Ground height provision server, ground height provision system, ground height provision program, ground height provision method and ground height browsing device

Abstract

To provide a ground height provision server, a ground height provision system, a ground height provision program, a ground height provision method and a ground height browsing device capable of allowing anyone to easily and inexpensively grasp a ground height.SOLUTION: A ground height provision server comprises: a section data acquisition part 42 for acquiring positioning data and map data; a unit area height calculation part 43 for calculating a ground height in a unit area, on the basis of an altitude value of three-dimensional coordinates included in the unit area; a grid height calculation part 44 for calculating as the ground height of a grid, an average value of the ground heights in all of the unit areas included in the grid; a display data creation part 45 for generating display data in which a heat map according to the ground height of the grid is caused to overlap the map data; and a display data transmission part 46 for transmitting the display data to a ground height browsing device 11.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a ground level providing server, a ground level providing system, a ground level providing program, a ground level providing method and a ground level viewing device that are suitable for easily and quickly providing ground level in a farm field or the like. [Background technology]

[0002] Conventionally, techniques for measuring ground height using heavy machinery have been proposed. For example, Japanese Patent Application Laid-Open No. 2003-239328 discloses a measuring device that detects the inclination component of the heavy machinery based on signals from a GPS antenna and a roll inclination sensor installed on the heavy machinery, calculates the absolute height of the heavy machinery by offsetting this inclination component, and calculates and displays the difference in height between the actual leveled surface height and the planned leveled surface height (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-239328 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional measurement techniques, including the invention described in Patent Document 1, aim to measure the ground height accurately and precisely. Therefore, even if a user is satisfied with a rough grasp of the ground height, he or she must prepare devices and applications with excessive specifications to calculate the accurate ground height, and there is a problem that the ground height cannot be grasped easily and inexpensively.

[0005] The present invention has been made to solve such problems, and aims to provide a ground level providing server, a ground level providing system, a ground level providing program, a ground level providing method, and a ground level viewing device that allow anyone to easily and inexpensively grasp the ground level. [Means for solving the problem]

[0006] The ground height providing server of the present invention is a ground height providing server that provides the ground height within a specified section in response to a request from a ground height viewing device, in order to solve the problem of allowing anyone to easily and inexpensively grasp the ground height. The ground height providing server has: a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device attached to heavy machinery traveling within the section, and map data of the section; a unit area height calculation unit that calculates the ground height of each unit area obtained by subdividing the section into a grid shape, based on the elevation value of the three-dimensional coordinates included in the unit area; a grid height calculation unit that averages the ground heights of all the unit areas included in each grid set in a grid shape larger than the unit area, and calculates the average value as the ground height of the grid; a display data creation unit that creates display data in which a heat map colored according to the ground height of the grid is superimposed on the map data; and a display data transmission unit that transmits the display data to the ground height viewing device.

[0007] In addition, as one aspect of the present invention, in order to solve the problem of reducing errors in ground height within a section containing a lot of cut earth and filled earth, the unit area height calculation unit may calculate the latest elevation value among the elevation values ​​of all the three-dimensional coordinates contained in the unit area as the ground height of the unit area.

[0008] Furthermore, as one aspect of the present invention, in order to solve the problem of roughly calculating the ground level within a section with little cut or filled soil, the unit area height calculation unit may average the elevation values ​​of all the three-dimensional coordinates included in the unit area, and calculate the average value as the ground level of the unit area.

[0009] Furthermore, as one aspect of the present invention, in order to solve the problem of improving user visibility by changing the display angle of a grid and displaying the ground height of the changed grid in real time, the display angle of the grid is configured to be changeable to any direction, and when the display angle of the grid is changed, the unit area height calculation unit may recalculate the ground heights of all the unit areas included in each of the changed grids, and the grid height calculation unit may recalculate the ground height for each of the changed grids.

[0010] Furthermore, as one aspect of the present invention, in order to solve the problem of displaying the distribution of ground heights in an easily visible state regardless of whether the current topography or the as-built form is displayed, the display data is configured to be selectable between a current status mode suitable for displaying the current topography of the section and a as-built form mode suitable for displaying the as-built form of the section, and the numerical range for color-coding ground heights in the heat map may be set smaller for the as-built form mode than for the current status mode.

[0011] Furthermore, as one aspect of the present invention, in order to solve the problem of selectively displaying a rough absolute value of ground height and a relative difference in ground height, the unit area height calculation unit may calculate the ground height of the unit area using an elevation value obtained by subtracting the installation height of the positioning device from the elevation value, or an elevation value obtained by subtracting an arbitrary ground height from the elevation value.

[0012] Furthermore, as one aspect of the present invention, in order to solve the problem of ensuring calculation accuracy of the ground height of the grid regardless of the traveling state of the heavy equipment, the grid size of the unit area may be set to 1 / 5 or less of the grid size of the grid.

[0013] In addition, in order to solve the problem of enabling anyone to easily and inexpensively grasp the ground height, the ground height providing system of the present invention comprises a ground height providing server according to any of the above-mentioned aspects, and a positioning data transmission device that transmits the positioning data to the ground height providing server.

[0014] Furthermore, the ground height providing program of the present invention is a ground height providing program that provides the ground height within a specified section in response to a request from a ground height viewing device, in order to solve the problem of allowing anyone to easily and inexpensively grasp the ground height, and causes a computer to function as a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device installed on heavy equipment running within the section and map data of the section, a unit area height calculation unit that calculates the ground height of each unit area obtained by subdividing the section into a grid-like shape based on the elevation value of the three-dimensional coordinates included in the unit area, a grid height calculation unit that averages the ground heights of all the unit areas included in each grid set in a grid-like shape larger than the unit area and calculates the average value as the ground height of the grid, a display data creation unit that creates display data in which a heat map colored according to the ground height of the grid is superimposed on the map data, and a display data transmission unit that transmits the display data to the ground height viewing device.

[0015] In addition, the ground height providing method of the present invention is a ground height providing method that provides the ground height within a specified section in response to a request from a ground height viewing device, in order to solve the problem of allowing anyone to easily and inexpensively grasp the ground height, and includes a section data acquisition step of acquiring positioning data including time-series three-dimensional coordinates measured by a positioning device provided on a heavy machine traveling within the section and map data of the section, a unit area height calculation step of calculating the ground height of each unit area obtained by subdividing the section into a grid-like shape based on the elevation values ​​of the three-dimensional coordinates included in the unit area, a grid height calculation step of averaging the ground heights of all the unit areas included in each grid set in a grid-like shape larger than the unit area, and calculating the average value as the ground height of the grid, a display data creation step of creating display data in which a heat map colored according to the ground height of the grid is superimposed on the map data, and a display data transmission step of transmitting the display data to the ground height viewing device.

[0016] Furthermore, in order to solve the problem of allowing anyone to easily and inexpensively grasp the ground height, the ground height viewing device of the present invention is a ground height viewing device for viewing the ground height within a specified section, and has a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device installed on heavy equipment running within the section and map data of the section, a unit area height calculation unit that calculates the ground height of each unit area obtained by subdividing the section into a grid-like shape based on the elevation value of the three-dimensional coordinates included in the unit area, a grid height calculation unit that averages the ground heights of all the unit areas included in each grid set in a grid-like shape larger than the unit area, and calculates the average value as the ground height of the grid, and a display data creation unit that creates display data in which a heat map colored according to the ground height of the grid is superimposed on the map data. Effect of the Invention

[0017] According to the present invention, anyone can easily and inexpensively determine ground height. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a configuration of a ground height providing system according to the present invention. [Diagram 2] 1 is a block diagram showing one embodiment of a ground height providing system according to the present invention. FIG. [Diagram 3] 3A is a diagram showing an example of an input screen before positioning starts, and FIG. 3B is a diagram showing an example of a display screen during positioning, in the positioning data transmission device of the first embodiment. [Figure 4] 4 is a diagram showing an example of positioning data stored in a positioning data storage unit in the first embodiment; FIG. [Diagram 5] 1A is a diagram showing a section selection screen, and FIG. 1B is a diagram showing a ground level viewing screen in the ground level viewing site of the first embodiment. [Figure 6] FIG. 1A is a diagram showing an example of a grid in the first embodiment, and FIG. 1B is a diagram showing an example of a unit area. [Figure 7] FIG. 11 is a diagram showing an example of a numerical range for color-coding ground height in (a) the current state mode and (b) the completed form mode of the first embodiment. [Figure 8] 5 is a flowchart showing a process for measuring ground height in the first embodiment. [Figure 9] 4 is a flowchart showing a process for viewing ground height in the first embodiment. [Figure 10] FIG. 11 is a block diagram showing a third embodiment of the ground height providing system according to the present invention. [Figure 11] 13A and 13B show the ground level viewing screen with (a) the grid aligned to the azimuth angle, and (b) the grid display angle aligned to the plot topography. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, embodiments of a ground elevation providing server, a ground elevation providing system, a ground elevation providing program, a ground elevation providing method, and a ground elevation viewing device according to the present invention will be described with reference to the drawings.

[0020] 1 and 2, the ground level providing system 100 of the first embodiment comprises a positioning data transmitting device 10 that transmits positioning data measured by a positioning device 13 installed on a heavy machine 12 to a ground level providing server 1, a ground level providing server 1 that provides ground levels within a specified section, and a ground level viewing device 11 for viewing the ground level provided by the ground level providing server 1, and is configured to be connectable via the Internet. Each component will be described below.

[0021] [1] Positioning data transmission device 1, the positioning data transmission device 10 is configured by a mobile terminal such as a smartphone or tablet owned by the operator of the heavy equipment 12. In this first embodiment, the positioning data transmission device 10 has a positioning data transmission program installed, and acquires positioning data at predetermined time intervals (such as one second intervals) from a positioning device 13 provided on the heavy equipment 12, and transmits the acquired positioning data to the ground height providing server 1 in chronological order as needed.

[0022] In the first embodiment, when starting to transmit positioning data, the positioning data transmitting device 10 displays an input screen as shown in Fig. 3(a) and has the operator input setting data consisting of a block number for identifying the block to be positioned, a height value for correcting the elevation value (antenna height / current elevation), and a grid size for displaying the positioned area in a grid. The block number and the height value are then transmitted to the ground elevation providing server 1 together with the positioning data.

[0023] Regarding the height value, either antenna height or current altitude can be alternatively input. Antenna height is used when it is desired to grasp the rough absolute value of ground elevation, and the value measured by measuring the installation height of the positioning device 13 with a tape measure or the like is input. On the other hand, current altitude is used when it is sufficient to grasp only the relative difference in elevation of the ground, and the actual altitude value measured with a general-purpose surveying instrument or the like may be input, or any arbitrary value may be input.

[0024] Furthermore, when the positioning data transmission device 10 acquires map data of the current location from a map distribution server or the like based on its own position information (latitude, longitude), it displays a grid of the grid size set by the operator on the map data, as shown in Fig. 3(b).The positioning data transmission device 10 then displays the travel trajectory of the heavy equipment 12 based on its own position information acquired at a predetermined time interval, and displays grids through which the heavy equipment 12 has passed as positioned grids by filling them in.

[0025] In this first embodiment, the positioning device 13 is composed of a GNSS antenna that receives GNSS signals from artificial satellites of a satellite positioning system (Global Navigation Satellite System: GNSS), and a GNSS receiver that outputs positioning data including the reception time and three-dimensional coordinates (latitude, longitude, altitude) based on the GNSS signal.

[0026] [2] Ground elevation viewing device 1, the ground level viewing device 11 is configured by a mobile terminal such as a smartphone or tablet owned by a viewer, a notebook computer, or a personal computer connected to a display, an interactive board, etc. In this first embodiment, a browser capable of viewing display data of a ground level viewing site, etc. provided by the ground level providing server 1 is installed in the ground level viewing device 11.

[0027] 2, the ground level viewing device 11 has a function of transmitting a ground level viewing request or a display data update request to the ground level providing server 1 in response to a viewer's selection or instruction. In the first embodiment, the ground level viewing device 11 has an automatic display data update function, and automatically transmits an update request to the ground level providing server 1 at a predetermined time interval. However, the present invention is not limited to this configuration, and an update request may be transmitted manually.

[0028] Furthermore, the number of ground level viewing devices 11 is not limited to the number shown in Figures 1 and 2, and it is possible for any number of ground level viewing devices 11 with different owners and located in different locations, etc. to access the ground level providing server 1 and share and view the display data.

[0029] [3] Ground elevation server The ground level providing server 1 is configured with a computer such as a cloud server or a physical server, and provides ground levels within a specified section in response to a request from the ground level viewing device 11. In this first embodiment, as shown in Fig. 2, the ground level providing server 1 mainly includes a communication means 2, a storage means 3, and a calculation processing means 4. Each of the constituent means will be described below.

[0030] The communication means 2 implements a communication function in the ground elevation providing server 1. In this first embodiment, the communication means 2 is configured by a wireless module compatible with carrier network standards such as the fifth generation mobile communication network (5G) and wireless LAN standards such as Wi-Fi (registered trademark). The communication means 2 receives various data from the positioning data transmitting device 10 and transmits and receives various data to and from the ground elevation viewing device 11 via a network such as the Internet.

[0031] The storage means 3 stores various data and functions as a working area when the arithmetic processing means 4 performs arithmetic processing. In the first embodiment, the storage means 3 is composed of a solid state drive (SSD), a hard disk drive (HDD), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc., and has a program storage unit 31 and a positioning data storage unit 32 as shown in FIG.

[0032] The ground level providing program 1a of the first embodiment is installed in the program storage unit 31. Then, the calculation processing means 4 executes the ground level providing program 1a, thereby causing the computer as the ground level providing server 1 to function as each component described later.

[0033] The use of the ground height providing program 1a is not limited to the above configuration. For example, the ground height providing program 1a may be stored in a non-transitory computer-readable recording medium such as an SD card, a CF card, a USB memory, an external HDD (Hard Disk Drive), an external SSD (Solid State Drive), a CD-ROM, a DVD-ROM, etc., and may be read and executed directly from the recording medium.

[0034] The positioning data storage unit 32 stores the time-series positioning data transmitted from the positioning data transmission device 10. In the first embodiment, as shown in Fig. 4, the positioning data stored in time series include a device ID, positioning date and time, latitude, longitude, altitude values, link ID, and status. The device ID identifies the positioning device 13 that is the transmission source, and the link ID is linked to the block number by metadata that is separately stored. The status indicates the accuracy and state of the positioning data.

[0035] The calculation processing means 4 is composed of a CPU (Central Processing Unit) etc., and by executing the ground height providing program 1a installed in the program storage unit 31, it functions as a browsing site transmission unit 41, a partition data acquisition unit 42, a unit area height calculation unit 43, a grid height calculation unit 44, a display data creation unit 45 and a display data transmission unit 46, as shown in Fig. 2. Each component will be described in more detail below.

[0036] The viewing site transmission unit 41 transmits a ground elevation viewing site for viewing ground elevation. In the present first embodiment, the viewing site transmission unit 41 transmits the ground elevation viewing site to the ground elevation viewing device 11 in response to a request from the ground elevation viewing device 11. In addition, in the ground elevation viewing site, as shown in FIG. 5(a), the sections that have been positioned are displayed in a selectable manner, so that the viewer can select any section.

[0037] The section data acquisition unit 42 acquires data related to the section selected by the ground elevation viewing device 11. In the present first embodiment, the section data acquisition unit 42 acquires positioning data corresponding to the section number of the selected section from the positioning data storage unit 32, and acquires map data of the selected section from a map distribution server or the like. In the present first embodiment, the section data acquisition unit 42 acquires only positioning data with a good status, thereby suppressing a decrease in positioning accuracy.

[0038] The unit area height calculation unit 43 calculates the ground height of a unit area obtained by dividing a section into a grid. The grid height calculation unit 44 calculates the ground height of a grid set in a grid shape larger than the unit area. The unit area and the grid in the first embodiment will be described below.

[0039] In the ground elevation viewing site of the first embodiment, as shown in Fig. 5(b), a lattice-like grid is set on the section to be viewed, and the ground elevation of each grid is displayed numerically. Here, as the ground elevation of each grid, it is possible to identify all the positioning points included in each grid based on the latitude and longitude of the positioning data, and use a value obtained by simply averaging the elevation values ​​of all the positioning points.

[0040] However, while the positioning device 13 outputs positioning data at regular time intervals, the heavy machinery 12 used for positioning work may move at low speeds when turning, or may stop when the operator is taking a break. For this reason, a relatively large amount of positioning data is obtained in low-speed areas and stop positions compared to other areas. Therefore, if the altitude values ​​of all the positioning data included in each grid are simply averaged, the weighting of the altitude values ​​in low-speed areas and stop positions will be high, resulting in a large error.

[0041] For example, in the grid shown in Fig. 6(a), if positioning data is acquired once each at three points A (altitude value: 3), B (altitude value: 4), and C (altitude value: 5), the average elevation value in that grid will be (3+4+5) / 3 = 4. On the other hand, if positioning data is acquired once each at points A and B, and then the heavy equipment 12 stops at point C and positioning data is acquired ten times, the average elevation value in that grid will be (3+4+5 x 10) / 12 = 4.75, which is weighted by the elevation value of point C, resulting in a large error.

[0042] Therefore, in the first embodiment, as shown in Fig. 6(b), a unit area with a smaller grid size than the grid is set. Then, the unit area height calculation unit 43 first averages all elevation values ​​included in each unit area, and calculates the average value as the ground height of the unit area. Then, the grid height calculation unit 44 averages the ground heights of all unit areas included in each grid, and calculates the average value as the ground height of the grid.

[0043] According to the above configuration, the ground height is averaged for each unit area, preventing errors due to the weighting described above. For example, in the example of FIG. 6(a) described above, the ground height of the unit area including point A is 3, and the ground height of the unit area including point B is 4. The ground height is also averaged in the unit area including point C, where positioning data was acquired 10 times, to (5×10) / 10=5. Therefore, the ground height of the grid including points A, B, and C is (3+4+5) / 3=4, which is an unbiased value, just like when positioning data is acquired once each.

[0044] In the first embodiment, the grid size can be selected from four sizes, 5 m, 10 m, 15 m, and 20 m on a side, and the unit grid size is set to 1 m on a side. In other words, the unit area grid size is set to 1 / 5 or less of the grid size, ensuring that the weighting cancellation function works effectively.

[0045] In the first embodiment, the ground height providing server 1 receives a height value (antenna height / current altitude) for correcting the altitude value together with the positioning data from the positioning data transmitting device 10. For this reason, the unit area height calculating unit 43 calculates the ground height of the unit area using an altitude value obtained by subtracting the installation height (antenna height) of the positioning device 13 from the altitude value, or an altitude value obtained by subtracting an arbitrary ground height (current altitude) from the altitude value.

[0046] Furthermore, in this first embodiment, when display data is requested from the ground level viewing device 11, the grid height calculation unit 44 calculates the ground level of the grid only for the grid size set by default (e.g., 5 m), and if the grid size is changed thereafter, it calculates the ground level for the changed grid size.

[0047] The display data creation unit 45 creates display data to be displayed on the ground elevation viewing device 11. In the first embodiment, the display data creation unit 45 creates display data in which a heat map, color-coded according to the ground elevation of the grid, is superimposed on the map data acquired by the block data acquisition unit 42, as shown in Fig. 5(b).

[0048] In addition, in the first embodiment, the display data is configured to be selectable between a current status mode suitable for displaying the current topography of the plot and a completed form mode suitable for displaying the completed form of the plot. Specifically, on the ground height viewing screen shown in Fig. 5(b), the completed form mode is displayed while an icon with "Out" written on it is displayed, and when the "Out" icon is tapped, it switches to an icon with "Current" written on it and enters the current status mode.

[0049] However, if the ground height is color-coded in the as-built mode using the same numerical range as in the current state mode, the colors will be almost the same, making it difficult to understand. Therefore, in the first embodiment, the numerical range for color-coding the ground height in the heat map is set smaller in the as-built mode than in the current state mode, as shown in Fig. 7. This allows the distribution of ground height to be displayed in an easily visible state, whether the current topography has a large difference in elevation or the as-built topography has a small difference in elevation.

[0050] In addition, in the first embodiment, when the icon "CSV" is tapped on the ground elevation viewing screen shown in Fig. 5(b), the positioning data for the displayed area can be downloaded from the ground elevation providing server. This allows the positioning data to be used as a report or to be loaded into other analysis software, etc.

[0051] The display data transmission unit 46 transmits the display data to the ground elevation viewing device 11. In the present first embodiment, the display data transmission unit 46 transmits the display data created by the display data creation unit 45 via the communication means 2 to the ground elevation viewing device 11 that has made the viewing request.

[0052] Next, the actions of the ground level providing server 1, the ground level providing system 100, the ground level providing program 1a, the ground level providing method and the ground level viewing device 11 of the first embodiment will be described.

[0053] First, a flow chart for measuring ground height using the positioning data transmission device 10 of the first embodiment is shown in Fig. 8. When a positioning data transmission program is started by the operator of the heavy equipment 12, the positioning data transmission device 10 displays the input screen shown in Fig. 3(a) (step S1). When the operator touches a start icon after inputting various setting data (step S2: YES), the positioning data transmission device 10 acquires the input setting data (step S3) and displays a map of the current location (step S4).

[0054] Next, when the heavy equipment 12 starts traveling within the specified section, the positioning data transmission device 10 acquires positioning data from the positioning device 13 provided on the heavy equipment 12 (step S5), and transmits the positioning data together with the setting data to the ground height providing server 1 (step S6). The positioning data transmission device 10 also displays the traveling trajectory on a map, and displays a grid with the grid size acquired in step S3 (step S8). This allows the operator to easily visually identify the areas that have been positioned within the specified section and the areas that have not been measured, preventing positioning omissions and improving work efficiency.

[0055] Thereafter, each time a predetermined time has elapsed (step S9: YES), the positioning data transmission device 10 returns to step S5 and repeats the processes of steps S5, S6, and S8. Note that the setting data (section number, height value) once transmitted in step S6 will not be retransmitted unless there is a change. Also, before the predetermined time has elapsed (step S9: NO), if a stop command is given (step S10: YES), this process ends.

[0056] Meanwhile, the ground elevation providing server 1 sequentially acquires and stores each piece of data transmitted from the positioning data transmitting device 10 (step S7). As a result, the positioning data within a specific block is assigned a link ID linked to the block number, and is accumulated in the ground elevation providing server 1 in chronological order.

[0057] Next, a flow chart for viewing ground elevation using the ground elevation viewing device 11 of the first embodiment is shown in Fig. 9. First, when the ground elevation viewing device 11 requests the ground elevation providing server 1 to view a ground elevation viewing site (step S11), the viewing site transmission unit 41 transmits the ground elevation viewing site to the ground elevation viewing device 11 (step S12). As a result, the ground elevation viewing device 11 displays a section selection screen as shown in Fig. 5(a) (step S13), and when the viewer selects a desired section, the ground elevation viewing device 11 requests the ground elevation providing server 1 to display data of the selected section (step S14).

[0058] In the ground level providing server 1, when the section data acquisition unit 42 acquires the positioning data and map data of the section selected by the ground level viewing device 11 (step S15: section data acquisition step), the unit area height calculation unit 43 calculates the ground level of each unit area (step S16: unit area height calculation step), and the grid height calculation unit 44 calculates the ground level of each grid based on the ground level of the unit area (step S17: grid height calculation step).

[0059] As a result, the ground height is calculated for each unit area with a lattice size smaller than the grid, so even if there are areas or locations where a lot of positioning data is acquired due to the heavy equipment 12 slowing down or stopping, the average value is prevented from being biasedly weighted by the ground height in that area, and the occurrence of errors is suppressed.

[0060] In the first embodiment, the grid size of the unit area is set to 1 / 5 or less of the grid size of the grid. Therefore, regardless of the traveling state of the heavy equipment 12, the weighting cancellation function works effectively, and the calculation accuracy of the ground height of the grid is ensured.

[0061] Furthermore, in the first embodiment, when the unit area height calculation unit 43 calculates the ground height of the unit area, the elevation value is corrected using the antenna height or the current altitude. In this way, when the elevation value is corrected using the antenna height, the rough absolute value of the ground height is grasped. On the other hand, when the elevation value is corrected using the current altitude value, the relative difference in elevation of the ground height is grasped.

[0062] When the ground elevation of each grid is calculated (step S17), the display data creation unit 45 creates display data (step S18: display data creation step), and the display data transmission unit 46 transmits the display data to the ground elevation viewing device 11 (step S19: display data transmission step). As a result, a ground elevation viewing screen such as that shown in Fig. 5(b) is displayed on the ground elevation viewing device 11 (step S20). Therefore, a viewer can easily and inexpensively grasp the ground elevation within a specified section by simply preparing a general-purpose smartphone or the like.

[0063] After that, when the viewer performs a predetermined operation on the ground elevation viewing screen (step S21: YES), the ground elevation viewing device 11 requests the ground elevation providing server 1 to update the display data according to the operation (step S23). As a result, the display data creation unit 45 updates the display data (step S24), and the display data transmission unit 46 transmits the updated display data (step S25), and the updated display data is displayed on the ground elevation viewing device 11 (step S26). At this time, if there is an instruction to change the grid size, the grid height calculation unit 44 calculates the ground elevation for each grid of the changed grid size.

[0064] In addition, in the first embodiment, if a predetermined update time has elapsed without any operation (step S21: NO → step S22: YES), the ground level viewing device 11 automatically requests an update of the display data (step S23) and displays the updated display data (step S26). As a result, the positioning data measured by the positioning device 13 is reflected on the ground level viewing screen in almost real time, so that the progress of the work and the ground level can be confirmed in real time not only by workers on-site but also from remote locations.

[0065] Thereafter, when the viewer instructs the ground elevation viewing device 11 to end the process by performing an end operation on the browser or the like (step S27: YES), the process ends.

[0066] According to the ground level providing system 100, the ground level providing program 1a, the ground level providing method, and the ground level viewing device 11 of the first embodiment described above, the following effects are achieved. 1. Anyone can easily and inexpensively determine ground level at any time and from anywhere. 2. The ground level can be shared and viewed by multiple ground level viewing devices 11. 3. The accuracy of calculation of the ground height of each grid can be guaranteed regardless of the traveling state of the heavy equipment 12. 4. Whether the current topography or the completed shape is displayed, the distribution of ground height can be displayed in an easily visible manner. 5. It is possible to selectively display the rough absolute value of ground elevation and the relative difference in ground elevation.

[0067] Next, a second embodiment of the ground level providing system, the ground level providing program, the ground level providing method, and the ground level viewing device according to the present invention will be described. Note that, among the configurations of the second embodiment, the same or corresponding configurations as those of the first embodiment described above are given the same reference numerals, and the repeated description will be omitted.

[0068] In the first embodiment described above, the unit area height calculation unit 43 averages the elevation values ​​of all three-dimensional coordinates included in the unit area, and calculates the average value as the ground height of the unit area. This calculation method makes it possible to roughly calculate the ground height in a section with little cut soil or fill soil. However, in a section with a lot of cut soil or fill soil, the elevation value before the completion of the leveling work by the heavy equipment 12 is used, which may cause an error with the actual ground height.

[0069] Therefore, in the second embodiment, the unit area height calculation unit 43 calculates the latest elevation value of all the elevation values ​​of the three-dimensional coordinates included in the unit area as the ground height of the unit area. As a result, even in a section with a lot of cut soil and fill soil, the latest elevation value equivalent to the elevation value after the leveling work by the heavy equipment 12 is completed is calculated as the ground height of the unit area. Therefore, the error between the actual ground height and the ground height of each grid calculated using the ground height of the unit area is reduced.

[0070] According to the ground level providing system 100, ground level providing program 1a, ground level providing method and ground level viewing device 11 of the second embodiment described above, in addition to the advantageous effects of the first embodiment described above, it is possible to reduce the error between the grid ground level and the actual ground level, even in areas with a lot of cut soil and filled soil.

[0071] In addition, the method of calculating the ground height of a unit area by the unit area height calculation unit 43 is not limited to the average value or latest value described above, but rather it is sufficient that the ground height of the unit area is appropriately calculated based on the elevation value of the three-dimensional coordinates included in the unit area.

[0072] Next, a third embodiment of the ground level providing system, the ground level providing program, the ground level providing method, and the ground level viewing device according to the present invention will be described. Note that, among the configurations of the third embodiment, the same or corresponding configurations as those of the above-mentioned embodiments are given the same reference numerals, and the repeated description will be omitted.

[0073] In each of the above-mentioned embodiments, the ground level providing server 1 acquires the section data, calculates the ground level of the unit area and the ground level of the grid, and creates the display data. In contrast, the third embodiment is characterized in that all of the processes executed on the ground level providing server 1 side are executed on the ground level viewing device 11 side.

[0074] Specifically, as shown in Fig. 10, in this third embodiment, a positioning data storage server 14 for storing positioning data is provided instead of the ground level providing server 1. The ground level viewing device 11 has a communication means 2, a storage means 3, a calculation processing means 4, and a display means 5 such as a touch display, and the storage means 3 has a ground level viewing program 11a installed therein.

[0075] Then, when the calculation processing means 4 executes the ground level viewing program 11a, the computer serving as the ground level viewing device 11 is caused to function as a section data acquisition unit 42, a unit area height calculation unit 43, a grid height calculation unit 44, and a display data creation unit 45, as shown in FIG. 10.

[0076] According to the above configuration, the section data acquisition unit 42 acquires positioning data corresponding to the section selected by the viewer from the positioning data accumulation server 14. Then, the unit area height calculation unit 43, the grid height calculation unit 44, and the display data creation unit 45 each execute the above-mentioned processes, whereby the display data is displayed on the display means 5. Therefore, the same effects as those of the above-mentioned embodiments are achieved.

[0077] In addition, in the third embodiment, the positioning data is transmitted from the positioning data transmission device 10 to the positioning data storage server 14 and stored therein, but these processes may also be executed by the ground level viewing device 11. That is, by installing a positioning data transmission program in the ground level viewing device 11, the ground level viewing device 11 may acquire positioning data from the positioning equipment 13 and store the positioning data in the storage means 3 of the ground level viewing device 11. According to this configuration, the ground level can be viewed easily and in real time using only the ground level viewing device 11.

[0078] The ground level providing system 100, the ground level providing program 1a, the ground level providing method and the ground level viewing device 11 according to the present invention are not limited to the above-described embodiments and can be modified as appropriate.

[0079] For example, in each of the above-described embodiments, the grid lines are displayed fixedly so as to always coincide with the azimuth angle (north) as shown in Fig. 11(a). However, the present invention is not limited to this configuration, and the display angle of the grid may be configured to be changeable to any direction.

[0080] For example, as shown in FIG. 11(b), on the ground height viewing site displayed on the browser of the ground height viewing device 11, a graphical user interface (GUI) may be provided, such as a slider bar that can be moved left or right to change the grid display angle, and an icon "+" that rotates the grid display angle forward and an icon "-" that rotates it backward, and the grid display angle may be changed to any orientation by operating the GUI.

[0081] As a result, in a section having straight edges, as shown in FIG. 11(b), the display angle of the grid is changed to match the topography of the section, for example by aligning the orientation of the grid edges with the orientation of the edges, thereby improving visibility for the user.

[0082] In the above configuration, when the display angle of the grid is changed, the unit area height calculation unit recalculates the ground heights of all unit areas included in each of the changed grids. The grid height calculation unit also recalculates the ground height for each of the changed grids based on the recalculated ground heights of the unit areas. This allows the ground height of the changed grid to be displayed in real time at the same time as the display angle of the grid is changed.

[0083] In each of the above-described embodiments, the positioning data transmission device 10 continues to acquire positioning data unless a stop command is issued (step S10 in FIG. 8: NO). Therefore, if the operator of the heavy equipment 12 forgets to issue a stop command after completing the positioning operation (land leveling operation), unnecessary positioning data will continue to be accumulated while the heavy equipment 12 is traveling on roads outside the section.

[0084] Therefore, a deletion mode for deleting unnecessary positioning data may be selected on the ground elevation viewing screen. When this deletion mode is set, when a grid to be deleted is selected and then a delete button is selected, all the positioning data included in the grid is deleted from the positioning data storage unit 32.

[0085] On the other hand, there may be some positioning data that you want to save as positioning data but do not want to display on the ground elevation viewing screen. For this reason, you may configure the ground elevation viewing screen to be able to set the range you want to display or not display. For example, by setting a reference elevation value (m) and a numerical range (cm) for the reference elevation value, you can display or hide only the positioning data within the range. [Explanation of symbols]

[0086] 1. Ground elevation server 1a Ground elevation program 2. Means of communication 3 Memory means 4. Processing means 5 Display means 10 Positioning data transmission device 11 Ground elevation viewing device 11a Ground elevation viewing program 12 Heavy machinery 13 Positioning equipment 14 Positioning data storage server 31 Program memory section 32 Positioning data storage unit 41 Viewing site transmission section 42 Plot data acquisition section 43 Unit area height calculation section 44 Grid height calculation section 45 Display data creation section 46 Display data transmission unit 100 Ground elevation providing system

Claims

1. A ground elevation providing server that provides ground elevation within a predetermined section in response to a request from a ground elevation viewing device, a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device provided on a heavy machine traveling within the section, and map data of the section; a unit area height calculation unit that calculates the ground height of each unit area obtained by dividing the section into a grid based on the elevation value of the three-dimensional coordinates included in the unit area; a grid height calculation unit that averages ground heights of all the unit areas included in each grid set in a lattice pattern larger than the unit area, and calculates the average value as the ground height of the grid; a display data creation unit that creates display data in which a heat map, which is color-coded according to the ground elevation of the grid, is superimposed on the map data; A display data transmission unit that transmits the display data to the ground elevation viewing device; A ground elevation providing server having the above-mentioned.

2. The ground elevation providing server according to claim 1 , wherein the unit area height calculation unit calculates a latest elevation value from among elevation values ​​of all the three-dimensional coordinates included in the unit area as the ground elevation of the unit area.

3. 2 . The ground elevation providing server according to claim 1 , wherein the unit area height calculation unit averages elevation values ​​of all the three-dimensional coordinates included in the unit area, and calculates the average value as the ground elevation of the unit area.

4. The display angle of the grid can be changed to any direction, 3. The ground height providing server according to claim 2, wherein, when the display angle of the grid is changed, the unit area height calculation unit recalculates the ground heights of all the unit areas included in each of the changed grids, and the grid height calculation unit recalculates the ground height for each of the changed grids.

5. The ground height providing server of claim 4, wherein the display data is configured to be selectable between a current status mode suitable for displaying the current topography of the section and a completed form mode suitable for displaying the completed form of the section, and the numerical range for color-coding ground height in the heat map is set smaller for the completed form mode than for the current status mode.

6. 6. The ground elevation providing server according to claim 5, wherein the unit area height calculation unit calculates the ground elevation of the unit area using an elevation value obtained by subtracting an installation height of the positioning device from the elevation value, or an elevation value obtained by subtracting an arbitrary ground elevation from the elevation value.

7. The ground height providing server according to claim 6 , wherein the lattice size of the unit area is set to ⅕ or less of the lattice size of the grid.

8. 8. A ground elevation providing system comprising: a ground elevation providing server according to claim 1; and a positioning data transmitting device for transmitting the positioning data to the ground elevation providing server.

9. A ground elevation providing program for providing a ground elevation within a predetermined section in response to a request from a ground elevation viewing device, a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device provided on a heavy machine traveling within the section, and map data of the section; a unit area height calculation unit that calculates the ground height of each unit area obtained by dividing the section into a grid based on the elevation value of the three-dimensional coordinates included in the unit area; a grid height calculation unit that averages ground heights of all the unit areas included in each grid set in a lattice pattern larger than the unit area, and calculates the average value as the ground height of the grid; a display data creation unit that creates display data in which a heat map, which is color-coded according to the ground elevation of the grid, is superimposed on the map data; a display data transmission unit that transmits the display data to the ground elevation viewing device; This program provides ground elevation information to allow the computer to function.

10. A method for providing ground elevation within a predetermined section in response to a request from a ground elevation viewing device, comprising: a section data acquisition step of acquiring positioning data including time-series three-dimensional coordinates measured by a positioning device provided on a heavy machine traveling within the section, and map data of the section; a unit area height calculation step of calculating a ground height of each unit area obtained by dividing the section into a grid based on an elevation value of the three-dimensional coordinates included in the unit area; a grid height calculation step of averaging the ground heights of all the unit areas included in each grid set in a lattice pattern larger than the unit area, and calculating the average value as the ground height of the grid; a display data creating step of creating display data in which a heat map, which is color-coded according to the ground elevation of the grid, is superimposed on the map data; A display data transmission step of transmitting the display data to the ground elevation viewing device; A method for providing ground elevation comprising the steps of:

11. A ground level viewing device for viewing ground levels within a specified section, a section data acquisition unit that acquires positioning data including time-series three-dimensional coordinates measured by a positioning device provided on a heavy machine traveling within the section, and map data of the section; a unit area height calculation unit that calculates the ground height of each unit area obtained by dividing the section into a grid based on the elevation value of the three-dimensional coordinates included in the unit area; a grid height calculation unit that averages ground heights of all the unit areas included in each grid set in a lattice pattern larger than the unit area, and calculates the average value as the ground height of the grid; a display data creation unit that creates display data in which a heat map, which is color-coded according to the ground elevation of the grid, is superimposed on the map data; A ground height viewing device having the above-mentioned.

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