Deposited material measuring device and application program

Abstract

To provide a deposited material measuring device for calculating the deposited material deposited around a floor surface and at least one wall surface, by a simple operation.SOLUTION: The deposited material measuring device for calculating the deposited material deposited around a floor surface and at least one wall surface includes: shape acquisition means for acquiring three-dimensional shape data of the deposited material, the floor surface, and the wall surface; display control means for causing display means to display the three-dimensional shape data; specification means for specifying the floor surface and the wall surface of the three-dimensional shape data displayed in the display means on the basis of an operation of a user; estimation means for estimating a first surface including the wall surface specified by the specification means and a second surface including the wall surface; and calculation means for determining point groups in the space surrounded by the first surface and the second surface estimated by the estimation means of the point groups in the three-dimensional shape data to be a deposited material and calculating the volume of the deposited material.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a deposit measurement device and an application program for calculating deposits accumulated around a floor surface and one or more wall surfaces. [Background technology]

[0002] A method has been proposed for determining the volume of deposits using a three-dimensional distance measuring sensor equipped with a laser transmitter / receiver (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-20131 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of Patent Document 1, the volume of the deposits was calculated by specifying the ground surface on which the deposits were located and the envelope surface of the deposits. This resulted in a workload, for example, as it was necessary to vary the processing depending on the type of deposits and to specify the shape of the envelope surface.

[0005] The present invention has been made in consideration of the above-mentioned problems, and provides a deposit measurement device that can easily calculate the amount of deposits accumulated around a floor surface and one or more wall surfaces. [Means for solving the problem]

[0006] According to the present invention, there is provided a deposit measuring device for calculating the amount of deposits accumulated around a floor surface and one or more wall surfaces, comprising: a shape acquisition means for acquiring three-dimensional shape data representing the shapes of the deposits, the floor surface, and the wall surfaces in three dimensions; a display control means for displaying the three-dimensional shape data on a display means; and a means for estimating a surface including the floor surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is designated based on a user's operation, and a means for specifying a portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface based on a user's operation. and an estimation means for estimating a surface including the wall surface, wherein the display control means causes the surface including the floor surface estimated by the estimation means to be displayed on the display means as a first surface, and causes the surface including the wall surface estimated by the estimation means to be displayed on the display means as a second surface distinguishable from the first surface, and further comprises a calculation means for regarding, among the three-dimensional shape data displayed on the display means, the three-dimensional shape data that exists in the space surrounded by the first surface and the second surface as the deposit, and calculating the volume of the deposit.

[0007] According to the present invention, there is also provided an application program for operating a deposit measuring device that calculates an amount of deposits accumulated around a floor surface and one or more wall surfaces, the application program including: a shape acquisition process for acquiring three-dimensional shape data that three-dimensionally represents the shapes of the deposits, the floor surface, and the wall surfaces; a display process for displaying the three-dimensional shape data on a display means; and a process for estimating a surface including the floor surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is designated based on a user's operation, and a process for displaying the portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface in response to a user's operation. an estimation process for estimating a surface including the wall surface when the surface is specified based on the estimated surface height, wherein the display process causes the display means to display the surface including the floor surface estimated by the estimation process as a first surface, and causes the display means to display the surface including the wall surface estimated by the estimation process as a second surface distinguishable from the first surface, and further causes the display means to regard, among the three-dimensional shape data displayed on the display means, the three-dimensional shape data that exists in a space surrounded by the first surface and the second surface as the deposit, and calculates the volume of the deposit. Effect of the Invention

[0008] According to the present invention, a deposit measurement device can be provided that can calculate the volume of deposits accumulated around a floor surface and one or more wall surfaces by specifying the floor surface and wall surfaces, thereby improving work efficiency. [Brief description of the drawings]

[0009] [Figure 1] (a) is an image of a stockyard, and (b) is an image of the measurements of the stockyard. [Diagram 2] FIG. 2 is a block diagram of a sediment measurement device. [Diagram 3] 13 is a flowchart of a process. [Figure 4] FIG. 13 is a screen image showing three-dimensional shape data displayed on a display means. [Diagram 5]1A is a screen image showing deposits, etc., displayed on a display means, FIG. 1B is a screen image showing a screen for specifying a floor surface, FIG. 1C is a screen image showing a screen for specifying a wall surface, and FIG. 1D is a screen image showing a screen for specifying a wall surface. [Figure 6] 13 is a flowchart of a process for calculating a volume of a deposit. [Figure 7] FIG. 13 is a screen image showing the calculation results of the volume of the deposit. [Figure 8] 1A is a diagram showing the storage state of the piles in the stockyard, and FIG. 1B is a diagram showing the measurement area. [Figure 9] 13(a) is an image diagram of another type of stockyard, (b) is a diagram showing the storage state of sediments in another type of stockyard, and (c) is a diagram showing the measurement area of ​​another type. [Figure 10] 13(a) is an image diagram of another type of stockyard, (b) is a diagram showing the storage state of sediments in another type of stockyard, and (c) is a diagram showing the measurement area of ​​another type. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0011] <Sediment measurement device 100> First, an overview of the sediment measurement device 100 will be described with reference to FIGS.

[0012] FIG. 1(a) shows a stockyard 400 for storing gravel, earth, surplus soil, materials, etc. at a construction site. The stockyard 400 of this embodiment is surrounded by walls 420, 430, and 440 on three sides, and gravel, earth, surplus soil, etc. transported by trucks or the like are packed and stored so that they come into contact with the wall located at the back of the open opening 460. The stockyard 400 of this embodiment is surrounded by walls on three sides, but it is sufficient if there is a wall on at least one side. In this case, gravel, earth, surplus soil, etc. are packed and stored so that they come into contact with the wall provided on one side. In addition, the items to be stored are not limited to gravel, earth, and surplus soil, and may be compost, hay, etc. In this embodiment, the deposit 410, wall surfaces 420, 430, 440, and floor surface 450 stored in the stockyard 400 are measured using LiDAR (Light Detection And Ranging) technology, which uses near-infrared light, visible light, and ultraviolet light to irradiate an object and capture the reflected light with an optical sensor to measure the distance. FIG. 1(b) shows how the deposit 410, wall surfaces 420, 430, 440, and floor surface 450 stored in the stockyard 400 are measured by a tablet terminal 200 in which an application program compatible with LiDAR technology (hereinafter, referred to as "LiDAR application") is installed. The tablet terminal 200 is equipped with a diode that emits infrared rays, an infrared sensor, a LiDAR application, a CPU required to execute the LiDAR application, and a memory. In this embodiment, the user carries a tablet terminal 200 with a LiDAR application installed and uses data obtained by measuring the deposit 410, the wall surfaces 420, 430, 440, and the floor surface 450 while moving, but data measured by one or more fixed measuring devices (such as a laser scanner) installed at appropriate positions may also be used. In this way, three-dimensional shape data (also called "three-dimensional point cloud data") measured using LiDAR technology is acquired by the deposit measuring device 100, and the volume of the deposit 410 is calculated. Note that, although the three-dimensional shape data measured using LiDAR technology is used in this embodiment, the present invention is not limited to this, and a measuring device (not shown) such as a laser scanner or a photographing device (not shown) that can be used for photogrammetry may be used as a means for generating three-dimensional shape data of the measurement target (deposit 410, floor surface 450, wall surfaces 420, 430, 440).

[0013] As shown in FIG. 2, the deposit measuring device 100 includes a shape acquisition unit 110, a display unit 120, a display control unit 130, an estimation unit 150, and a calculation unit 160. The sediment measuring device 100 is an information processing device capable of executing various processes described below, and the information processing device is a so-called computer having a CPU (not shown), a memory (not shown), an input / output interface (I / F) (not shown), a communication unit (not shown), etc. The sediment measuring device 100 may be a stationary PC (Personal Computer), or may be a mobile terminal such as a portable PC, smartphone, tablet, etc. The CPU is a so-called processor, and in addition to a general CPU (Central Processing Unit), it may also include an application specific integrated circuit (ASIC), a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), etc. The memory includes RAM (Random Access Memory), ROM (Read Only Memory), and auxiliary storage devices (hard disks, etc.). The input / output I / F can be connected to user interface devices such as a display unit 120 and an input device (not shown). The display unit 120 is a device that displays a screen corresponding to drawing data processed by the CPU 11 or the like, such as an LCD (Liquid Crystal Display) or CRT (Cathode Ray Tube) display. The input device is a device that accepts input of user operations, such as a keyboard, a mouse, etc. The display unit 120 and the input device may be integrated and realized as a touch panel. The communication unit communicates with other computers via a communication network, and exchanges signals with other devices such as a printer, etc. A portable recording medium, etc. can also be connected to the communication unit.

[0014] The deposit measurement device 100 calculates the amount of deposit 410 that has accumulated around a floor surface 450 and one or more wall surfaces 420 , 430 , 440 . The "floor surface" refers to a surface that contacts the bottom surface of the pile 410, and is not limited to a horizontal surface, but may be a sloped or stepped surface. If outdoors, it may be the ground or a floor surface provided for storing the pile 410, and if indoors, it is a floor surface on which the pile 410 is stored. There are no limitations on the material of the floor surface, and it may be inclined from the back side (wall surface 430 in FIG. 1) to the opening 460, for example. Even if the surface of the floor 450 is uneven, the volume of the pile 410 can be calculated, but since an error occurs in the calculated volume value, it is preferable that the surface of the floor 450 is approximately flat. The "wall surface" refers to a surface rising upward from the floor surface 450, and is not limited to a flat surface, but may be a curved surface or a combination of a curved surface and a flat surface. The "wall surface" is not limited to a surface rising perpendicularly to the "floor surface", but may be a surface rising at an angle. There is no restriction on the material of the wall surfaces 420, 430, and 440, but a material capable of supporting the deposit 410 is preferable. Although the volume of the deposit 410 can be calculated even if the surfaces of the wall surfaces 420, 430, and 440 are uneven, an error will occur in the calculated volume value, so it is preferable that the surfaces of the wall surfaces 420, 430, and 440 are approximately flat. The term "sediment" refers to piles of gravel, soil, waste soil, compost, hay, etc., and the type of material piled up in this embodiment does not matter. Also, the term "amount of sediment" refers to the volume (capacity) of the sediment.

[0015] The "shape acquisition unit 110" is a means (shape acquisition means) for acquiring three-dimensional shape data that three-dimensionally represents the shapes of the pile 410, the floor surface 450, and the wall surfaces 420, 430, and 440. "Three-dimensional shape data" refers to data that represents the shape of an object in three dimensions, such as data that represents the shape of an object as a point cloud (referred to as "point cloud data") or data that represents the shape of an object by dividing it into a grid (surfaces) (referred to as "mesh data"). The three-dimensional shape data in this embodiment is data that represents the shapes of the deposit 410, floor surface 450, and wall surfaces 420, 430, and 440 as a point cloud (point cloud data). The shape acquisition unit 110 in this embodiment corresponds to a communication unit of the deposit measuring device 100 that receives data (three-dimensional shape data) measured by the tablet terminal 200 directly or indirectly via a computer network such as the Internet. Furthermore, when the present invention is implemented in a form in which the tablet terminal 200 and the sediment measurement device 100 are an integrated device, i.e., in a modified example in which the means for generating three-dimensional shape data and the means for analyzing the data are integrated, the shape acquisition means of the present invention corresponds to the means for generating three-dimensional shape data (such as a measurement means realized by a LiDAR application).

[0016] The "display unit 120" is a means (display means) for drawing three-dimensional shape data, and corresponds to an LCD (Liquid Crystal Display) or a CRT (Cathode Ray Tube) display. In addition to the three-dimensional shape data, the display unit 120 also displays surfaces including floor surfaces and walls estimated by the deposit measuring device 100, information on the volume of deposits calculated by the deposit measuring device 100, and information on the processing performed when the deposit measuring device 100 calculates the volume of deposits. In this embodiment, the display unit 120 is provided in the deposit measuring device 100, but it may also be provided as a device separate from the deposit measuring device 100 and connected to the deposit measuring device 100 via an input / output I / F. The “display control unit 130” is a means (display control means) that causes the display unit 120 to display predetermined data, for example, three-dimensional shape data, and corresponds to the CPU of the sediment measuring device 100.

[0017] The "estimation unit 150" is a means (estimation means) that estimates a surface including a floor surface when a user uses an input device provided in the deposit measuring device 100 to specify a portion corresponding to a floor surface in the three-dimensional shape data displayed on the display unit 120, and estimates a surface including a wall surface when a user uses an input device provided in the deposit measuring device 100 to specify a portion corresponding to a wall surface in the three-dimensional shape data displayed on the display unit 120, and corresponds to the CPU of the deposit measuring device 100. The surface including the floor surface estimated by the estimation unit 150 is set as a first surface, and the surface including the wall surface estimated by the estimation unit 150 is set as a second surface, and are displayed on the display unit 120 by the display control unit 130. The "plane including the floor surface" is a plane including the floor surface that is represented in a virtual space by computer processing (the computational processing of the sediment measuring device 100), and may be an infinite plane. The "first surface" is a surface including the estimated floor surface, which is displayed on the display unit 120 so that the user can visually grasp the surface. The "surface including a wall surface" refers to a surface including a wall surface that is represented in a virtual space by computer processing (the computational processing of the sediment measuring device 100), and may be an infinite plane. The "second surface" is a surface including the estimated wall surface, which is displayed on the display unit 120 so that the user can visually grasp the surface. The "calculation unit 160" is a means (calculation means) that regards, among the three-dimensional shape data displayed on the display unit 120, the three-dimensional shape data existing in the space surrounded by the first surface and the second surface displayed on the display unit 120 as a deposit, and calculates the volume of the deposit. Details will be described later.

[0018] The process performed by the sediment measuring device 100 will be described with reference to FIG. Step S100 is a process for acquiring three-dimensional shape data of the deposit, floor surface, and wall surface, and is a process performed by the shape acquisition unit 110. For example, the types of three-dimensional shape data that can be acquired are displayed on the display unit 120, and the user can specify the calculated three-dimensional shape data of the deposit, thereby allowing the deposit measurement device 100 to acquire the three-dimensional shape data.

[0019] Step S110 is a process of causing the display control unit 130 to display the three-dimensional shape data on the display unit 120. In step S100, the display control unit 130 renders the three-dimensional shape data on the display unit 120 by acquiring the three-dimensional shape data. Fig. 4 shows a screen image in which the three-dimensional shape data is displayed on the display unit 120. In this embodiment, the three-dimensional shape data is three-dimensional point cloud data, which is point data having three-dimensional coordinates (point data representing position information expressed in three-dimensional space) contained in the floor surface 450, the wall surfaces 420, 430, 440, and the deposit 410, and therefore at this point in time, a large number of points are displayed as shown in Fig. 4. Note that, for convenience of explanation, the contours of the floor surface 450, the wall surfaces 420, 430, 440, and the deposit 410 are depicted by dotted lines in Fig. 4.

[0020] Step S120 is a process for designating floor surface 450, and is a process performed by the user using an input device provided in deposit measuring device 100. This process will be explained with reference to FIG. Fig. 5(a) is a screen image showing three-dimensional shape data displayed on the display unit 120, and is similar to Fig. 4. Therefore, similar to Fig. 4, for the sake of convenience, the contours of the floor surface 450, the walls 420, 430, 440, and the pile 410 are drawn by dotted lines. 5(b) shows that the user specifies floor surface 450 from among the three-dimensional shape data displayed on display unit 120. The user checks display unit 120 and specifies point cloud data corresponding to floor surface 450. At least one point, and preferably three or more points, of point cloud data corresponding to floor surface 450 are specified.

[0021] Step S130 is a process of estimating a surface including the floor surface 450 based on the point cloud data specified in step S120, and is a process performed by the estimation unit 150. Any estimation method may be used, but for example, the estimation unit 150 obtains a plane including a plurality of points specified by the user, and estimates the plane as a "surface" equivalent to the floor surface 450. Step S132 is a process of displaying the surface including the estimated floor surface on the display unit 120 so that the user can grasp it as the first surface 550, and is a process performed by the display control unit 130. For example, the surface including the estimated floor surface is displayed so that the user can grasp it as the first surface 550 by displaying it in a solid line frame or by displaying the corresponding point cloud data in a color different from the point cloud data of other areas. FIG. 5(b) is a screen image of the display unit 120 when the processing from step S120 to step S132 is performed, and shows that when the user specifies floor surface 450, a surface equivalent to floor surface 450 is estimated and displayed in a solid-line frame so that the user can grasp the surface including the floor surface as first surface 550. In this manner, when the estimation unit 150 estimates a surface including the floor surface 450, the display control unit 130 causes the display unit 120 to display an image (e.g., a solid-line frame display) showing the surface including the floor surface as the first surface 550. Note that, when the surface including the floor surface 450 is estimated in this process, as shown in FIG. 5(b), the surface including the floor surface 450 is set as the first surface 550, and an image showing the first surface 550 (an image showing a certain range displayed as a solid-line frame) is displayed. This is to display the surface including the estimated floor surface in a way that makes it easy for the user to grasp the surface, and the surface including the estimated floor surface may be an infinite plane because it is a plane represented in a virtual space by computer processing (the computational processing of the sediment measuring device 100).

[0022] Step S160 is a process for calculating the volume of the deposit 410, and is a process performed by the calculation unit 160. In this process, among the three-dimensional shape data displayed on the display unit 120, three-dimensional shape data existing in a space above a first surface 550, which is a surface including the floor surface 450 estimated in step S130 and displayed on the display unit 120 as a first surface 550, or three-dimensional shape data existing in a space surrounded by a first surface 550, which is a surface including the floor surface 450 estimated in step S130 and displayed on the display unit 120 as a first surface 550, and second surfaces 520, 530, 540, which are surfaces including the wall surfaces 420, 430, 440 estimated in step S186 described later and displayed on the display unit 120 as second surfaces 520, 530, 540, are regarded as three-dimensional shape data indicating the deposit 410, and the volume of the deposit 410 is calculated. The process of step S160 will be described with reference to FIG. 6 and FIG. 7.

[0023] FIG. 6 is a detailed flowchart of the process of calculating the volume of the deposit in step S160. FIG. 7 shows three-dimensional point cloud data corresponding to the deposit shown in FIG. 4 and FIG. 5 displayed as mesh data on the display unit 120. In this embodiment, the three-dimensional point cloud data is converted into mesh data in advance because the processing load is high when the volume of the deposit is calculated if the three-dimensional point cloud data is used as is. The three-dimensional point cloud data is converted into mesh data, and the mesh data is converted into three-dimensional shape data in which edges and faces are connected. In this embodiment, the three-dimensional point cloud data is converted into mesh data when the process of step S160 is executed, but this is not limited to the above. The three-dimensional shape data may be converted into mesh data when the three-dimensional shape data is acquired in step S100, and the three-dimensional shape data converted into mesh data may be acquired in step S100.

[0024] Step S161 is a process of clearing the accumulated value to 0. The details will be described later, but the accumulated value is a value obtained by accumulating the volume of the deposits calculated for each block. At the start of the process in FIG. 6, the accumulated value is cleared to 0.

[0025] Step S162 is a process of dividing the surface including the floor surface estimated in step S130 into a grid pattern. Note that in this embodiment, a grid pattern refers to a state in which each block is configured as a triangle, and the triangles are divided so as to be seamlessly connected. The processes from step S163 to step S167 are executed for each block divided into a lattice shape.

[0026] Step S163 is a process of setting one of the multiple blocks partitioned in a lattice shape in step S162.

[0027] Step S164 is a process for determining whether there is a surface including the wall surface estimated in step S188 described later, and, if there is a surface including the estimated wall surface, determining whether the one block set in step S163 is outside the surface including the estimated wall surface (the space on the opposite side to the space where the deposit 410 exists). If either of these determinations is NO, the process proceeds to step S165. If either of these determinations is YES, the process proceeds to step S168. By performing the processing of step S164, it becomes possible to calculate so that the three-dimensional shape data outside the surface including the estimated wall surface is not included in the volume of the deposit, and the three-dimensional shape data displayed on the display unit 120 that exists in the space surrounded by the second surface is regarded as deposit, making it possible to calculate the volume of the deposit.

[0028] Step S165 is a process for identifying the height of the three-dimensional shape data of the pile 410 corresponding to one block from a plane including the estimated floor surface.

[0029] A step S166 determines whether the height specified in step S165 is a positive value, and if it is a positive value, the process proceeds to a step S167, and if it is not a positive value, the process proceeds to a step S168. By performing the processing of step S166, it becomes possible to regard the three-dimensional shape data displayed on display unit 120 that exists in the space above the first surface as a deposit, and to calculate the volume of the deposit.

[0030] Step S167 is a process of multiplying the height determined in step S166 by the area corresponding to one block, and adding the result of the multiplication to the cumulative numerical value. The area corresponding to one block is the unit area (1 m in this embodiment). 2 ), the process of multiplying the height and area can be omitted.

[0031] Step S168 is a process for judging whether the process of step S163 (process for setting one of the plurality of blocks divided into a grid) has been performed for all blocks divided into a grid pattern of the surface including the estimated floor surface corresponding to the entire area of ​​the deposit. If the process of step S163 has been performed for all of the plurality of blocks divided into a grid pattern, the process proceeds to step S169, and if not, the process proceeds to step S163.

[0032] Step S169 is a process of outputting the accumulated numerical value as the volume of the deposit. In this embodiment, as shown in Fig. 7, this is a process of causing the display unit 120 to display and output the accumulated numerical value as "volume". In addition to the above display output, the display unit 120 in this embodiment also displays the calculated number of blocks ("calculated number of triangles" shown in FIG. 7) and the calculated total area of ​​the blocks ("total plane area" shown in FIG. 7).

[0033] Step S182 is a process for determining whether or not a process for designating wall surfaces 420, 430, 440 has been performed. The process for designating wall surfaces 420, 430, 440 is a process performed by the user using an input device provided in sediment measuring device 100. If the answer to the question of whether or not a process for designating wall surfaces 420, 430, 440 has been performed is NO, this process is terminated. For example, a button (hereinafter referred to as an "end button") that is operated when the user has finished designating wall surfaces 420, 430, 440 is provided on display unit 120, and if the user operates the end button or if the user does not designate wall surfaces 420, 430, 440 for a predetermined period of time, the process in step S182 is determined to be NO.

[0034] Step S186 is a process of estimating a surface including the wall surface specified in step S182, and is a process performed by the estimation unit 150.

[0035] Step S188 is a process of displaying the surface including the estimated wall surfaces 420, 430, 440 on the display unit 120 so that the user can grasp it as the second surface 520, 530, 540, and is a process performed by the display control unit 130. Then, by designating the wall surfaces 420, 430, 440, the process proceeds to step S160, and the volume of the deposit is calculated taking into account the surface including the estimated wall surfaces.

[0036] 5(c) and 5(d) are screen images of the display unit 120 when a wall surface is specified by the user, that is, when steps S182 to S188 are executed. FIG. 5(c) shows that the user has specified the wall surface 430 from among the three-dimensional shape data displayed on the display unit 120. The user checks the display unit 120 and specifies point cloud data corresponding to the wall surface 430. At least one point, preferably three or more points, of the point cloud data corresponding to the wall surface 430 is specified. A surface including the wall surface 430 is estimated based on the specified point cloud data. Note that the processing content is similar to the processing of estimating a surface including the floor surface 450 in step S130, so a description thereof will be omitted. Then, when the surface including the wall surface 430 is estimated by the estimation unit 150, the display control unit 130 causes the surface including the wall surface 430 to be the second surface 530, and causes the display unit 120 to display an image (for example, a solid line frame display) showing the second surface 530. 5(d) shows that the user has specified wall surfaces 420 and 440 from among the three-dimensional shape data displayed on the display unit 120. The user checks the display unit 120 and specifies point cloud data corresponding to the wall surface 420. At least one point, preferably three or more points, of the point cloud data corresponding to the wall surface 420 are specified. Then, similar to the wall surface 430, a surface including the wall surface 420 is estimated, and when the surface including the wall surface 420 is estimated by the estimation unit 150, the display control unit 130 causes the display unit 120 to display an image (for example, a solid line frame display) showing the second surface 520. Next, the user checks the display unit 120 and specifies point cloud data corresponding to the wall surface 440. At least one point, preferably three or more points, of the point cloud data corresponding to the wall surface 420 are specified. Then, similar to the wall surfaces 420 and 430, a surface including the wall surface 440 is estimated, and when the surface including the wall surface 440 is estimated by the estimation unit 150, the display control unit 130 causes the display unit 120 to display an image (for example, a solid-line frame display) showing the second surface 540, with the surface including the wall surface 440 being the second surface 540. 5(c) and (d), when the plane including the wall surfaces 420, 430, 440 is estimated in step S186, the plane including the wall surfaces 420, 430, 440 is designated as second planes 520, 530, 540 in step S188, and an image showing the second planes 520, 530, 540 (an image showing a certain range surrounded by a solid line frame) is displayed. This is to display the plane including the estimated wall surface in an easy-to-understand manner for the user, and since the plane including the estimated wall surface is a plane represented in a virtual space by computer processing (the computational processing of the sediment measuring device 100), it may be an infinite plane. The order in which the wall surfaces 420, 430, and 440 are designated may be any order, and the order in which the wall surfaces 420, 430, and 440 and the floor surface 450 are designated may also be any order.

[0037] <Application Program> An application program for measuring the volume of deposits (hereinafter also referred to as this program) is installed in the deposit measurement device 100. This program includes shape acquisition processing, display processing, estimation processing, and calculation processing. The shape acquisition process is a process for acquiring three-dimensional shape data of the pile 410, the floor surface 450, and the wall surfaces 420, 430, and 440. The display process is a process for displaying the three-dimensional shape data on the display unit 120 (display means). Also, the display process is a process for displaying on the display unit 120 a surface including the floor surface estimated by the estimation process as a first surface, and a surface including the wall surface estimated by the estimation process as a second surface. The estimation process is a process for estimating a surface including a floor surface 450 specified by the user, and a surface including wall surfaces 420, 430, and 440 specified by the user. The calculation process is a process in which, of the three-dimensional shape data displayed on the display unit 120, a surface including the floor surface 450 estimated by the estimation process is displayed as a first surface 550 on the display unit 120, and surfaces including the wall surfaces 420, 430, 440 are displayed as second surfaces 520, 530, 540 on the display unit 120, and a cloud of points existing in the space surrounded by these second surfaces 520, 530, 540 are regarded as deposit 410, and the volume of the deposit 410 is calculated. This program is stored in the ROM of the sediment measurement device 100.

[0038] <Modification> The present invention is not limited to the above-described embodiment, and various modifications and improvements are possible. For example, the configuration of the sediment measurement device 100 shown in FIG. 2 can be modified within the scope of achieving the object of the present invention, and new components not shown may be added, or some of the components shown may be omitted.

[0039] In this embodiment, the three-dimensional shape data acquired in step S100 is point cloud data, but is not limited to this. The three-dimensional shape data may be mesh data in which the shapes of the objects (deposit 410, floor surface 450, wall surfaces 420, 430, 440) are expressed by dividing them into a grid (surfaces). When the three-dimensional shape data is mesh data, the user can estimate a surface including the floor surface 450 by specifying mesh data corresponding to the floor surface 450 from among the mesh data displayed on the display unit 120, and estimate a surface including the wall surfaces 420, 430, 440 by specifying mesh data corresponding to the wall surfaces 420, 430, 440, and the volume of the deposit 410 can be obtained by the above-mentioned processing method. In this way, the three-dimensional shape data is point cloud data or mesh data, and when the display control unit 130 specifies point cloud data or mesh data corresponding to a floor surface based on a user's operation, it can display a first surface on the display unit 120, and when the display control unit 130 specifies point cloud data or mesh data corresponding to a wall surface based on a user's operation, it can display a second surface on the display unit 120.

[0040] In this embodiment, as shown in FIG. 4, a virtual line 470 is provided connecting the end of wall surface 420 on the side of opening 460 and the end of wall surface 440 on the side of opening 460, and the side of walls 420, 430, and 440 from virtual line 470 is determined as a space surrounded by the second surface, but this is not limited to this. For example, as shown in FIG. 4, it is ideal that the deposit 410 is contained within the range surrounded by the walls 420, 430, and 440. However, in an actual stockyard, as shown in FIG. 8(a), there is a high possibility that the deposit 410 flows out into an area that protrudes from the range surrounded by the walls 420, 430, and 440. In this embodiment, for each wall, a boundary of the measurement range is set by a virtual line 471 that extends from the end of the wall 420 on the opening 460 side and the end of the wall 440 on the opening 460 side, as shown in FIG. 8(b), and the deposit 410 in the area surrounded by the virtual line 471 (the area hatched at fine intervals in FIG. 8(b)) may be measured. Therefore, as shown in FIG. 8(b), the deposit 410 outside the area surrounded by the virtual line 471 (the area hatched at coarse intervals in FIG. 8(b)) is not measured. Although there is a possibility that some of the deposits 410 will not be measured in this way, this amount is likely to be considered an error, and therefore does not pose a problem in terms of inventory management in the stockyard.

[0041] In this embodiment, as shown in FIG. 4, a virtual line 470 is provided connecting the end of wall surface 420 on the side of opening 460 and the end of wall surface 440 on the side of opening 460, and the side of walls 420, 430, and 440 from virtual line 470 is determined as a space surrounded by the second surface, but this is not limited to this. For example, the user may use display unit 120 to specify the position of virtual line 470 while checking the three-dimensional shape data displayed on display unit 120. When the user specifies floor surface 450 and wall surfaces 420, 430, and 440 in this manner, the user may also specify the position at which virtual line 470 is to be provided, thereby setting a space surrounded by the first surface and the second surface.

[0042] In this embodiment, as shown in FIG. 4, the wall surfaces 420, 430, and 440 are provided in three directions, but the present invention is not limited to this. For example, as shown in FIG. 9(a), the wall surface 430 may be provided in one direction, and as shown in FIG. 9(b), the deposit 410 is stored. In this case, when the floor surface 450 is specified, a first surface including the floor surface 450 is estimated, and when the wall surface 430 is specified, a second surface including the wall surface 430 is estimated. Also, as shown in FIG. 9(c), the point cloud data in the area on the deposit side of the virtual line 472 extended from both ends of the wall surface 430 is regarded as the deposit 410 as a point cloud existing in the space surrounded by the first surface and the second surface, the shape of the deposit 410 is identified, and the volume is calculated from the identified shape of the deposit 410. Note that in FIG. 9(c), the deposit 410 does not exist behind the wall surface 430 with respect to the virtual line 472, but if it does exist, it is not included in the calculated volume of the deposit. In this way, there is a possibility that some of the deposit 410 will not be measured, but since the amount is likely to be considered as an error, there is no problem in inventory management of the stockyard.

[0043] 10(a), for example, wall surfaces 420, 430 may be provided in two directions, and pile 410 is stored as shown in FIG. 10(b). In this case, when floor surface 450 is specified, a surface including floor surface 450 is estimated, and the surface including estimated floor surface 450 is displayed as first surface 550, and when wall surfaces 420, 430 are specified, a surface including wall surfaces 420, 430 is estimated, and the surface including estimated wall surfaces 420, 430 is displayed as second surfaces 520, 530. Moreover, the point cloud data in the measurement area (the finely hatched area in FIG. 10(c)) bounded by the end of the wall surface 420 on the side of the opening 460 and the virtual line 473 extended from the end of the wall surface 430 shown in FIG. 10(c) can be regarded as a point cloud existing in the space surrounded by the first surface and the second surface, as the deposit 410, the shape of the deposit 410 can be identified, and the volume can be calculated from the identified shape of the deposit 410. Therefore, although the deposit 410 in the coarsely hatched area shown in FIG. 10(c) may be excluded from the measurement, it is highly likely that the amount is an amount that can be considered an error, and therefore does not pose a problem in terms of inventory management in the stockyard. In this way, by making the first surface a single plane, the second surface a plurality of planes, and the space surrounded by at least three planes, it is possible to easily store the deposit 410 within the area measured as the deposit 410, thereby making it possible to reduce errors in the calculated volume of the deposit 410, and also to provide a wide opening 460 for carrying the deposit 410, thereby improving the efficiency of the carrying-in work.

[0044] In this embodiment, as shown in Fig. 5(c) and (d), when the user specifies the wall surfaces 420, 430, 440, the side on which the deposit 410 exists (deposit wall surfaces 421, 431, 441) is specified, but this is not limited to the above. For example, as shown in Fig. 1(a), the wall surfaces 420, 430, 440 each have deposit wall surfaces 421, 431, 441 on the deposit side, and outer wall surfaces 422, 432, 442 that are opposite the deposit wall surfaces 421, 431, 441. Even if the user specifies point cloud data corresponding to the outer wall surfaces 422, 432, 442 as the wall surfaces 420, 430, 440, the point clouds corresponding to the deposit wall surfaces 421, 431, 441 are estimated as the second surfaces. 5(c) and (d), since the height of the pile 410 is lower than the heights of the wall surfaces 420, 430, and 440, it is easy to specify the point cloud corresponding to the wall surface 430, for example, but in an actual stockyard, the pile 410 is stored up to a height almost equal to the heights of the wall surfaces 420, 430, and 440, so it is expected that it will be difficult to specify the point cloud corresponding to the wall surface 430. In such a case, it is expected that the user will find it easier to specify the point cloud corresponding to the outer wall surface, which is the opposite side to the pile side. In this way, wall surfaces 420, 430, 440 have deposit wall surfaces 421, 431, 441 on the deposit side of wall surfaces 420, 430, 440 and outer wall surfaces 422, 432, 442 which are the opposite sides of deposit wall surfaces 421, 431, 441, and the estimation unit 150 estimates the point clouds corresponding to deposit wall surfaces 421, 431, 441 as surfaces, whether the user specifies a point cloud corresponding to deposit wall surfaces 421, 431, 441 or a point cloud corresponding to outer wall surfaces 422, 432, 442. By doing this, regardless of the amount (height) of the deposit 410, the user can easily specify the wall surfaces 420, 430, 440 and can easily specify the corresponding point cloud. In addition, even if the thickness of the wall surfaces 420, 430, 440 is large, the point cloud data determined to be the deposit 410 can be a point cloud located on the deposit 410 side rather than the deposit wall surfaces 421, 431, 441, making it possible to accurately measure the volume of the deposit 410.

[0045] In this embodiment, the estimation method for estimating a surface including floor surface 450 is to obtain a plane including a plurality of points specified based on specified point cloud data, and the plane is defined as a "first surface" including floor surface 450, and the estimation method for estimating a surface including wall surfaces 420, 430, and 440 is to obtain a plane including a plurality of points specified based on specified point cloud data, and the plane is defined as a "second surface" including wall surfaces 420, 430, and 440, but is not limited to this. For example, data regarding the positional information (coordinate information) of floor surface 450 and wall surfaces 420, 430, 440 may be acquired in advance, and a determination may be made as to whether or not the specified point cloud data matches the data regarding the positional information of floor surface 450, or wall surfaces 420, 430, 440. If they match, floor surface 450 may be determined to have been specified, or wall surfaces 420, 430, 440 may be determined to have been specified, and the point cloud data corresponding to floor surface 450 may be estimated to be a "first surface" including floor surface 450, and the point cloud data corresponding to wall surfaces 420, 430, 440 may be estimated to be a "second surface" including wall surfaces 420, 430, 440.

[0046] In this embodiment, one to three walls are provided, but the present invention is not limited to this. The user may specify the number of walls depending on the number of walls to be provided.

[0047] In this embodiment, the floor surface 450 is positioned approximately horizontally in the space surrounded by the wall surfaces 420, 430, and 440, but is not limited thereto. For example, the floor surface 450 may be inclined from the wall surface 430 to the opening 460. Also, for example, the floor surface 450 may be stepped from the wall surface 430 to the opening 460. Since the shape of the deposit 410 can be identified by the same process even with such a floor surface 450, it is possible to calculate the volume of the deposit 410. Note that the number of points that the user specifies on the floor surface 450 may be different depending on the shape of the floor surface 450.

[0048] In this embodiment, the wall surfaces 420, 430, 440 are provided to stand approximately perpendicular to the floor surface 450, but this is not limited thereto. For example, the wall surfaces 420, 430, 440 may be provided to be inclined with respect to the floor surface 450, and the three surfaces may have different inclinations and different shapes (for example, a flat surface and a curved surface). Since the shape of the deposit 410 can be identified by the same process even with such wall surfaces 420, 430, 440, the volume of the deposit 410 can be calculated.

[0049] In this embodiment, there is no restriction on the height of the pile 410, but it is preferable to target point cloud data at a position lower than the height of the wall surfaces 420, 430, and 440.

[0050] <Additional Notes> The present embodiment encompasses the following technical idea. (1) A deposit measuring device that calculates an amount of deposits accumulated around a floor surface and one or more wall surfaces, comprising: a shape acquisition means that acquires three-dimensional shape data that represents the shapes of the deposits, the floor surface, and the wall surfaces in three dimensions; a display control means that displays the three-dimensional shape data on a display means; and an estimation means that, when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is designated based on a user's operation, estimates a surface including the floor surface, and when a portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface is designated based on a user's operation, estimates a surface including the wall surface, wherein the display control means displays the surface including the floor surface estimated by the estimation means on the display means as a first surface, and displays the surface including the wall surface estimated by the estimation means on the display means as a second surface distinguishable from the first surface, and further comprises a calculation means that, of the three-dimensional shape data displayed on the display means, considers the three-dimensional shape data that exists in a space surrounded by the first surface and the second surface to be the deposit, and calculates the volume of the deposit. (2) The sediment measurement device described in (1), wherein the first surface is a single plane, the second surface is a plurality of planes, and the space is surrounded by at least three planes. (3) The three-dimensional shape data is point cloud data or mesh data, and the display control means, when the point cloud data or the mesh data corresponding to the floor surface is specified based on the user's operation, causes the display means to display the first surface, and when the point cloud data or the mesh data corresponding to the wall surface is specified based on the user's operation, causes the display means to display the second surface. The sediment measuring device described in (1) or (2) is characterized in that the three-dimensional shape data is point cloud data or mesh data, and when the point cloud data or the mesh data corresponding to the wall surface is specified based on the user's operation, causes the display means to display the second surface. (4) The wall surface has a deposit wall surface on the deposit side of the wall surface and an outer wall surface which is the opposite side of the deposit wall surface, and the estimation means estimates the three-dimensional shape data corresponding to the deposit wall surface as a surface including the wall surface, whether three-dimensional shape data corresponding to the deposit wall surface is specified by the user's operation or three-dimensional shape data corresponding to the outer wall surface. The deposit measuring device described in (1) or (2) is characterized in that the wall surface has a deposit wall surface on the deposit side of the wall surface and an outer wall surface which is the opposite side of the deposit wall surface. (5) An application program for operating a deposit measuring device that calculates an amount of deposits accumulated around a floor surface and one or more wall surfaces, the application program including: a shape acquisition process for acquiring three-dimensional shape data that represents the shapes of the deposits, the floor surface, and the wall surfaces in three dimensions; a display process for displaying the three-dimensional shape data on a display means; and a process for estimating a surface that includes the floor surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is specified based on a user's operation, and a process for estimating a surface that includes the floor surface when the portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface is specified based on a user's operation. and an estimation process for estimating a surface including the wall surface when the surface is specified based on the specified surface, wherein the display process causes the display means to display the surface including the floor surface estimated by the estimation process as a first surface, and causes the display means to display the surface including the wall surface estimated by the estimation process as a second surface distinguishable from the first surface, and further causes the display means to regard, among the three-dimensional shape data displayed on the display means, the three-dimensional shape data that exists in a space surrounded by the first surface and the second surface as the deposit, and calculates a volume of the deposit. [Explanation of symbols]

[0051] 100 Sediment measurement device 110 Shape acquisition unit (shape acquisition means) 120 Display section (display means) 130 Display control unit (display control means) 150 Estimation part (estimation means) 160 Calculation unit (calculation means) 200 tablet devices 400 Stockyards 410 Sediment 420 Wall 421 Sediment Wall 422 Outside wall 430 Wall 431 Sediment Wall 432 Outside wall 440 Wall 441 Sediment Wall 442 Outside wall 450 Floor 460 Open mouth 470 Virtual Line 471 Virtual Line 472 Virtual Line 473 Virtual Line 520 Second side 530 Second side 540 Second side 550 Front page

Claims

1. A deposit measurement device for calculating an amount of deposits accumulated around a floor surface and one or more wall surfaces, comprising: a shape acquisition means for acquiring three-dimensional shape data that three-dimensionally represents the shapes of the deposit, the floor surface, and the wall surface; a display control means for displaying the three-dimensional shape data on a display means; an estimation means for estimating a surface including the floor surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is designated based on a user's operation, and for estimating a surface including the wall surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface is designated based on a user's operation, The display control means displaying the surface including the floor surface estimated by the estimation means as a first surface on the display means; displaying, on the display means, a surface including the wall surface estimated by the estimation means as a second surface distinguishable from the first surface; The present invention further comprises a calculation means for regarding, among the three-dimensional shape data displayed on the display means, the three-dimensional shape data existing in a space surrounded by the first surface and the second surface as the deposit, and calculating a volume of the deposit. A deposit measurement device characterized by:

2. the first surface is a single plane and the second surface is a plurality of planes; The deposit measurement device of claim 1 , wherein the space is surrounded by at least three planes.

3. the three-dimensional shape data is point cloud data or mesh data, The display control means When the point cloud data or the mesh data corresponding to the floor surface is designated based on an operation by the user, the first surface is displayed on the display means; The deposit measuring device described in claim 1 or 2, characterized in that when the point cloud data or the mesh data corresponding to the wall surface is specified based on the user's operation, the second surface is displayed on the display means.

4. The wall surface has a deposit wall surface on the deposit side of the wall surface and an outer wall surface that is an opposite surface of the deposit wall surface, The deposit measuring device described in claim 1 or 2, characterized in that the estimation means estimates the three-dimensional shape data corresponding to the deposit wall surface as a surface including the wall surface, whether the user operates the device to specify three-dimensional shape data corresponding to the deposit wall surface or the device to specify three-dimensional shape data corresponding to the outer wall surface.

5. An application program for operating a deposit measurement device that calculates an amount of deposits accumulated around a floor surface and one or more wall surfaces, comprising: a shape acquisition process for acquiring three-dimensional shape data that three-dimensionally represents the shapes of the deposit, the floor surface, and the wall surface; a display process for displaying the three-dimensional shape data on a display means; an estimation process for estimating a surface including the floor surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the floor surface is designated based on a user's operation, and for estimating a surface including the wall surface when a portion of the three-dimensional shape data displayed on the display means that corresponds to the wall surface is designated based on a user's operation, The display process includes: displaying a surface including the floor surface estimated by the estimation process as a first surface on the display means; displaying, on the display means, a surface including the wall surface estimated by the estimation process as a second surface distinguishable from the first surface; a calculation process for calculating a volume of the deposit by regarding the three-dimensional shape data that exists in a space surrounded by the first surface and the second surface, out of the three-dimensional shape data displayed on the display means, as the deposit; 13. An application program comprising:

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