Information processing apparatus, system and program

Abstract

To improve efficiency of a handling operation in a case where a natural disaster, in which a land form may change, occurs.SOLUTION: An information processing apparatus comprises: an acquisition unit that acquires first three-dimensional point group data generated in a first period and second three-dimensional point group data generated in a second period which is later than the first period; a matching unit that matches a relative positional relation between the first three-dimensional point group data and the second three-dimensional point group data; and a calculation unit that calculates a volume of a part which changes between a land form in the first period and a land form in the second period on the basis of the matched result.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, a system, and a program.

Background Art

[0002] In recent years, technologies for estimating the occurrence of traffic obstacles have been proposed.

[0003] For example, Patent Document 1 discloses a system that detects a terrain change based on three-dimensional point cloud data acquired from traffic photos and estimates the occurrence of a traffic obstacle from the terrain change.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] There is a demand for improving the efficiency of response work when a natural disaster occurs in which the terrain changes.

Means for Solving the Problems

[0006] An information processing apparatus according to an aspect of the present invention includes an acquisition unit that acquires first three-dimensional point cloud data generated in a first period and second three-dimensional point cloud data generated in a second period after the first period, a matching unit that matches a relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, and a calculation unit that calculates a volume of a changed portion between the terrain in the first period and the terrain in the second period based on a result of the matching.

Brief Description of the Drawings

[0007]

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DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

[0009] One or more embodiments (including examples, variations, and application examples) described below can each be implemented independently. On the other hand, at least some of the multiple embodiments described below may be implemented in appropriate combination with at least some of other embodiments. These multiple embodiments may include mutually different novel features. Therefore, these multiple embodiments may contribute to solving mutually different objectives or problems and may exhibit mutually different effects.

[0010] Also, in the following embodiments, the event targeted by the proposed technology of the present invention will be described as a natural disaster, particularly a landslide disaster (landslide), in which the terrain changes. However, the proposed technology of the present invention can be applied to various events regardless of natural disasters.

[0011] <Embodiment> [1. Introduction] There is a demand to detect landslide disasters in real time, rescue the affected residents, and quickly conduct evacuation guidance for the residents in the risk area by issuing landslide disaster warnings. Conventionally, since the estimation of the amount of earth and sand caused by landslide disasters is based on visual estimation, it has been regarded as a problem that the types and quantities of equipment (for example, dump trucks, etc.) required for earth and sand removal cannot be accurately estimated and it takes time for the estimation.

[0012] Therefore, the inventors of the present invention considered that the volume of the collapsed earth and sand can be calculated quickly and accurately by using the information obtained by photographing the disaster site with a flying object such as a drone.

[0013] That is, the information processing according to the proposed technology of the present invention (hereinafter referred to as "information processing according to the embodiment") is a method of applying a predetermined earth and sand volume calculation algorithm to the point cloud data obtained from a flying object to quickly and accurately calculate the earth and sand volume.

[0014] [2. System Configuration] A system for realizing the information processing according to the embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing an example of the system according to the embodiment. As shown in FIG. 1, the system Sy according to the embodiment may include an aircraft FO, a reference station 20, and a distribution device 30. Further, the system Sy may include an information processing device 300, an instruction device 400, and an aircraft control device 500. Furthermore, the system Sy may include weather information DA1, landslide special area information DA2, a wearable terminal WT, and a front-end system 200.

[0015] The aircraft FO may be, for example, a drone. The aircraft FO may be used by a user.

[0016] The aircraft FO may be equipped with a positioning module having a RTK (Real Time Kinematic) positioning function. That is, the aircraft FO may acquire corrected position information indicating its own position by RTK calculation using correction information. Note that the RTK calculation may be executed by a conventionally well-known method.

[0017] The aircraft FO and the positioning module may be separate devices. That is, the user may attach the positioning module to the existing aircraft FO to cause the aircraft FO to perform its own positioning. On the other hand, the aircraft FO and the positioning module may be an integrated device. That is, the user may cause the aircraft FO having a function similar to the positioning module as one function to perform its own positioning.

[0018] Further, the aircraft FO may be equipped with a point cloud data generation module having a LiDAR (Light Detection and Ranging) function. That is, the aircraft FO may use the positioning data obtained by the above RTK positioning function (positioning module) in specifying its own position when generating point cloud data (three-dimensional point cloud data).

[0019] The aircraft FO and the point cloud data generation module may be separate devices. That is, the user may attach the point cloud data generation module to the body of an off-the-shelf aircraft FO to cause the aircraft FO to generate point cloud data. On the other hand, the aircraft FO and the point cloud data generation module may be an integrated device. That is, the user may cause an aircraft FO having a function similar to that of the point cloud data generation module as one function to generate point cloud data.

[0020] Here, FIG. 1 shows an example in which the aircraft FO is composed of an aircraft body BD and a terminal device 10. The terminal device 10 includes a positioning module that performs RTK positioning and a point cloud data generation module that generates three-dimensional point cloud data. According to the above example, the terminal device 10 may be attached to the aircraft body BD, or may be incorporated into the aircraft body BD at the manufacturing stage as an RTK positioning function and a LiDAR function.

[0021] Note that FIG. 1 shows an example in which the terminal device 10 includes both a positioning module that performs RTK positioning and a point cloud data generation module that generates three-dimensional point cloud data, but they may be dispersed into a plurality for each module. For example, the aircraft FO may be equipped with a terminal device 10-1 (not shown) corresponding to the positioning module and a terminal device 10-2 (not shown) corresponding to the point cloud data generation module.

[0022] Here, the RTK positioning function of the terminal device 10 will also be described. For example, the terminal device 10 may receive a satellite signal. Specifically, the terminal device 10 may receive a GNSS signal from a GNSS satellite SA (FIG. 2). That is, the terminal device 10 may be equipped with, for example, a GNSS module (positioning module) corresponding to a GNSS receiver corresponding to RTK and an antenna. Further, the terminal device 10 may be equipped with a communication module for communicating with the distribution device 30 and the management device 40.

[0023] The terminal device 10 may perform positioning based on correction information. Specifically, first, the terminal device 10 may acquire its own position information based on GNSS signals. Then, the terminal device 10 may receive correction information distributed from a distribution device 30 described later. The terminal device 10 may correct its own position information based on the correction information. More specifically, the terminal device 10 may correct its own position information by RTK calculation using the correction information. That is, the terminal device 10 may acquire corrected position information by RTK calculation using the correction information. From this, the terminal device 10 may be equipped with a program capable of executing RTK calculation. Note that the RTK calculation may be executed by a conventionally well-known method.

[0024] The reference station 20 may function as a reference station in RTK calculation. That is, the reference station 20 may have a known coordinate (known coordinate) indicating its own position defined. Also, when there are a plurality of reference stations 20, each of the plurality of reference stations 20 may have a known coordinate defined.

[0025] The reference station 20 may receive satellite signals. Specifically, the reference station 20 may receive GNSS signals from GNSS satellites. For example, the reference station 20 may transmit information based on the known coordinate and information based on the GNSS signal to the distribution device 30. Information based on the GNSS signal may include information indicating the satellite that received the GNSS signal, information indicating the phase of the carrier wave, etc.

[0026] Specifically, the reference station 20 may transmit various information to the distribution device 30 based on, for example, the standards of RTCM (Radio Technical Commission For Maritime Services). Also, the reference station 20 may transmit, for example, ephemeris to the distribution device 30.

[0027] The distribution device 30 may be, for example, a server device. The distribution device 30 may receive, from the reference station 20, information on the known coordinates of the reference station 20 and information on the GNSS signals received by the reference station 20. The distribution device 30 may generate correction information for correcting the positioning error by the terminal device 10 based on the information on the known coordinates of the reference station 20 to be processed among the reference stations 20 and the information on the GNSS signals. The correction information may include, for example, information on the known coordinates of the reference station 20 and information on the phase of the carrier wave from the GNSS satellite.

[0028] The distribution device 30 may transmit the generated correction information to the terminal device 10. Note that the information included in the correction information is not limited to the above example. The correction information may arbitrarily include information necessary for RTK calculation by the terminal device 10.

[0029] Here, the positioning by RTK calculation using the correction information will be described. First, the terminal device 10 may acquire rough position information (approximate position information) of its own device by positioning based on GNSS signals. Also, the distribution device 30 may generate correction information including information on the known coordinates of the reference station 20 and information based on the GNSS signals. The distribution device 30 may transmit the correction information to the terminal device 10. The terminal device 10 may correct the approximate position information by RTK calculation using the correction information. That is, the terminal device 10 may calculate, by RTK calculation, information (corrected position information) obtained by correcting the approximate position information with the correction information.

[0030] Also, as described above, since the terminal device 10 is mounted on the aircraft FO, in the following embodiments, the processes described as being performed by the terminal device 10 (for example, RTK positioning and generation of three-dimensional point cloud data) will be described as being performed by the aircraft FO.

[0031] Also, a computer composed of a backend system 100 responsible for backend-side processing and a frontend system 200 responsible for frontend-side processing corresponds to the information processing apparatus according to the embodiment.

[0032] The backend system 100 may be configured by, for example, one or more server devices. In this embodiment, however, it will be described as a single server device. Therefore, hereinafter, the backend system 100 will be referred to as the information processing device 100.

[0033] The information processing device 100 executes backend processing among the information processing according to the embodiment. The main backend processing may be, for example, processing for generating a three-dimensional map from the three-dimensional point cloud data generated by the flying object FO, or earthwork volume calculation processing when detecting the occurrence of an earthwork disaster based on the three-dimensional point cloud data. The information processing device 100 can acquire the three-dimensional point cloud data via the flight control device 500.

[0034] In addition, when the information processing device 100 detects the occurrence of an earthwork disaster, it may notify the front-end system 200 or the instruction device 400 of alert information indicating the occurrence of the earthwork disaster. The alert information may at least include information indicating the occurrence of the earthwork disaster and information on the area where the earthwork disaster occurred.

[0035] The meteorological information DA1 may include weather information of each region provided by the Japan Meteorological Agency. The weather information may also include rainfall data measured by a rainfall sensor. The meteorological information DA1 may be provided to the front-end system 200 by API cooperation via the Internet from an external device belonging to the Japan Meteorological Agency.

[0036] The earthwork disaster special area information DA2 is information indicating an area of land where there is a risk of harm to the lives or bodies of residents when an earthwork disaster occurs, and may be provided by a local government. The earthwork disaster special area information DA2 may be provided to the front-end system 200 by API cooperation via the Internet from an external device belonging to each local government.

[0037] Although not shown in FIG. 1, information on restricted access areas existing in each region (for example, information on restricted access areas in earthwork disaster special areas) may also be uploaded to the front-end system 200.

[0038] The wearable terminal WT is an information processing terminal worn by workers at the work site, and may be equipped with sensors capable of detecting the vital information of workers. Further, the wearable terminal WT may provide the vital information of the worker to the front-end system 200 through API cooperation via a wireless communication network such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation: the 5th generation mobile communication system).

[0039] The front-end system 200 may be composed of, for example, one or more server devices. In this embodiment, it will be described as one server device. Therefore, hereinafter, the front-end system 200 will be rephrased as the display control device 200.

[0040] The display control device 200 executes the front-end processing among the information processing according to the embodiment. The main processing of the front end may be providing information to the user using a predetermined screen. For example, the display control device 200 may display information indicating the occurrence of a landslide, information on the area where the landslide occurred, vital information with high urgency / importance when there are workers in or near the area where the landslide occurred, etc. on the user's pointing device 400.

[0041] Note that the user in the embodiment may be an organization U (specifically, the personnel of the organization) that monitors the occurrence of a landslide or is requested to dispatch when a landslide occurs, such as the police, the fire department, or an administrative agency (local government). Further, the user may also include a management operator M who is responsible for constructing and managing the system Sy.

[0042] The indicating device 400 is an information processing terminal used to give flight instructions to the aircraft FO according to weather information or the like, or to indicate the position of the object for which point cloud data should be acquired to the aircraft FO before or during flight. The indicating device 400 may be, for example, a smartphone, a tablet terminal, a notebook PC (Personal Computer), a desktop PC, a mobile phone, a PDA (Personal Digital Assistant), or the like.

[0043] The indicating device 400 inputs the instruction information received from the user to the flight control device 500. Here, the user who gives flight instructions to the aircraft FO or indicates the position of the object for which point cloud data should be acquired may be the above-mentioned organization U or the management operator M. In FIG. 1, an indicating device 400-1 is shown as an example of the indicating device 400 used by the organization U, and an indicating device 400-2 is shown as an example of the indicating device 400 used by the management operator M.

[0044] The flight control device 500 may be, for example, a server device. The flight control device 500 controls the flight of the aircraft FO according to the input instruction device. For example, the flight control device 500 may control the aircraft FO to fly along the flight path defined by the instruction information. Since the aircraft FO is equipped with a positioning module, it may fly while comparing its own position obtained by RTK calculation with the information of the flight path.

[0045] In addition, the flight control device 500 controls the aircraft FO to generate point cloud data at the position of the object defined by the instruction information. Since the aircraft FO is equipped with a point cloud data generation module, it generates three-dimensional point cloud data at the position of the object defined by the instruction information based on its own position obtained by RTK calculation. For example, the aircraft FO can generate the first three-dimensional point cloud data in the first period (for example, before the landslide disaster) and the second three-dimensional point cloud data in the second period (for example, after the landslide disaster).

[0046] Further, the flight control device 500 may acquire three-dimensional point cloud data from the flying object FO and transmit the acquired three-dimensional point cloud data to the information processing device 100.

[0047] [3. Acquisition of Position Information] When calculating the earth and sand volume, the information processing device 100 acquires three-dimensional point cloud data generated by the flying object FO (terminal device 10). Specifically, the information processing device 100 acquires three-dimensional point cloud data based on the corrected position information corrected by RTK calculation. Therefore, with reference to FIG. 2, the acquisition of three-dimensional point cloud data will be described. FIG. 2 is a diagram showing an example of the three-dimensional point cloud data acquisition process.

[0048] In FIG. 2, a scene is shown in which three-dimensional point cloud data indicating the terrain of the mountain slope is acquired when the flying object FO is flying over the slope of the mountain in the area AR (not shown) included in the earth and sand disaster special warning area. Also, a reference station 20 is installed in the area AR.

[0049] The flying object FO (terminal device 10) may calculate position information indicating the position of its own aircraft by GNSS positioning based on the GNSS signal received from the GNSS satellite SA. Such position information may be approximate position information (rough position information) that can indicate a position within a range of several meters around the actual position of the own aircraft. The flying object FO may transmit the rough position information together with the information of the received GNSS signal to the distribution device 30 (step S21).

[0050] The distribution device 30 may select the reference station 20 to be processed from among the reference stations 20 based on the rough position information received from the flying object FO. For example, the distribution device 30 may select the reference station 20 existing in the area corresponding to the position indicated by the rough position information as the reference station 20 to be processed.

[0051] In the above example, the flying object FO calculates the approximate position information by GNSS positioning. However, the distribution device 30 may calculate the approximate position information of the flying object FO. In this case, in step S21, the flying object FO only needs to transmit the GNSS signal, and the distribution device 30 may calculate the approximate position information of the flying object FO by GNSS positioning based on the GNSS signal received from the flying object FO.

[0052] Next, the distribution device 30 may transmit a distribution request for requesting the distribution of the GNSS signal to the selected reference station 20 (step S22). The reference station 20 may always receive the GNSS signal from the GNSS satellite SA. That is, the reference station 20 being processed may transmit the information based on the GNSS signal received from the GNSS satellite SA to the distribution device 30 when receiving the distribution request (step S23).

[0053] Note that the reference station 20 being processed may continue to transmit the GNSS signal to the distribution device 30 after receiving the distribution request. Also, the reference station 20 may always push the GNSS signal to the distribution device 30. That is, the reference station 20 may transmit the GNSS signal to the distribution device 30 without receiving the distribution request of the distribution device 30. In this case, the distribution device 30 may accumulate the received GNSS signal.

[0054] The distribution device 30 may generate correction information based on the GNSS signal received from the reference station 20 being processed (step S24). For example, the distribution device 30 may calculate the position coordinates of the reference station 20 by GNSS positioning based on the GNSS signal received from the reference station 20 being processed, and obtain the difference between the calculated position coordinates and the known coordinates of the reference station 20 (for example, stored in the distribution device 30 in advance) to generate the correction information. The correction information will be used for performing real-time correction on the approximate position information of the flying object FO.

[0055] Note that in the above example, the distribution device 30 calculates the position coordinates by GNSS positioning, but the reference station 20 to be processed may calculate its own position coordinates. In this case, in step S23, the reference station 20 to be processed may transmit information indicating its own position coordinates to the distribution device 30 together with the information based on the GNSS signal.

[0056] The distribution device 30 may transmit the generated correction information to the aircraft FO that is the source of the approximate position information (step S25).

[0057] The aircraft FO may perform a correction calculation to correct the approximate position information based on the correction information received from the distribution device 30 (step S26). Specifically, the aircraft FO may calculate the corrected position information by correcting the approximate position information by RTK calculation using the correction information.

[0058] The aircraft FO may generate three-dimensional point cloud data based on the corrected position information (step S27).

[0059] The aircraft FO may transmit the three-dimensional point cloud data to the flight control device 500 (step S28). When the flight control device 500 receives the three-dimensional point cloud data from the aircraft FO, it may transmit the received three-dimensional point cloud data to the information processing device 100 (step S29). As a result, the information processing device 100 can acquire the three-dimensional point cloud data generated by the aircraft FO via the flight control device 500.

[0060] [4. Configuration of the Sensor Device] The terminal device 10 according to the embodiment will be described with reference to FIG. 3. FIG. 3 is a diagram showing a configuration example of the terminal device 10 according to the embodiment. As shown in FIG. 3, the terminal device 10 may include a communication unit 11, a GNSS module M, a storage unit 12, and a control unit 13.

[0061] (Regarding the communication unit 11 and the GNSS module M) The communication unit 11 may be implemented by, for example, a NIC (Network Interface Card) or the like. The communication unit 11 may be connected to the network by wire or wirelessly. The communication unit 11 may transmit and receive information to and from, for example, the distribution device 30, the information processing device 100, and the flight control device 500 via the network. The GNSS module M can receive GNSS signals. That is, the GNSS module M may be constituted by any component for receiving GNSS signals.

[0062] (Regarding the storage unit 12) The storage unit 12 may be implemented by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 12 may store, for example, the approximate position information calculated by the approximate position calculation unit 13b, the correction information received from the distribution device 30, and the corrected position information obtained by RTK calculation using such correction information.

[0063] (Regarding the control unit 13) The control unit 13 may be realized by various programs stored in the storage device inside the terminal device 10 being executed with the RAM as a working area by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an MPU (Micro Processing Unit), or the like. Also, the control unit 13 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0064] (Regarding the first receiving unit 13a) The first receiving unit 13a corresponds to a GNSS receiver corresponding to RTK and an antenna, and may receive GNSS signals. Also, the first receiving unit 13a may output the received GNSS signals to the approximate position calculation unit 13b.

[0065] (Regarding the approximate position calculation unit 13b) The approximate position calculation unit 13b may calculate position information indicating the position of the own device by GNSS positioning based on the GNSS signals received by the first reception unit 13a. That is, the approximate position calculation unit 13b may calculate approximate position information by GNSS positioning based on the GNSS signals. Further, the approximate position calculation unit 13b may cause the storage unit 12 to store the approximate position information.

[0066] (Regarding the first transmission unit 13c) The first transmission unit 13c may transmit the approximate position information calculated by the approximate position calculation unit 13b to the distribution device 30.

[0067] (Regarding the second reception unit 13d) The second reception unit 13d may receive the correction information transmitted from the distribution device 30. Further, the second reception unit 13d may cause the storage unit 12 to store the correction information.

[0068] (Regarding the correction unit 13e) The correction unit 13e may execute a correction calculation for correcting the approximate position information calculated by the approximate position calculation unit 13b based on the correction information received by the second reception unit 13d. That is, the correction unit 13e may correct the approximate position information by RTK calculation using the correction information. Further, the correction unit 13e may cause the storage unit 12 to store the corrected position information (corrected position information) obtained by such correction calculation.

[0069] (Regarding the generation unit 13f) The generation unit 13f may generate three-dimensional point cloud data indicating the terrain of the scanned area based on the corrected position information.

[0070] Further, the generation unit 13f may transmit the three-dimensional point cloud data. For example, the generation unit 13f may transmit the three-dimensional point cloud data to the flight control device 500. Note that the generation unit 13f may directly transmit the three-dimensional point cloud data to the information processing device 100.

[0071] [5. Configuration of the information processing device] With reference to FIG. 4, the information processing apparatus 100 according to the embodiment will be described. FIG. 4 is a diagram showing a configuration example of the information processing apparatus 100 according to the embodiment. As shown in FIG. 4, the information processing apparatus 100 may include a communication unit 110, a storage unit 120, and a control unit 130.

[0072] (Regarding the communication unit 110) The communication unit 110 is realized by, for example, a NIC or the like. For example, the communication unit 110 is connected to a network by wire or wirelessly, and transmits and receives information to and from the terminal device 10, the display control device 200, the pointing device 400, and the flight control device 500.

[0073] (Regarding the storage unit 120) The storage unit 120 may be realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 120 may store, for example, information necessary for the earthwork volume calculation process, information necessary for generating alert information indicating the occurrence of an earthwork disaster, etc. Further, the storage unit 120 may store a program for causing the information processing apparatus 100 to execute the information processing according to the embodiment.

[0074] (Regarding the control unit 130) The control unit 130 may be realized by a CPU, a GPU, an MPU, etc., when various programs stored in the storage device inside the information processing apparatus 100 are executed with the RAM as a work area. Further, the control unit 130 may be realized by an integrated circuit such as an ASIC or an FPGA.

[0075] The control unit 130 may include an acquisition unit 131, a matching unit 132, a calculation unit 133, a determination unit 134, a specifying unit 135, an estimation unit 136, and a notification unit 137. Note that the internal configuration of the control unit 130 is not limited to the configuration shown in FIG. 4, and may be any other configuration as long as it can perform the information processing described later. Also, the connection relationship of each processing unit included in the control unit 130 is not limited to the connection relationship shown in FIG. 4, and may be any other connection relationship.

[0076] (Regarding the acquisition unit 131) The acquisition unit 131 may acquire three-dimensional point cloud data. For example, the acquisition unit 131 may acquire the first three-dimensional point cloud data generated by the aircraft FO at the first time period and the second three-dimensional point cloud data generated by the aircraft FO at the second time period after the first time period.

[0077] Note that the acquisition unit 131 may acquire the first three-dimensional point cloud data indicating the terrain included in a predetermined area (hereinafter sometimes referred to as the "measurement area") and the second three-dimensional point cloud data. Here, the measurement area may be a range defined by the user side with respect to the three-dimensional map generated based on the three-dimensional point cloud data, or may be a range dynamically detected on the back-end system 100 side based on this three-dimensional map. For example, when the back-end system 100 can identify the location where a landslide occurred by analyzing the three-dimensional map, it may detect a range including that location as the measurement area.

[0078] Note that the user can specify the measurement area with respect to the area map provided by the display control device 200, for example. The area map may be an aerial image taken by the aircraft FO or the like, or may be a three-dimensional map obtained based on the three-dimensional point cloud data generated by the aircraft FO.

[0079] (Regarding the matching unit 132) The matching unit 132 may match the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data. For example, the matching unit 132 may perform matching using the ICP (Iterative Closest Point) algorithm. According to the ICP algorithm, the matching unit 132 associates the first point constituting the first three-dimensional point cloud data with the second point constituting the second three-dimensional point cloud data that is the nearest neighbor of the first point, and obtains a matching result by performing an operation to shorten the distance between the first point and the second point.

[0080] (Regarding the calculation unit 133) The calculation unit 133 may calculate the volume of the portion that has changed between the terrain in the first period and the terrain in the second period based on the matching result. For example, the calculation unit 133 may calculate the volume of the portion that has changed between the terrain in the first period included in a predetermined area and the terrain in the second period included in the predetermined area. Here, if the first period is before the occurrence of the landslide disaster and the second period is after the occurrence of the landslide disaster, the portion that has changed between the terrain in the first period and the terrain in the second period can be understood as the portion of the sediment that has collapsed due to the landslide disaster. That is, the calculation unit 133 may calculate the sediment volume.

[0081] (Regarding the determination unit 134) The determination unit 134 may detect the occurrence of an event. For example, the determination unit 134 may detect the occurrence of a landslide disaster. For example, the determination unit 134 may determine that a landslide disaster has occurred when the volume of the portion that has changed between the terrain in the first period and the terrain in the second period, that is, the sediment volume, is greater than a predetermined threshold value.

[0082] (Regarding the specifying unit 135) The specifying unit 135 may specify the geographical range newly covered with sediment due to the landslide disaster. For example, if the first period is before the occurrence of the landslide disaster and the second period is after the occurrence of the landslide disaster, the specifying unit 135 may specify the geographical range newly covered with sediment due to the landslide disaster based on the first three-dimensional point cloud data generated in the first period and the second three-dimensional point cloud data generated in the second period. For example, the specifying unit 135 may compare the three-dimensional map generated from the first three-dimensional point cloud data with the three-dimensional map generated from the second three-dimensional point cloud data to specify the geographical range.

[0083] (Regarding the estimation unit 136) The estimation unit 136 may estimate the type and number of equipment required for removal. Specifically, the estimation unit 136 may estimate the type and number of equipment required for sediment removal covering the geographical range based on the volume (sediment volume) calculated by the calculation unit 133 and the geographical range specified by the specifying unit 135.

[0084] For example, the estimation unit 136 may estimate the types and quantities of equipment required for sediment removal based on a rule base. Specifically, when the types and quantities of equipment required for sediment removal are defined as estimation rules for each combination of volume and geographical range, the estimation unit 136 may, for the current combination of volume and geographical range, estimate the types and quantities of equipment required for sediment removal by comparing the current combination with the estimation rules.

[0085] As another example, the estimation unit 136 may estimate the types and quantities of equipment required for sediment removal based on the current combination of volume and geographical range and a machine learning model. In this case, the machine learning model may be trained to output the types and quantities of equipment required for sediment removal when a combination of volume and geographical range is input.

[0086] (Regarding the notification unit 137) When it is determined that an event has occurred, the notification unit 137 may notify information regarding the occurred event. For example, when it is determined that a sediment disaster has occurred, the notification unit 137 may notify alert information including at least information indicating the occurrence of the sediment disaster and information on the occurrence area of the sediment disaster to one or more devices not included in the backend system 100. For example, the notification unit 137 may output the alert information to the display control device 200 so that it is notified to the user. Also, the notification unit 137 may notify the alert information to the instruction device 400.

[0087] Further, the notification unit 137 may output to the display control device 200 so that the user is notified of information on the sediment volume, information on the geographical range (sediment disaster area) newly covered by sediment due to the sediment disaster, and information on the types and quantities of equipment required for sediment removal. Note that when the geographical range (sediment disaster area) newly covered by sediment due to the sediment disaster includes people's living areas (e.g., roads or buildings), the notification unit 137 may notify the user (e.g., police, fire department, or administrative agency) in charge of the geographical range that there may be damage caused by the sediment disaster occurring in the geographical range.

[0088] [6. Sediment Volume Calculation Logic] Next, the logic of the earthwork volume calculation process executed by the information processing apparatus 100 will be described. FIG. 5 is a diagram showing a specific example of the earthwork volume calculation logic.

[0089] FIG. 5 shows a scene in which the earthwork volume is calculated for a measurement area AR1 specified by the user with respect to a three-dimensional map 3DMP generated based on information scanned from above by the aircraft FO when an earthwork disaster occurs.

[0090] For example, the acquisition unit 131 acquires the first three-dimensional point cloud data generated before the earthwork disaster (an example of the first period). The first three-dimensional point cloud data may be generated by the aircraft FO or provided by an external organization. The external organization may be a local government, and some local governments may be working on making three-dimensional point cloud data open data.

[0091] Thus, in the earthwork volume calculation process, it is not always necessary to use the point cloud data generated by the aircraft FO as the first three-dimensional point cloud data, and the point cloud data provided by the local government may be used. FIG. 5 shows an example in which the three-dimensional point cloud data provided by the local government is used, but the content of the information processing is the same as the case where the three-dimensional point cloud data generated by the aircraft FO is used.

[0092] In such a state, the matching unit 132 may match the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data. For example, the matching unit 132 may perform matching using the ICP algorithm. According to the matching using the ICP algorithm, the matching unit 132 performs a matching process of searching for and associating the nearest point among the points included in the second three-dimensional point cloud data from each point included in the first three-dimensional point cloud data.

[0093] FIG. 5 shows an example in which the matching unit 132 associates a point PT1 included in the first three-dimensional point cloud data with a point PT1' included in the second three-dimensional point cloud data. Also shown is an example in which the matching unit 132 associates a point PT2 included in the first three-dimensional point cloud data with a point PT2' included in the second three-dimensional point cloud data. Also shown is an example in which the matching unit 132 associates a point PT3 included in the first three-dimensional point cloud data with a point PT3' included in the second three-dimensional point cloud data.

[0094] Furthermore, FIG. 5 shows an example in which the matching unit 132 associates a point PT4 included in the first three-dimensional point cloud data with a point PT4' included in the second three-dimensional point cloud data, and associates a point PT5 included in the first three-dimensional point cloud data with a point PT5' included in the second three-dimensional point cloud data.

[0095] Subsequently, the calculation unit 133 may detect, as a portion that has changed between the terrain at the first time and the terrain at the second time based on the above-mentioned association, i.e., the matching result, a sediment portion ES that has collapsed due to a sediment disaster, and calculate a sediment volume that is the volume of the detected sediment portion ES. For example, the calculation unit 133 may calculate a sediment volume corresponding to the sediment portion ES based on the three-dimensional point cloud data corresponding to the sediment portion ES. FIG. 5 shows an example in which the calculation unit 133 calculates a sediment volume "31,752 m 3 ".

[0096] Also, the specifying unit 135 may specify, for example, a geographical range covered by the sediment portion ES by comparing a three-dimensional map generated from the first three-dimensional point cloud data with the second three-dimensional point cloud data corresponding to the sediment portion ES.

[0097] Here, in the example of FIG. 5, the first three-dimensional point cloud data is point cloud data provided by an external organization such as a local government, while the second three-dimensional point cloud data is generated by the flying object FO. In such an example, the first three-dimensional point cloud data and the second three-dimensional point cloud data may have different point cloud densities. For example, the point cloud density of the first three-dimensional point cloud data is "16 points / m2 」, the point cloud density of the second three - dimensional point cloud data is "200 points / m 2 」. There may be cases where the point cloud density is different, such as this.

[0098] However, in the above - described landslide disaster calculation process, since the ICP algorithm is used, there is an advantage that the relative positional relationship can be matched with high accuracy even when the point cloud densities are different.

[0099] [7. Configuration of the display control device] The display control device 200 according to the embodiment will be described with reference to FIG. 6. FIG. 6 is a diagram showing a configuration example of the display control device 200 according to the embodiment. As shown in FIG. 6, the display control device 200 may include a communication unit 210, a storage unit 220, and a control unit 230.

[0100] (Regarding the communication unit 210) The communication unit 210 is realized, for example, by a NIC or the like. For example, the communication unit 210 is connected to a network by wire or wirelessly, and transmits and receives information between the information processing device 100, the instruction device 400, and the wearable terminal WT.

[0101] (Regarding the storage unit 220) The storage unit 220 may be realized, for example, by a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 may store, for example, information necessary for generating alert information indicating the occurrence of a landslide disaster, information on the geographical range (landslide disaster area) newly covered by sediment due to a landslide disaster, etc. Also, the storage unit 120 may store a program for causing the information processing device 100 to execute the information processing according to the embodiment.

[0102] (Regarding the control unit 230) The control unit 230 may be realized by various programs stored in the storage device inside the display control device 200 being executed with the RAM as a working area by a CPU, GPU, MPU, etc. Also, the control unit 230 may be realized by an integrated circuit such as an ASIC or an FPGA.

[0103] The control unit 230 may include a first receiving unit 231, a second receiving unit 232, and a display control unit 233. Note that the internal configuration of the control unit 230 is not limited to the configuration shown in FIG. 6, and may be any other configuration as long as it performs the information processing described later. Also, the connection relationship between the respective processing units included in the control unit 230 is not limited to the connection relationship shown in FIG. 6, and may be any other connection relationship.

[0104] (Regarding the first receiving unit 231) The first receiving unit 231 may receive information on an event and information on the occurrence area where the event occurred from the information processing apparatus 100. For example, the first receiving unit 231 may receive information indicating the occurrence of a landslide and information on the occurrence area where the landslide occurred from the information processing apparatus 100. The first receiving unit 231 may receive information on the volume of earth and sand, information on the landslide area, and information on the types and numbers of devices required for earth and sand removal from the information processing apparatus 100.

[0105] In addition, the first receiving unit 231 may receive information on the landslide area and a three-dimensional map generated based on three-dimensional point cloud data from the information processing apparatus 100. Further, the first receiving unit 231 may receive vital information of the worker from the wearable terminal WT.

[0106] (Regarding the second receiving unit 232) The second receiving unit 232 may receive information that has been made open data. For example, the second receiving unit 232 may receive meteorological information DA1 including rainfall data measured by a rainfall sensor and the like, and landslide special area information DA2 from an external device. Also, the second receiving unit 232 may receive information on restricted access areas existing in various locations.

[0107] (Regarding the display control unit 233) The display control unit 233 may notify (provide / transmit) the user of the information received by the first receiving unit 231 and the second receiving unit 232. Specifically, the display control unit 233 may perform display control so that the information received by the first receiving unit 231 and the second receiving unit 232 is displayed on the user's pointing device 400. For example, the display control unit 233 may display the information received by the first receiving unit 231 and the second receiving unit 232 together with map data.

[0108] Note that the map data may be an aerial video captured by the aircraft FO or the like, or may be a three-dimensional map obtained based on the three-dimensional point cloud data generated by the aircraft FO.

[0109] [[8. Display Control Screen]] The display control unit 233 may display the information received by the first receiving unit 231 and the second receiving unit 232 on the pointing device 400 via the screen G1 shown in FIG. 7. The display control unit 233 may display the screen G1 in a state where the information received by the first receiving unit 231 and the second receiving unit 232 is embedded in the display frame included in the screen G1 via the screen G1 shown in FIG. 7.

[0110] FIG. 7 is a diagram showing an example of a display control screen. According to the example of FIG. 7, a plurality of display frames may be provided on the screen G1. As an example, six display frames, namely, display frames G11 to G16, may be provided on the screen G1.

[0111] According to the example of FIG. 7, the name of the area designated by the user may be displayed in the display frame G11. The weather information of the area designated by the user may be displayed in the display frame G12. The map data of the area designated by the user may be displayed in the display frame G13. Here, the area may be, for example, a designated area designated by the user from among the areas AR included in the special warning area for landslides, and the user may further designate a measurement area AR1 in the designated area.

[0112] In the display frame G14, when there is a worker in the area designated by the user, the vital information of the worker may be displayed. In the display frame G15, when there is a worker in the area designated by the user, the position information of the worker (the position information of the wearable terminal WT worn by the worker) may be displayed. In the display frame 16, various information associated with the occurrence of, for example, a landslide disaster may be displayed as event information.

[0113] Here, on the screen G1, information corresponding to before and after the occurrence of an event may be displayed. For example, on the screen G1, information corresponding to before the landslide disaster may be displayed in a situation where no landslide disaster has occurred, and information corresponding to after the landslide disaster may be displayed when a landslide disaster has occurred. Below, an example of the display content corresponding to after the landslide disaster will be described.

[0114] FIG. 8 is a diagram showing an example of the display content after the occurrence of a landslide disaster. In FIG. 8, an example of the display content after the occurrence of a landslide disaster is shown when an area "Takao-san Area #1" is designated among the areas AR that can be assigned by the user on the map data.

[0115] In this case, in the display frame G11, "Takao-san Area #1" may be displayed as the area name. Also, in the display frame G12, the current (after the landslide disaster) weather information of "Takao-san Area #1" including the measurement area AR1 may be displayed, and an example where "rain" is displayed is shown in FIG. 8. Note that the current rainfall data of "Takao-san Area #1" may also be displayed in the display frame G12.

[0116] In the display frame G13, the current (after the landslide disaster) map data of the measurement area AR1 "Takao-san Area #1" may be displayed. For example, when the aircraft FO is currently flying over "Takao-san Area #1", the aerial video taken by the aircraft FO may be displayed as map data. On the other hand, for example, when the aircraft FO is currently flying over "Takao-san Area #1", a three-dimensional map obtained from the three-dimensional point cloud data generated by the aircraft FO may also be displayed as map data.

[0117] Also, as shown in FIG. 8, the map data in the display frame G13 may display information on the sediment portion ES (detected by the calculation unit 133) that has collapsed due to the landslide disaster. Further, the map data may display, as a no-entry zone, information on the landslide disaster area newly covered with sediment due to the landslide disaster that occurred in the "Takao Mountain Area #1".

[0118] The current vital information of the worker in the "Takao Mountain Area #1" may be displayed in the display frame G14, and FIG. 8 shows an example where "No vital check abnormality" is displayed. Note that, for example, when a worker is involved in a landslide disaster and some abnormality occurs in the body (for example, when the blood pressure drops due to bleeding), "Vital check abnormality present" will be displayed in the display frame G14. In this case, the user can use the pointing device 400 to request, for example, the dispatch of a rescue team or an ambulance.

[0119] The current position information of the worker in the "Takao Mountain Area #1" (the position information of the wearable terminal WT worn by the worker) may be displayed in the display frame G15. Also, when there is a no-entry area near the current position of the worker, as shown in FIG. 8, the information on the no-entry area may also be displayed in the display frame G15.

[0120] Alert information indicating the occurrence of a landslide disaster may be displayed in the display frame 16. For example, the display frame 16 may display alert information including information indicating the occurrence of a landslide disaster and information on the occurrence area where the landslide disaster occurred. Also, the display frame 16 may further display information on the sediment volume, information on the landslide disaster area newly covered with sediment due to the landslide disaster, and the type and number of equipment required for sediment removal.

[0121] 〔9. Operating Procedure of the Information Processing Apparatus〕 Hereinafter, the operating procedure of the information processing apparatus 100 in the sediment volume calculation process will be described. FIG. 9 is a flowchart (1) showing the operating procedure of the information processing apparatus 100.

[0122] The control unit 130 may determine whether or not the measurement area AR1 is specified (step S901). While the measurement area AR1 is not specified (step S901; No), the control unit 130 may wait until the measurement area AR1 is specified.

[0123] When the measurement area AR1 is specified (step S901; Yes), the acquisition unit 131 may acquire the first three-dimensional point cloud data generated in the first period (step S902). Further, the acquisition unit 131 may acquire the point cloud data corresponding to the measurement area AR1 from among the first three-dimensional point cloud data (step S903).

[0124] The acquisition unit 131 may acquire the second three-dimensional point cloud data generated in the second period, which is the current time after the first period (step S904). Further, the acquisition unit 131 may acquire the point cloud data corresponding to the measurement area AR1 from among the second three-dimensional point cloud data (step S905).

[0125] The matching unit 132 may match the relative positions between the first three-dimensional point cloud data corresponding to the measurement area AR1 and the second three-dimensional point cloud data corresponding to the measurement area AR1 (step S906).

[0126] Based on the matching result, the calculation unit 133 may calculate the difference between the terrain in the first period included in the measurement area AR and the terrain in the second period included in the measurement area (step S907).

[0127] Further, the calculation unit 133 may detect, as the earth and sand portion ES, the portion corresponding to the difference calculated in step S907 (that is, the portion that has changed between the terrain in the first period and the terrain in the second period) (step S908).

[0128] Then, based on the three-dimensional point cloud data corresponding to the earth and sand portion ES, the calculation unit 133 may calculate the earth and sand volume corresponding to the earth and sand portion ES (step S909).

[0129] The determination unit 134 may determine whether or not the volume of the earth and sand calculated in step S909 exceeds a threshold value (step S910). If the volume of the earth and sand does not exceed the threshold value (step S910; No), the process may return to step S904.

[0130] If the volume of the earth and sand calculated in step S909 exceeds the threshold value (step S910; Yes), the determination unit 134 may detect that an earth and sand disaster has occurred.

[0131] Hereinafter, the operation procedure of the information processing apparatus 100 regarding information notification will be described. FIG. 10 is a flowchart (2) showing the operation procedure of the information processing apparatus 100.

[0132] If it is detected by the earth and sand volume calculation process in FIG. 9 that an earth and sand disaster has occurred, the specifying unit 135 may specify the geographical range newly covered with earth and sand due to the earth and sand disaster based on the point cloud data (step S1001). For example, the specifying unit 135 may compare the three-dimensional map generated from the first three-dimensional point cloud data with the three-dimensional map generated from the second three-dimensional point cloud data to specify the geographical range.

[0133] The estimation unit 136 may estimate the type and number of equipment required to remove the earth and sand covering the geographical range based on the volume of the earth and sand portion ES and the geographical range (step S1002).

[0134] The notification unit 137 may control so that the information based on the estimation result is notified to the user (step S1003).

[0135] 〔10. Processing Procedure in the System〕 Next, the operation procedure in the system Sy will be described. FIG. 11 is a sequence diagram showing an example of the flow in which a three-dimensional map, which is map data, is provided to the user in the system Sy. FIG. 11 shows a scene in which a three-dimensional map based on the three-dimensional point cloud data of a location according to the user's instruction is provided.

[0136] The instruction device 400 may transmit a deployment request for the aircraft FO to the flight control device 500 according to the instruction content input by the user (step S1101). The instruction content may include, for example, a flight instruction indicating the flight path of the aircraft FO and an acquisition instruction indicating a scan target location for acquiring three-dimensional point cloud data.

[0137] When receiving the deployment request (step S1102), the flight control device 500 may control the aircraft FO to operate according to the instruction content input by the user (step S1103).

[0138] In this case, the aircraft FO may fly along the flight path according to the control of the flight control device 500 and execute a scan of the scan target location from above the airspace of the scan target location. Then, the aircraft FO may generate three-dimensional point cloud data of the scan target location and transmit the generated three-dimensional point cloud data to the flight control device 500 (step S1104).

[0139] When receiving the three-dimensional point cloud data, the flight control device 500 may transmit the received three-dimensional point cloud data to the information processing device 100 (step S1105).

[0140] The information processing device 100 may receive the three-dimensional point cloud data (step S1106). Then, the information processing device 100 may generate a three-dimensional map from the received three-dimensional point cloud data and transmit the generated three-dimensional map to the display control device 200 (step S1107).

[0141] The display control device 200 may receive the three-dimensional map (step S1108). Also, the display control device 200 may transmit the three-dimensional map to the instruction device 400 (step S1109). For example, the display control device 200 may transmit the screen G1 inserted into the display frame G13 to the instruction device 400.

[0142] When receiving the three-dimensional map, the instruction device 400 may display the received three-dimensional map on the display screen of its own device (step S1110).

[0143] Figure 12 is a sequence diagram showing an example of the flow in which information on landslide disasters is provided to the user in system Sy. For example, the user may specify the measurement area AR1 with respect to the three-dimensional map displayed in step S1110. For example, when it is predicted that a landslide disaster has occurred in any of the areas AR, the user may specify the measurement area AR1 with respect to the three-dimensional map corresponding to that area AR.

[0144] In preparation for such a situation, in the flow shown in FIG. 11, it is assumed that the aircraft FO generates three-dimensional point cloud data of the scan target location in response to the user's dispatch request and transmits the generated three-dimensional point cloud data to the information processing apparatus 100 (step S1201).

[0145] The information processing apparatus 100 may receive the three-dimensional point cloud data (step S1202). The information processing apparatus 100 may execute a landslide volume calculation process based on the received three-dimensional point cloud data (step S1203). Since a specific example of the landslide volume calculation process has been described in FIG. 9 and the like, it is omitted here.

[0146] Further, the information processing apparatus 100 may execute a landslide disaster detection process for determining whether or not a landslide disaster has actually occurred based on the result of the landslide volume calculation process (step S1204).

[0147] When the information processing apparatus 100 detects the occurrence of a landslide disaster, it may transmit alert information indicating the occurrence of the landslide disaster to the display control apparatus 200 (step S1205). The display control apparatus 200 may receive the alert information indicating the occurrence of the landslide disaster (step S1206).

[0148] The display control apparatus 200 may transmit the alert information to the indicating apparatus 400 (step S1207). The indicating apparatus 400 may receive the alert information (step S1208).

[0149] Here, the user who has confirmed the alert information from the indicating device 400 wants to check the details of the landslide disaster site. For example, the user may want to check the details of the landslide disaster site via the alert screen and operate the indicating device 400.

[0150] In this case, the indicating device 400 may send a browsing request for the alert screen to the display control device 200 (step S1209).

[0151] The display control device 200 may receive the browsing request for the alert screen (step S1210), and when receiving the browsing request for the alert screen, may perform a process of generating the alert screen.

[0152] The alert screen generated when a landslide disaster occurs may be the screen G1 described in FIG. 8. Therefore, the display control device 200 may acquire landslide information (step S1211). Specifically, the display control device 200 may acquire from the information processing device 100 information on the volume of the landslide calculated in the landslide volume calculation process of step S1204, information on the geographical range (landslide disaster area) newly covered by the landslide due to the landslide disaster, and information on the types and quantities of equipment required for landslide removal.

[0153] In addition, the display control device 200 may acquire vital information from the wearable terminal WT (step S1212). For example, when there is a worker in the occurrence area where the landslide disaster has occurred, the display control device 200 may acquire the current vital information from the wearable terminal WT of the worker.

[0154] In addition, the display control device 200 may acquire weather information from the weather information DA1 (step S1213). For example, the display control device 200 may acquire the current weather information in the occurrence area where the landslide disaster has occurred.

[0155] The display control device 200 may generate an alert screen on which the alert information acquired in step S1206, the landslide information acquired in step S1211, the vital information acquired in step S1212, the weather information acquired in step S1213, etc. are displayed, and transmit the generated alert screen to the instruction device 400 (step S1214).

[0156] The instruction device 400 may receive the alert screen and display the received alert screen on the display screen of its own device (step S1215).

[0157] 〔11. Hardware Configuration〕 The device according to the embodiment (for example, the information processing device 100, the display control device, etc.) may be realized by a computer 1000 configured as shown in FIG. 13, for example. FIG. 13 is a hardware configuration diagram showing an example of a computer that realizes the functions of the device according to the embodiment. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM 1300, an HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700.

[0158] The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400 and controls each part. The ROM 1300 stores a boot program executed by the CPU 1100 when the computer 1000 is started up, a program dependent on the hardware of the computer 1000, and the like.

[0159] The HDD 1400 stores a program executed by the CPU 1100 and data used by such a program, etc. The communication interface 1500 receives data from other devices via a predetermined communication network and sends it to the CPU 1100, and transmits the data generated by the CPU 1100 to other devices via a predetermined communication network.

[0160] The CPU 1100 controls an output device such as a display and an input device such as a keyboard via the input / output interface 1600. The CPU 1100 acquires data from the input device via the input / output interface 1600. Further, the CPU 1100 outputs the generated data to the output device via the input / output interface 1600.

[0161] The media interface 1700 reads a program or data stored in the recording medium 1800 and provides it to the CPU 1100 via the RAM 1200. The CPU 1100 loads such a program from the recording medium 1800 onto the RAM 1200 via the media interface 1700 and executes the loaded program. The recording medium 1800 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory or the like.

[0162] For example, when the computer 1000 functions as the information processing apparatus 100 according to the embodiment, the CPU 1100 of the computer 1000 realizes the functions of the control unit 130 by executing the program loaded onto the RAM 1200. The CPU 1100 of the computer 1000 reads and executes these programs from the recording medium 1800. As another example, these programs may be acquired from another device via a predetermined communication network.

[0163] [12. Others] Also, among the processes described in each of the above embodiments, all or part of the processes described as being automatically performed can be manually performed, or all or part of the processes described as being manually performed can be automatically performed by a known method. In addition, regarding the processing procedures, specific names, and information including various data and parameters shown in the above documents and drawings, they can be arbitrarily changed unless otherwise specified. For example, the various information shown in each figure is not limited to the illustrated information.

[0164] Also, each component of each device shown in the drawings is conceptually functional and does not necessarily have to be physically configured as shown in the drawings. That is, the specific form of the distribution and integration of each device is not limited to that shown, and all or part of it can be functionally or physically distributed and integrated in any unit according to various loads and usage situations.

[0165] Also, the above embodiments can be appropriately combined within a range that does not conflict with the processing content.

[0166] As described above, some of the embodiments of the present application have been described in detail with reference to the drawings. However, these are merely examples, and the present invention can be implemented in other forms with various modifications and improvements based on the knowledge of those skilled in the art, including the aspects described in the column of the present invention.

Description of Reference Numerals

[0167] 10 Terminal device 20 Reference station 30 Distribution device 100 Information processing device 131 Acquisition unit 132 Matching unit 133 Calculation unit 134 Determination unit 135 Identification unit 136 Estimation unit 137 Notification unit 200 Display control device 231 First reception unit 232 Second reception unit 233 represents the control unit 400 indicating device 500 flight control device FO aircraft Sy system

Claims

1. An acquisition unit that acquires first three-dimensional point cloud data generated in a first period and second three-dimensional point cloud data generated in a second period after the first period; A matching unit that matches the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data; A calculation unit that calculates the volume of the changed part between the terrain in the first period and the terrain in the second period based on the result of the matching; An information processing apparatus comprising the above.

2. The calculation unit calculates the difference between the terrain in the first period and the terrain in the second period based on the result of the matching, and calculates the volume of the changed part between the terrain in the first period and the terrain in the second period based on the difference. The information processing apparatus according to Claim 1.

3. The acquisition unit acquires the first three-dimensional point cloud data in a predetermined area and acquires the second three-dimensional point cloud data in the predetermined area. The calculation unit calculates the volume of the changed part between the terrain in the first period included in the predetermined area and the terrain in the second period included in the predetermined area. The predetermined area is either a range determined manually based on the second three-dimensional point cloud data or a range dynamically detected based on the second three-dimensional point cloud data. The information processing apparatus according to Claim 1.

4. A landslide determination unit that determines that a landslide has occurred when the volume of the changed part between the terrain in the first period and the terrain in the second period is larger than a predetermined threshold; A landslide damage identification unit that identifies the geographical range newly covered with sediment due to the landslide; An estimation unit that obtains the determination result of the landslide determination unit and estimates the type and number of equipment required for removal based on the volume calculated by the calculation unit and the geographical range identified by the landslide damage identification unit; further comprising: The information processing apparatus according to Claim 2.

5. When a road or a building is included in the geographical range covered with sediment, further comprising a notification unit that notifies a police, fire, or administrative agency that has jurisdiction over the geographical range that there may be damage caused by the landslide that occurred in the geographical range. The information processing apparatus according to Claim 4.

6. The second three-dimensional point cloud data is input into the information processing device by a flying object equipped with a real-time kinematic positioning function and a LiDAR (Light Detection and Ranging) function. When specifying its own position when the flying object acquires the second three-dimensional point cloud data, the flying object uses the positioning data obtained by the real-time kinematic positioning function. The information processing device according to claim 1.

7. The matching unit associates a first point constituting the first three-dimensional point cloud data with a second point constituting the second three-dimensional point cloud data that is the nearest neighbor of the first point, and performs an operation to shorten the distance between the first point and the second point to obtain the result of the matching. The information processing device according to claim 1.

8. The first three-dimensional point cloud data is data generated by LiDAR based on position information calculated by the real-time kinematic positioning method. The information processing device according to claim 6.

9. The information processing device according to claim 1, A flight instruction device that gives a flight instruction to a flying object according to weather information, An acquisition instruction device that instructs the position of an object for which point cloud data should be acquired to a flying object before or during flight, A system including the above.

10. An acquisition step of acquiring first three-dimensional point cloud data generated in a first period and second three-dimensional point cloud data generated in a second period later than the first period, A matching step of matching the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, A calculation step of calculating the volume of the portion that has changed between the terrain in the first period and the terrain in the second period based on the result of the matching, A program for causing a computer to execute the above.

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