 meters, and preferably at an altitude of 5 to 15 meters.

[0174] When a road is photographed from the sky by a UAV 3, as shown in FIG. 2, a plurality of anti-aircraft signs 20 are installed as a plurality of feature points, for example, near both ends of the road. The plurality of anti-aircraft signs 20 are installed, for example, at intervals of 5 to 15 meters along the ends of the road (longitudinal direction of the road). The plurality of anti-aircraft signs 20 are installed in consideration of connecting a plurality of photographed images taken from the sky to create an orthoimage. The anti-aircraft signs 20 are feature points to which three-dimensional coordinates are supplied, and are used as evaluation points. Note that, when connecting a plurality of photographed images to create an orthoimage, in addition to the anti-aircraft signs 20, feature points included in the plurality of photographed images and to which three-dimensional coordinates are not supplied may be used.

[0175] The anti-aircraft sign 20 is a square plate-like member as shown in FIG. 3. The anti-aircraft sign 20 has a pattern that clearly identifies its center position. The anti-aircraft sign 20 has an adhesive layer formed on its back surface, and is in the form of a sticker with a backing paper attached to cover the adhesive layer. By removing the backing paper and attaching the anti-aircraft sign 20 to the road, it can be easily fixed to the installation location. Therefore, when using the anti-aircraft sign 20, the backing paper covering the adhesive layer is removed, and the back surface of the anti-aircraft sign 20 is attached to the road surface. The anti-aircraft sign 20 of this reference example is, for example, a square shape of 9 cm x 9 cm, but the type, shape, size, pattern, etc. of the anti-aircraft sign 20 are not limited thereto.

[0176] As shown in Fig. 4, the multiple images captured by the UAV3 are captured such that each anti-aircraft sign 20 is included in at least two captured images. Therefore, at least one common anti-aircraft sign 20 is captured in two adjacent captured images. Note that Fig. 4 illustrates a case in which the anti-aircraft sign 20 is included in all captured images, but the multiple images captured by the UAV3 may be captured such that either the anti-aircraft sign 20 or a feature point other than the anti-aircraft sign 20 is included in at least two captured images.

[0177] The orthoimage creation unit 313 creates an orthoimage (orthoimage data) based on the three-dimensional coordinates of the anti-aircraft sign 20 stored in the coordinate storage unit 311 and the multiple captured images stored in the captured image storage unit 312. Specifically, the orthoimage creation unit 313 performs SfM (Structure from Motion) analysis or the like on the data on the multiple captured images to connect two adjacent captured images based on the common anti-aircraft sign 20 captured in the images, thereby creating an orthoimage. The orthoimage created by the orthoimage creation unit 313 is linked to a georeference file, such as location information and resolution. The location information is coordinate information based on the world geodetic system coordinates.

[0178] The orthoimage data storage unit 314 stores the orthoimage data created by the orthoimage creation unit 313.

[0179] The point cloud data storage unit 315 stores point cloud data in which each point on the road surface acquired by the 3D scanner 5 is converted into three-dimensional coordinates.

[0180] As shown in FIG. 18, the two-dimensional CAD device 330 is composed of, for example, a microcomputer, and has a CPU, a ROM in which a program for controlling the operation of the two-dimensional CAD device 330 is stored, and a RAM in which data, etc. used when executing the program are temporarily stored.

[0181] The two-dimensional CAD device 330 is used to carry out a road surface inspection based on the orthoimage data output from the orthoimage creation device 310. For this purpose, two-dimensional CAD software is installed in the two-dimensional CAD device 330. The two-dimensional CAD device 330 and the orthoimage creation device 310 are connected to each other so as to be able to communicate data with each other.

[0182] The two-dimensional CAD device 330 has an image data reading unit 331, a display control unit 332, a survey content derivation unit 333, and a display unit 335. To the two-dimensional CAD device 330, a mouse (operation device) (not shown) is connected.

[0183] When the image data reading unit 314 selects orthoimage data stored in the orthoimage data storage unit 314 of the orthoimage creation device 310 and reads the data into the 2D CAD device 330, the image data reading unit 314 reads the data based on a georeference file associated with the orthoimage data. The georeference file includes location information, which is absolute coordinates (World coordinates), information such as image size and the coordinates of the upper left pixel, and resolution. Therefore, absolute coordinates are associated with any point included in the orthoimage. In this reference example, the orthoimage data is, for example, jpg data, and the georeference file is, for example, jgw data.

[0184] For example, as shown in FIG. 19, when an orthoimage is formed by a plurality of image areas T(1,1) to T(3,3), the jpg data of each of the image areas T(1,1) to T(3,3) is associated with georeference file jgw data. For example, the georeference file jgw data associated with the image area T(1,1) includes the top left pixel A of the image area T(1,1), 1.1 Similarly, the georeferenced file jgw data associated with image areas other than image area T(1,1) contains the coordinates of the upper left pixel of each image area. Therefore, the multiple image areas T(1,1) to T(3,3) are properly connected without gaps.

[0185] That is, in the orthoimage displayed on the 2D CAD device 330, for example, point A1 included in the orthoimage is linked to absolute coordinates (X1, Y1), and point A2 included in the orthoimage is linked to absolute coordinates (X2, Y2), as shown in Fig. 20. The absolute coordinates (X1, Y1) are coordinate information based on the World Geodetic System coordinates, and indicate the latitude and longitude of point A1, and the absolute coordinates (X2, Y2) indicate the latitude and longitude of point A2.

[0186] The display control unit 332 displays on the display unit 335 the orthoimage data read by the image data reading unit 314 based on the georeference file.

[0187] When a predetermined operation is performed by the mouse while the ortho-image data associated with the absolute coordinates is displayed on the display unit 335, the survey content derivation unit 333 derives survey content corresponding to the operation. For example, when the user performs an operation to specify a predetermined position in the ortho-image displayed on the display unit 335, the survey content derivation unit 333 derives the absolute coordinates of the predetermined position. When the user performs an operation to specify two predetermined positions in the ortho-image displayed on the display unit 335, the survey content derivation unit 333 derives the distance between the two predetermined positions. When the user performs an operation to specify a predetermined range in the ortho-image displayed on the display unit 335, the survey content derivation unit 333 derives the area of ​​the predetermined range.

[0188] A road inspection method for inspecting roads based on ortho-images in the road inspection system 301 will be described with reference to FIG.

[0189] In step S1 (coordinate acquisition step), the total station 2 acquires three-dimensional coordinates, i.e., planar positions (latitude, longitude) and altitude (height), for a number of specified positions around the repair area where road repairs are to be performed, i.e., the specified positions where a number of anti-aircraft signs 20 are to be installed.

[0190] In step S2 (photographing step), the road is photographed from the sky by the UAV 3 flying at an altitude of 20 meters or less above the ground. When photographing is performed, a plurality of anti-aircraft markers 20 are installed in advance at a plurality of predetermined positions surveyed in step S1. Therefore, a plurality of photographed images are taken of the plurality of anti-aircraft markers 20 such that each anti-aircraft marker 20 is included in at least two photographed images.

[0191] In step S3 (orthoimage creation step), an orthoimage is created based on the three-dimensional coordinates acquired in step S1 and the multiple captured images taken in step S2. In this reference example, the ground pixel size of the orthoimage is 5 millimeters or less.

[0192] In step S4 (image data reading step), the orthoimage data stored in the orthoimage creation device 310 is read into the two-dimensional CAD device 330 based on the georeference file. Then, the orthoimage data created in step S3 is read into the two-dimensional CAD device 330 with the absolute coordinates linked to it.

[0193] In step S5 (display step), the orthoimage associated with the absolute coordinates is displayed on the display unit 335 in the two-dimensional CAD device 330.

[0194] In step S6 (road survey step), the two-dimensional CAD device 330 surveys various roads based on the ortho-images displayed on the display unit 335 on the two-dimensional CAD.

[0195] Road surveys using orthoimages include (1) surveys of the crack condition on the road surface, (2) surveys of the location of planar elements around the road, including areas where repairs will be made, (3) surveys to repair the areas around manholes, (4) surveys of the distance between two specified points on the road surface, and (5) surveys of the area of ​​a specified range on the road surface.

[0196] When investigating the locations of planar elements around a road, the locations of planar elements are investigated, including the edges of the road, including repair areas where road repairs will be performed, road deformations, dividing lines such as white painted areas indicating lanes on the road surface, and lines indicating the locations of manholes, etc.

[0197] In investigating the distance between two specified points on the road surface, when various distances are required for road repair, the distances are investigated based on the orthoimage displayed on the display unit 35. Distances required for road repair include, for example, the length of the road repair portion, the width of the road, and the length of a specified area on the road surface.

[0198] The ortho-image is associated with point cloud data, and each point in the ortho-image is associated with the three-dimensional coordinates of the point cloud data, and each point on the ortho-image corresponds to a planar position (latitude, longitude) and an elevation (height). By converting the point cloud data acquired by the 3D scanner 5 into a three-dimensional TIN model (irregular triangular network), which is a collection of triangular planes connected at vertices, data corresponding to the latitude, longitude, and elevation of each point on the road surface can be derived. Even if the point cloud data of each point in the survey area is not acquired by the 3D scanner 5, data corresponding to the latitude, longitude, and elevation of each point can be derived.

[0199] As described above, the road survey method for carrying out road pavement repair work according to this reference example includes a coordinate acquisition step of acquiring three-dimensional coordinates for a plurality of characteristic points on the road, a photographing step of taking a plurality of photographed images for the plurality of characteristic points using a UAV3 (unmanned aerial vehicle) flying above the road so that each of the plurality of characteristic points is included in at least two photographed images, an orthoimage data creation step of creating orthoimage data based on the three-dimensional coordinates of each characteristic point acquired by the coordinate acquisition step and the plurality of photographed images taken by the photographing step, an image data reading step of reading the orthoimage data created by the orthoimage data creation step into a 2D CAD device 330 based on a georeference file linked to the orthoimage data, a display step of displaying on a display unit 335 an orthoimage based on the orthoimage data read by the image data reading step, and a road survey step of surveying the road based on the orthoimage displayed on the display unit 335 by the display step.

[0200] As a result, in the road survey method for carrying out road repair work in this reference example, the orthoimage data created by connecting multiple images taken of the road from above is read into the 2D CAD device 330 while linked to absolute coordinates, so that when carrying out road pavement repair work, accurate surveys can be carried out based on the orthoimages on the 2D CAD.

[0201] In the road inspection method for carrying out road pavement repair work according to this reference example, in the photographing step, a UAV3 (unmanned aerial vehicle) flies at an altitude of 20 meters or less above the ground.

[0202] As a result, the road inspection method according to this reference example for carrying out road repair work makes it possible to inspect the road surface in detail, even down to cracks formed on the road surface.

[0203] The road survey method for carrying out road pavement repair work according to this reference example includes a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device installed at known points, and a height information acquisition step of acquiring height information of the specified point based on the point cloud data acquired by the point cloud data acquisition step after acquiring the two-dimensional positions of the specified points contained in the orthoimage by the road survey step.

[0204] As a result, in the road inspection method for carrying out road repair work according to this reference example, height information of a specified point contained in the orthoimage can be obtained.

[0205] In the road inspection method for carrying out road pavement repair work according to this reference example, in the coordinate acquisition step, the three-dimensional coordinates of each characteristic point are acquired by a total station 2 installed at a known point.

[0206] As a result, in the road inspection method according to this reference example for carrying out road repair work, the three-dimensional coordinates of each feature point can be obtained accurately.

[0207] (2nd reference example) FIG. 22 is a diagram showing a schematic configuration of a road inspection system 401 according to the second reference example.

[0208] The road inspection system 401 of this reference example differs from the road inspection system 301 of the first reference example in that, whereas in the road inspection system 301 of the first reference example, the three-dimensional coordinates of each characteristic point are acquired by a total station 2 installed at a known point, in the road inspection system 101 of this reference example, the three-dimensional coordinates of each characteristic point are acquired by a UAV (unmanned aerial vehicle) equipped with a GPS. Regarding the road inspection system 401 of this reference example, a description of the same configuration as the road inspection system 301 of the first reference example will be omitted.

[0209] The road survey system 401 of this reference example includes a UAV3 (Unmanned Aerial Vehicle), which is an unmanned aerial vehicle used as an imaging device, a 3D scanner 5 (three-dimensional scanning device) installed at a known point, an orthoimage creation device 410 to which the UAV3 and the 3D scanner 5 are wirelessly connected, and a 2D CAD device 30.

[0210] In the road survey system 401 of this reference example, the UAV 3 is equipped with a GPS, and can take photographs of the road from above and obtain the three-dimensional coordinates of points on the road, i.e., the planar position (latitude, longitude) and altitude (height).

[0211] As described above, the road inspection method for carrying out road pavement repair work according to this embodiment provides the same effects as the first embodiment.

[0212] In the road inspection method for carrying out road pavement repair work according to this reference example, in the coordinate acquisition step, the three-dimensional coordinates of each characteristic point are acquired by a UAV 3 equipped with a GPS.

[0213] As a result, in the road inspection method for carrying out road repair work in this reference example, images can be taken by the UAV 3 flying in the sky, and at the same time, three-dimensional coordinates of characteristic points can be obtained.

[0214] In the above first and second reference examples, when the inventor of the present invention creates an orthoimage by connecting multiple images taken of a road from the air, and then performs an investigation for road pavement repair work based on the orthoimage, when the orthoimage data is loaded into a 2D CAD device to investigate the road condition, the technical problem of not being able to load location information linked to the orthoimage data into the 2D CAD device together with the orthoimage data is resolved.

[0215] Fig. 23 is a diagram for explaining a conventional method of loading orthoimage data into a two-dimensional CAD device. For example, conventionally, when loading an orthoimage shown in Fig. 23(a) into an area on a two-dimensional CAD shown in Fig. 23(b), the orthoimage was deformed and loaded so that the points on the diagonal line N1-N3 of the points N1 to N4 around the orthoimage are positioned on the diagonal line T1-T3 on the two-dimensional CAD, and the points on the diagonal line N2-N4 are positioned on the diagonal line T2-T4 on the two-dimensional CAD, as shown in Fig. 23(c).

[0216] Therefore, since the coordinates of each point on the orthoimage loaded into the 2D CAD shown in Figure 23(c) are not accurate, it was difficult to accurately survey the road surface based on the orthoimage on the 2D CAD.

[0217] This reference example aims to provide a road survey method for carrying out road pavement repair work, which enables accurate survey of road conditions based on ortho-images on a 2D CAD system when carrying out road pavement repair work.

[0218] As described above, according to this reference example, when carrying out road pavement repair work, the road condition can be accurately surveyed on a 2D CAD system based on orthoimages.

[0219] Although an embodiment of the present invention has been described above, the specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0220] In the above second embodiment, when a road survey is conducted on a road in its current state before pavement repair work is carried out, a separately created orthoimage of the road in its current state before pavement repair work is carried out and separately acquired point cloud data is supplied to the road survey device 10; however, as in the above fourth and fifth embodiments, when a road survey is conducted on a road after construction has been carried out after pavement repair work has been carried out or a road under construction where pavement repair work is being carried out, a separately created orthoimage of the road after construction has been carried out after pavement repair work has been carried out or a road under construction where pavement repair work is being carried out may also be supplied with separately acquired point cloud data.

[0221] In the present invention, "deriving height information corresponding to the planar position of a specified point based on point cloud data" includes the case of "deriving height information corresponding to the planar position of a specified point based on point cloud data" and the case of "deriving height information corresponding to the planar position of a specified point based on a three-dimensional TIN model created from the point cloud data".

[0222] In the above-described second embodiment, separately acquired point cloud data is supplied to the road inspection device 110, and a three-dimensional TIN model is created based on the point data in the road inspection device 110, but this is not limited thereto. For example, a three-dimensional TIN model may be created separately based on the point cloud data, and the three-dimensional TIN model (data of the three-dimensional TIN model) may be supplied to the road inspection device 110.

[0223] In the present invention, "deriving height information corresponding to the planar position of a specified point based on three-dimensional design data for carrying out road pavement repair work" includes the cases of "deriving height information corresponding to the planar position of a specified point based on design point data" and "deriving height information corresponding to the planar position of a specified point based on design surface data (three-dimensional design surface data) created from design point data." In other words, in the present invention, "three-dimensional design data for carrying out road pavement repair work" includes "three-dimensional design point data for carrying out road pavement repair work" and "three-dimensional design surface data for carrying out road pavement repair work."

[0224] In the above third embodiment, separately created design point data is supplied to the road inspection device 210, and the road inspection device 210 creates three-dimensional design surface data based on the design point data, but this is not limited thereto. For example, three-dimensional design surface data that is a three-dimensional TIN model may be separately created based on the design point data, and the three-dimensional design surface data may be supplied to the road inspection device 210.

[0225] In the above first to fifth embodiments, cases have been described in which road conditions are surveyed when carrying out road pavement repair work, but the present invention is also applicable to cases in which road conditions are surveyed for purposes other than surveying road conditions when carrying out road pavement repair work.

[0226] In the above embodiment, an ortho-image is created based on an image taken from above the road by the UAV 3 flying at an almost constant altitude of 20 meters or less above the ground, but the present invention includes a method of creating an ortho-image based on an image taken from above the road by the UAV 3 regardless of the flying altitude of the UAV 3. The UAV 3 may also fly at different altitudes below 20 meters above the ground. In the above embodiment, the three-dimensional coordinates of the anti-aircraft sign 20 installed around the road are acquired by the total station 2, but the three-dimensional coordinates of the anti-aircraft sign 20 installed around the road may be acquired by a GNSS (Global Navigation Satellite System), which is a positioning system using satellites such as GPS. The three-dimensional coordinates of the anti-aircraft sign 20 installed around the road may be acquired by scanning with a 3D scanner 5. The anti-aircraft sign 20 in the above embodiment has a pattern that clearly identifies the central position used as the evaluation point, but has a pattern that identifies a position other than the central position of the anti-aircraft sign 20, and the position other than the central position may be used as the evaluation point. In the above embodiment, the anti-aircraft signs 20 are installed at intervals of, for example, 5 to 15 meters along the edge of the road (longitudinal direction of the road), but the arrangement of the anti-aircraft signs 20 is arbitrary. Therefore, the anti-aircraft signs 20 may be installed at intervals of, for example, 1 meter or less along the width direction of the road. In step S1 (coordinate acquisition step), the total station 2 acquires three-dimensional coordinates for the predetermined positions where the anti-aircraft signs 20 are installed. If the three-dimensional coordinates for the predetermined positions have already been acquired, the three-dimensional coordinates may be acquired. In the above embodiment, the plate-shaped anti-aircraft signs 20 are installed on the road surface, but instead of using the plate-shaped anti-aircraft signs 20, a pattern similar to the anti-aircraft signs 20 may be formed on the road surface using any material such as paint. For example, a pattern similar to the anti-aircraft signs 20 may be formed by spraying a paint of a different color from the asphalt surface onto the asphalt surface of the road to form a pattern having the same shape as the white part of the anti-aircraft signs 20 in FIG. 3. When anti-aircraft markings are formed on the road surface using any material such as paint, the type, shape, size, pattern, etc. of the anti-aircraft markings are also arbitrary.

[0227] In the above embodiment, the road was photographed by an unmanned aerial vehicle (including a camera) flying at an altitude of 20 meters or less above the ground, but the road may be photographed by a model aerial vehicle (including a camera) flying at an altitude of 20 meters or less above the ground. In the present invention, an unmanned aerial vehicle is an airplane, rotorcraft, airship, etc. that cannot be ridden by a person and can fly by remote control or automatic pilot, such as a drone (multicopter), a radio-controlled aircraft, etc. Also, a model aerial vehicle is, for example, a multicopter, a radio-controlled aircraft, etc., and has a weight of less than 200 grams, which is the total weight of the aircraft body and the battery weight.

[0228] In the above embodiment, an anti-aircraft sign 20 installed on the ground at the time of shooting is used as a feature point for connecting multiple captured images, and the three-dimensional coordinates of the anti-aircraft sign 20 are each acquired by the total station 2, but a specific point in an image captured by the UAV 3 is used as a feature point for connecting multiple captured images, and if three-dimensional coordinated point cloud data for each point in the captured image including the specific point has already been acquired by scanning with the 3D scanner 5, the three-dimensional coordinates of the specific point may be acquired from the point cloud data.

[0229] In the above embodiment, an example of a method for creating an orthoimage has been described, but the order of steps S1 and S2 may be reversed in Fig. 7. Therefore, it is possible to capture an image after acquiring the three-dimensional coordinates of the anti-aircraft sign 20, and it is also possible to acquire the three-dimensional coordinates of the anti-aircraft sign 20 after acquiring the image.

[0230] The road inspection method of the above embodiment can be used for any inspection as appropriate. The road inspection method of the present invention can be used, for example, to inspect the flatness of the road surface (inspection of the International Roughness Index (IRI)) and the cutting thickness of the road surface. The road inspection method of the present invention has been described as inspecting the crack condition of the road surface, the position of the planar elements around the road, the repair of the area around the manhole, the distance between two specified points on the road surface, and the area of ​​a specified range on the road surface, but the road inspection system 1 may be used for other inspections.

[0231] In the above embodiment, only one point in the orthoimage is associated with absolute coordinates, but multiple points in the orthoimage may be associated with absolute coordinates. [Explanation of symbols]

[0232] 1 Road Inspection System 2 Total station (means of acquiring coordinates) 3 UAV (unmanned aerial vehicle, photography means) 5 3D scanner (3D scanning device, point cloud data acquisition means) 10 Road Survey Equipment 11 Coordinate storage section 12 Photographed image storage section 13 Orthoimage creation unit (orthoimage creation means) 14 Point cloud data storage unit 15 TIN model creation section 16 Display control section 17 Predetermined point designation unit (predetermined point designation means) 18 Height information derivation unit (height information derivation means) 101 Road Survey System 110 Road Survey Equipment 201 Road Survey System 210 Road Survey Equipment 217 Survey point designation unit (predetermined point designation means) 218 Survey height derivation unit (height information derivation means)

Claims

1. a coordinate acquisition step of acquiring three-dimensional coordinates of a plurality of characteristic points on a road; a photographing step of photographing a plurality of images by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of feature points is included in at least two of the photographed images; an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each feature point acquired by the coordinate acquisition step and the plurality of photographed images captured by the photographing step; a point cloud data acquisition step of acquiring point cloud data that is converted into three-dimensional coordinates for each point on the road by a laser beam irradiated from a three-dimensional scanning device; A predetermined point designation step of designating a predetermined point included in the orthoimage; a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on the point cloud data acquired in the point cloud data acquisition step.

2. a predetermined point designation step of designating a predetermined point included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the images; a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

3. A predetermined point designation step of designating a predetermined point included in an ortho-image of an area including a road; a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step, based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device, or a three-dimensional TIN model created from the point cloud data.

4. A predetermined point designation step of designating a predetermined point included in an ortho-image of an area including a road; a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step, based on a plurality of three-dimensional coordinated points on the surface of the road, or a three-dimensional TIN model created from the plurality of points.

5. A road survey method as described in any one of claims 1 to 4, characterized in that in the specified point designation step, when two specific points contained in the ortho-image are identified, the two specific points and a plurality of points on a straight line or curve defined based on the two specific points are designated as specified points.

6. 5. The road inspection method according to claim 1, wherein the road is in its current state before pavement repair work is carried out.

7. 5. The road inspection method according to claim 1, wherein the road is a road after pavement repair work has been carried out.

8. 5. The road inspection method according to claim 1, wherein the road is a road undergoing pavement repair work.

9. a coordinate acquisition means for acquiring three-dimensional coordinates of a plurality of characteristic points on a road; an image capturing means for capturing a plurality of images by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of feature points is included in at least two of the captured images; an orthoimage creation means for creating an orthoimage based on the three-dimensional coordinates of each feature point acquired by the coordinate acquisition means and the plurality of photographed images captured by the photographing means; a point cloud data acquisition means for acquiring point cloud data that is converted into three-dimensional coordinates for each point on the road by a laser beam irradiated from a three-dimensional scanning device; A predetermined point designation means for designating a predetermined point included in the orthoimage; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on the point cloud data acquired by the point cloud data acquisition means.

10. a predetermined point designation means for designating a predetermined point included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the images; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device.

11. A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means, based on point cloud data in which each point on the road is converted into three-dimensional coordinates by laser light irradiated from a three-dimensional scanning device, or a three-dimensional TIN model created from the point cloud data.

12. A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means, based on a plurality of three-dimensional coordinated points on the surface of the road, or a three-dimensional TIN model created from the plurality of points.

13. A road survey method as described in any one of claims 9 to 12, characterized in that, when two specific points contained in the ortho-image are identified, the specified point designation means designates the two specific points and a plurality of points on a straight line or curve defined based on the two specific points as specified points.

14. 13. The road inspection method according to claim 9, wherein the road is a road in its current state before pavement repair work is carried out.

15. 13. The road inspection method according to claim 9, wherein the road is a road after pavement repair work has been carried out.

16. 13. The road inspection method according to claim 9, wherein the road is a road undergoing pavement repair work.

17. When loaded into a computer, the computer: an orthoimage creation means for creating an orthoimage based on three-dimensional coordinates of a plurality of characteristic points on a road and a plurality of photographed images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the photographed images; A predetermined point designation means for designating a predetermined point included in the orthoimage; A road inspection program characterized by functioning as a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means, based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

18. When loaded into a computer, the computer: a predetermined point designation means for designating a predetermined point included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on the road and a plurality of photographed images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the photographed images; A road inspection program characterized by functioning as a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means, based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

19. When loaded into a computer, the computer: A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road; A road survey program characterized by functioning as a height information derivation means for deriving height information corresponding to the planar position of the specified point specified in the specified point designation step, based on point cloud data that has been converted into three-dimensional coordinates for each point on the road by laser light irradiated from a three-dimensional scanning device.

20. When loaded into a computer, the computer: A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road; A road survey program characterized by functioning as a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means, based on point cloud data that converts each point on the road into three-dimensional coordinates using laser light irradiated from a three-dimensional scanning device, or a three-dimensional TIN model created from the point cloud data.

21. When loaded into a computer, the computer: A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road; A road survey program characterized by functioning as a height information derivation means for deriving height information corresponding to the planar position of a specified point specified by the specified point designation means, based on a plurality of three-dimensional coordinated points on the surface of the road, or a three-dimensional TIN model created from the plurality of points.

22. a coordinate acquisition step of acquiring three-dimensional coordinates of a plurality of characteristic points of a road in an existing state before the pavement repair work is performed; a photographing step of photographing a plurality of images by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of feature points is included in at least two of the photographed images; an orthoimage creation step of creating an orthoimage based on the three-dimensional coordinates of each feature point acquired by the coordinate acquisition step and the plurality of photographed images captured by the photographing step; a point cloud data acquisition step of acquiring point cloud data that is converted into three-dimensional coordinates for each point on the road by a laser beam irradiated from a three-dimensional scanning device; a road surface data creation step of creating road surface data including each planar position of the road and height information corresponding to the planar position, based on the orthoimage created in the orthoimage creation step and the point cloud data acquired in the point cloud data acquisition step; a design data creation step of creating three-dimensional design data for carrying out pavement repair work on the road based on the road surface data created in the road surface data creation step; A predetermined point designation step of designating a predetermined point included in the orthoimage; a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on the three-dimensional design data created in the design data creation step.

23. a predetermined point designation step of designating predetermined points included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on the road in its current state before the pavement repair work is carried out and a plurality of images taken by an unmanned aerial vehicle or a model aerial vehicle flying overhead such that each of the plurality of characteristic points is included in at least two of the images; and a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on three-dimensional design data for carrying out pavement repair work on the road.

24. A predetermined point designation step of designating a predetermined point included in an ortho-image of an area including a road in its current state before the pavement repair work is performed; and a height information derivation step of deriving height information corresponding to the planar position of the specified point specified in the specified point designation step based on three-dimensional design data for carrying out pavement repair work on the road.

25. a predetermined point designation means for designating predetermined points included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on the road in its current state before the pavement repair work is carried out and a plurality of images taken by an unmanned aerial vehicle or a model aerial vehicle flying overhead such that each of the plurality of characteristic points is included in at least two of the images; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on three-dimensional design data for carrying out pavement repair work on the road.

26. A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road in its current state before the pavement repair work is carried out; a height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on three-dimensional design data for carrying out pavement repair work on the road.

27. When loaded into a computer, the computer: a predetermined point designation means for designating a predetermined point included in an ortho-image created based on three-dimensional coordinates of a plurality of characteristic points on the road in its current state before the pavement repair work is carried out and a plurality of photographed images taken by an unmanned aerial vehicle or a model aerial vehicle flying in the sky such that each of the plurality of characteristic points is included in at least two of the photographed images; A road inspection program characterized by functioning as height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on three-dimensional design data for carrying out pavement repair work on the road.

28. When loaded into a computer, the computer: A predetermined point designation means for designating a predetermined point included in an ortho-image of an area including a road in its current state before the pavement repair work is carried out; A road inspection program characterized by functioning as height information derivation means for deriving height information corresponding to the planar position of the specified point specified by the specified point designation means based on three-dimensional design data for carrying out pavement repair work on the road.

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