Elevation difference display image creation method, elevation difference display image creation method system, elevation difference display image creation program, elevation difference detection method, elevation difference detection system, and elevation difference detection program

Abstract

To accurately identify a repair location that needs repair when starting repair work.SOLUTION: An elevation difference detection method of the present invention comprises a point cloud data acquisition step in which three-dimensional coordinate point cloud data is acquired for each point within a specified area of a road surface at the time of repair work commencement using laser light irradiated from a three-dimensional scanning device installed at a known point, a reference surface data acquisition step in which plan surface data indicating a repair plan surface for repairing the specified area is acquired, and an elevation difference calculation step in which an elevation difference is calculated for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the plan surface data acquired in the reference surface data acquisition step.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an elevation difference detection method, an elevation difference detection system, and an elevation difference detection program for detecting ruts or other diggings on a road surface when repair work begins, for example, when repairing a road surface based on a repair plan. [Background technology]

[0002] In the past, when damage such as digging occurred on the surface of asphalt pavement that forms the surface layer of roads, etc., repairs were carried out using, for example, the cutting and overlay method. This repair method involves cutting and removing the surface layer of the existing asphalt pavement with a road surface milling machine, and then laying new asphalt to create a new surface layer.

[0003] In order to repair a road, it is necessary to inspect the unevenness of the road surface. Conventionally, road surface inspections have been carried out visually by inspectors, but the work of inspecting the road surface and measuring the amount of digging by each inspector is extremely cumbersome. Therefore, instead of inspectors measuring the amount of digging by themselves, there is a road surface measurement device that automatically measures the amount of digging (see Patent Document 1). This road surface measurement device sets a reference level based on the measurement results and calculates the amount of digging of the road surface relative to that reference level. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-101129 Summary of the Invention [Problem to be solved by the invention]

[0005] The actual repair plan surface is typically designed to ensure that the road surface slopes at a predetermined angle, which is completely different from the reference surface based on road surface measurements taken at the time of repair commencement, as in the past. Therefore, even if the amount of road surface excavation from the reference surface based on the road surface condition at the time of repair commencement is calculated, it is unclear whether the reference surface is appropriate, making it difficult to accurately identify areas that require repair at the time of repair commencement. Furthermore, since the amount of road surface excavation cannot be accurately detected, it is impossible to accurately predict the material costs (e.g., the amount of asphalt) required to repair the road surface excavation at the time of repair commencement. Furthermore, when repairs are performed using the excavation overlay method, it is difficult to accurately predict the excavation volume.

[0006] The present invention has been made with an eye on such problems, and aims to provide an elevation difference detection method, an elevation difference detection system, and an elevation difference detection program that can accurately grasp the condition of the road surface at the time of starting repair work, for example, when carrying out repairs to remove diggings in the road surface. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention takes the following measures.

[0008] In other words, the elevation difference detection method of the present invention is characterized by comprising a point cloud data acquisition step of acquiring three-dimensional coordinated point cloud data for each point within a specified area of ​​the road surface at the time of repair work commencement using laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data acquisition step of acquiring, as reference surface data, any of plan surface data showing the repair plan surface when repairing the specified area, road surface data when the specified area was newly constructed, and road surface data when the specified area was repaired; and an elevation difference calculation step of calculating the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the reference surface data acquired in the reference surface data acquisition step.

[0009] The elevation difference detection system of the present invention is characterized by comprising: a point cloud data storage means for storing three-dimensional coordinated point cloud data for each point within a specified area of ​​the road surface at the time of repair work commencement, obtained by laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data storage means for storing, as reference surface data, one of plan surface data showing the repair plan surface when repairing the specified area, road surface data when the specified area was newly constructed, and road surface data when the specified area was repaired; and an elevation difference calculation means for calculating the elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage means and the reference surface data stored in the reference surface data storage means.

[0010] The elevation difference detection program of the present invention, when loaded into a computer, causes the computer to function as: a point cloud data receiving means for receiving point cloud data converted into three-dimensional coordinates for each point within a specified area of ​​the road surface at the time of repair work commencement, obtained by laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data receiving means for receiving as reference surface data any of plan surface data showing the repair plan surface when repairing the specified area, road surface data when the specified area was newly constructed, and road surface data when the specified area was repaired; and an elevation difference calculation means for calculating the elevation difference for each identical planar position within the specified area based on the point cloud data received by the point cloud data receiving means and the reference surface data received by the reference surface data receiving means.

[0011] As a result, in the elevation difference detection method, elevation difference detection system, and elevation difference detection program according to the present invention, when repairing a predetermined area of ​​a road surface, the elevation difference at each planar position within the predetermined area is calculated based on the point cloud data and reference surface data for each point on the road surface at the time of repair work commencement. As the reference surface data is used, either plan surface data showing the repair plan when repairing the predetermined area, road surface data when the predetermined area was newly constructed, or road surface data when the predetermined area was repaired, it is possible to accurately identify the repair location where a depression has formed on the road surface. In addition, it is possible to accurately detect the amount of depression on the road surface, making it possible to accurately predict the material costs required for repairs to eliminate depressions on the road surface at the time of repair work commencement. In addition, when repairs are performed using the cutting overlay method, it is possible to accurately predict the cutting volume.

[0012] The elevation difference detection method of the present invention is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a first color determination step of determining a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step for each identical planar position within the specified area, and a first elevation difference color display step of adding the color determined in the first color determination step to the three-dimensional image displayed by the image display step to display the elevation difference in the specified area.

[0013] The elevation difference detection system of the present invention comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a first color determination means for determining a color corresponding to the magnitude of the elevation difference calculated by the elevation difference calculation means for each identical planar position within the specified area, and is characterized in that the display control means adds the color determined by the first color determination means to the three-dimensional image displayed on the display unit to display the elevation difference in the specified area.

[0014] As a result, the elevation difference detection method and elevation difference detection system of the present invention display the elevation difference at each planar position within a specified area in a color corresponding to its magnitude, making it easy to understand the locations where depressions have formed on the road surface and the amount of depression on the road surface.

[0015] The elevation difference detection method according to the present invention is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, and an elevation difference line display step of displaying lines indicating parts of the specified area where the elevation difference is the same, in accordance with the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step.

[0016] The elevation difference detection system of the present invention is characterized in that it comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and the display control means displays lines on the three-dimensional image displayed on the display unit indicating parts of the specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated by the elevation difference calculation means.

[0017] As a result, in the elevation difference detection method and elevation difference detection system of the present invention, by displaying areas within a specified area where the elevation difference is the same using lines, it is possible to easily grasp the locations where depressions have formed on the road surface and the amount of depression on the road surface.

[0018] The elevation difference detection method of the present invention is characterized by comprising a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit by the first elevation difference color display step or the elevation difference line display step, and a numerical display step of displaying on the display unit, when the predetermined position is designated by the designation step, at least one of a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the predetermined position.

[0019] In the elevation difference detection system of the present invention, a designation means is provided for designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit, and when the predetermined position is designated by the designation means, the display control means displays on the display unit a numerical value indicating at least one of the elevation difference at the predetermined position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the predetermined position.

[0020] As a result, the elevation difference detection method and elevation difference detection system of the present invention can detect the elevation difference at a specified position within a specified area or a numerical value indicating the area of ​​an area surrounded by lines indicating parts with the same elevation difference near a specified position.

[0021] The elevation difference detection method according to the present invention is characterized by comprising a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined area; a first ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of the ratio of planar positions where the magnitude of the elevation difference is greater than the predetermined value and the ratio of planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value; and a first determination step of determining the state of the predetermined area based on the ratio calculated in the first ratio calculation step.

[0022] The elevation difference detection system of the present invention is characterized by comprising a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area, a first ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of the ratio of planar positions where the magnitude of the elevation difference is greater than the predetermined value and the ratio of planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value, and a first determination means for determining the state of the predetermined area based on the ratio calculated by the first ratio calculation means.

[0023] As a result, the elevation difference detection method and elevation difference detection system according to the present invention calculate the ratio of planar positions where the elevation difference is greater than a predetermined value or the ratio of planar positions where the elevation difference is equal to or less than a predetermined value based on the results of comparing the magnitude of the elevation difference with a predetermined value for each identical planar position within a predetermined area, and determine the condition of the predetermined area based on this ratio. Therefore, since the condition of the predetermined area is determined automatically, there is no need for an inspector to determine the condition of the predetermined area.

[0024] The elevation difference detection method of the present invention is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a second color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is less than or equal to a predetermined value; and a second elevation difference color display step of adding the color determined in the second color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the predetermined area.

[0025] The elevation difference detection system of the present invention comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a second color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is less than or equal to a predetermined value, and the display control means adds the color determined by the second color determination means to the three-dimensional image displayed on the display unit by the display control means to display the elevation difference in the predetermined area.

[0026] As a result, in the elevation difference detection method and elevation difference detection system of the present invention, planar positions where the elevation difference is greater than a predetermined value and planar positions where the elevation difference is less than or equal to the predetermined value are displayed in different colors, making it easy to detect the condition of a specified area.

[0027] The elevation difference detection method of the present invention is characterized by comprising a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined area; a second ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of the ratio of planar positions where the magnitude of the elevation difference is within a first predetermined range for planar positions where the magnitude of the elevation difference is greater than the predetermined value, and the ratio of planar positions where the magnitude of the elevation difference is within a second predetermined range for planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value; and a second determination step of determining the state of the predetermined area based on the ratio calculated in the second ratio calculation step.

[0028] The elevation difference detection system of the present invention is characterized by comprising a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area; a second ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of the ratio of planar positions where the magnitude of the elevation difference is within a first predetermined range for planar positions where the magnitude of the elevation difference is greater than the predetermined value, and the ratio of planar positions where the magnitude of the elevation difference is within a second predetermined range for planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value; and a second determination means for determining the state of the predetermined area based on the ratio calculated by the second ratio calculation means.

[0029] As a result, the elevation difference detection method and elevation difference detection system according to the present invention calculate the ratio of planar positions where the magnitude of the elevation difference is within a first predetermined range or the ratio of planar positions where the magnitude of the elevation difference is within a second predetermined range based on the results of comparing the magnitude of the elevation difference with a predetermined value for each identical planar position within a predetermined area, and determine the condition of the predetermined area based on the ratio. Therefore, the condition of the predetermined area is determined automatically, eliminating the need for an inspector to determine the condition of the predetermined area.

[0030] The elevation difference detection method of the present invention is characterized by comprising an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a third color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range; and a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed by the image display step to display the elevation difference in the predetermined area.

[0031] The elevation difference detection method of the present invention comprises a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, and a third color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range, and the display control means adds the color determined by the third color determination means to the three-dimensional image displayed by the image display means to display the elevation difference in the predetermined area.

[0032] As a result, in the elevation difference detection method and elevation difference detection system of the present invention, planar positions where the magnitude of the elevation difference is within a first predetermined range or a second predetermined range are displayed in a corresponding color, making it easy to detect the condition of a specified area.

[0033] The elevation difference detection method of the present invention is characterized by comprising a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined area, a third ratio calculation step of calculating, based on the comparison result in the comparison step, the ratio of the boundary portion between planar positions where the magnitude of the elevation difference is greater than the predetermined value and planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value, and a third determination step of determining the state of the predetermined area based on the ratio calculated in the third ratio calculation step.

[0034] The elevation difference detection system of the present invention is characterized by comprising a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area, a third ratio calculation means for calculating, based on the comparison result of the comparison means, the ratio of the boundary portion between planar positions where the magnitude of the elevation difference is greater than the predetermined value and planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value, and a third determination means for determining the state of the predetermined area based on the ratio calculated by the third ratio calculation means.

[0035] Therefore, in the elevation difference detection method and elevation difference detection system according to the present invention, the magnitude of the elevation difference is compared with a predetermined value for each identical planar position within a predetermined area, and based on the comparison result, the ratio of the boundary between planar positions where the magnitude of the elevation difference is greater than the predetermined value and planar positions where the magnitude of the elevation difference is equal to or less than the predetermined value is calculated, and the state of the predetermined area is determined based on this ratio. Therefore, since the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area. [Effects of the Invention]

[0036] As described above, according to the present invention, it is possible to accurately identify the repair location where a depression has formed on the road surface. Also, it is possible to accurately detect the amount of depression on the road surface, and it is possible to accurately predict the cost of materials required for repair to remove the depression on the road surface when starting repair work. Furthermore, it is possible to accurately predict the cutting volume when repair is performed using the cutting overlay method. [Brief explanation of the drawings]

[0037] [Figure 1] 1 is a diagram showing a schematic configuration of an altitude difference detection system according to a first embodiment of the present invention. [Figure 2] This is a 3D image based on point cloud data of a specified area of ​​the road at the time repair work began. [Figure 3] FIG. 1 is a schematic diagram illustrating a longitudinal section plan. [Figure 4] FIG. 1 is a schematic diagram illustrating a cross-sectional plan. [Figure 5]FIG. 1 is a plan view of a repair plan surface showing a repair plan for repairing a predetermined area of ​​a road; [Figure 6] FIG. 1 is a side view of a repair plan surface showing a repair plan for repairing a specified area of ​​a road. [Figure 7] This is a diagram in which the elevation difference at each planar position within a specified area of ​​a road is displayed using color. [Figure 8] FIG. 8 is an enlarged view of a part of FIG. 7. [Figure 9] This is a diagram showing the elevation difference at a specified location as a number. [Figure 10] This is a diagram in which the elevation difference at each planar position within a specified area of ​​a road is displayed using color. [Figure 11] FIG. 11 is an enlarged view of a part of FIG. [Figure 12] 1 is a diagram showing elevation differences at each planar position within a predetermined area of ​​a road, with lines indicating areas where the elevation differences are the same. [Figure 13] 10 is a diagram showing, in numerical form, the area of ​​a region surrounded by lines indicating a portion where the elevation difference is the same at a specified predetermined position. [Figure 14] 2 is a diagram illustrating a method for detecting an elevation difference in the elevation difference detection system of FIG. 1. FIG. [Figure 15] FIG. 10 is a diagram showing a schematic configuration of an altitude difference detection system according to a second embodiment of the present invention. [Figure 16] This is an example of an image in which color is added to a predetermined area a. [Figure 17] This is an example of an image in which color is added to a predetermined area b. [Figure 18] 10 is an example of an image in which color is added to a predetermined area c. [Figure 19] FIG. 10 is a diagram illustrating a method for calculating the ratio of a dark color area. [Figure 20] FIG. 10 is a diagram illustrating a method for calculating a ratio of a hue boundary. [Figure 21] 16A to 16C are diagrams illustrating a method for detecting an elevation difference in the elevation difference detection system of FIG. 15. [Figure 22]FIG. 22(a) is a diagram showing, by color, the elevation difference in a predetermined area at the time of repair work commencement, and FIG. 22(b) is a diagram showing, by color, the elevation difference in a predetermined area after repair work. DETAILED DESCRIPTION OF THE INVENTION

[0038] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0039] (First embodiment) An altitude difference detection system 1 according to an embodiment of the present invention includes a 3D scanner 2 (three-dimensional scanning device) and an altitude difference detection device 10 to which the 3D scanner 2 is wirelessly connected.

[0040] The 3D scanner 2, installed at known points, emits laser light to acquire three-dimensional coordinated point cloud data (a collection of elevations with planar position coordinates) of each point on the road surface and its surroundings, and supplies the point cloud data to the elevation difference detection device 10. The 3D scanner 2 emits line laser light, for example, vertically and horizontally, toward the measurement object (road surface) and measures the time it takes for the laser pulse to travel back and forth between the measurement point on the measurement object and the sensor, thereby determining the distance to the measurement point. The point cloud data acquired by the 3D scanner 2 is data at positions spaced, for example, at intervals of 25 cm or less. In this embodiment, the 3D scanner 2 acquires point cloud data at positions spaced, for example, at intervals of 5 mm. Therefore, when starting repair work, it is possible to detect the elevation of the road surface at small intervals, enabling accurate detection of diggings in the road surface.

[0041] In this embodiment, a case will be described in which the unevenness of a predetermined area (survey range) on the road surface is investigated, and repair locations are identified based on the unevenness.

[0042] 1, the elevation difference detection device 10 has a control unit 10a, which is configured, for example, by a microcomputer and includes a CPU, a ROM storing a program that controls the operation of the elevation difference detection device 10, and a RAM that temporarily stores data used when executing the program. That is, the control unit 10a is configured mainly by a normal microcomputer including a CPU, memory, and interface, and performs predetermined calculations and processing in accordance with the elevation difference detection program stored in the memory, and detects elevation differences on the road surface based on the point cloud data captured from the 3D scanner 2 and separately captured plan data in cooperation with peripheral hardware.

[0043] The control unit 10a of the elevation difference detection device 10 has a point cloud data reception unit 11 including a point cloud data storage unit 11a, a 3D image creation unit 12, a plan surface data reception unit 13 including a plan surface data storage unit 13a, an elevation difference calculation unit 14, a first color determination unit 15, and a display control unit 16. The control unit 10a of the elevation difference detection device 10 also has a display unit 5 such as a display screen.

[0044] The point cloud data receiving unit 11 receives point cloud data for each point in a predetermined area on the road surface supplied from the 3D scanner 2. The point cloud data storage unit 11a stores the point cloud data for each point in a predetermined area on the road surface supplied from the 3D scanner 2. The point cloud data includes data corresponding to the planar position (latitude, longitude) and height of each point on the road surface.

[0045] In this embodiment, when road repair work begins, the 3D scanner 2 acquires point cloud data for each point in a predetermined area on the road surface, and the point cloud data is stored in the point cloud data storage unit 11a.

[0046] The 3D image creation unit 12 creates a 3D image of the road surface at the time of road repair work commencement based on the point cloud data stored in the point cloud data storage unit 11a. Figure 2 is a 3D image of a predetermined area of ​​the road surface at the time of road repair work commencement.

[0047] The plan surface data receiving unit 13 receives plan surface data indicating a repair plan surface when repairing a specified area of ​​the road surface. The plan surface data storage unit 13a stores plan surface data indicating a repair plan surface when repairing a specified area of ​​the road surface. The plan surface data indicates a repair plan surface obtained by a separately implemented repair plan, and is used as reference surface data when calculating the elevation difference between each planar position. The repair plan is carried out for the entire specified area of ​​the road surface, and includes repair locations that require repair due to significant digging in the road surface, and locations that do not require repair due to minimal digging in the road surface.

[0048] The planning surface data storage unit 13a stores the elevation of each planar position of a specified area as repair planning surface data when repairing a specified area of ​​the road surface, and road repairs are carried out so that the elevation of each planar position of the specified area at the time of starting road repair work matches the elevation of each planar position planned as the repair planning surface.

[0049] The repair plan includes longitudinal and transverse plans, and after a longitudinal plan is made along the longitudinal direction of the road, transverse plans are made along the transverse direction at multiple locations on the road to obtain a repair plan surface for repairing a specified area. Therefore, the repair plan surface includes plan surface data indicating a longitudinal plan surface and plan surface data indicating multiple transverse plan surfaces.

[0050] A longitudinal plan includes a plan for the elevation of each point on a line along the longitudinal direction of the road in the center of the road. For example, Figure 3 shows a longitudinal plan surface for the elevation of each point on a line along the center of the road. In Figure 3, a repair area that requires a repair plan is located between an unrepaired area on the left side and an unrepaired area on the right side. The repair area in Figure 3 is shown with an elevation change based on point cloud data and a longitudinal plan surface.

[0051] The longitudinal section plan shown in Figure 3 is obtained by connecting the elevations at each point on a line along the center of the road, after the elevations at each point are planned taking into account factors such as the flatness of the road. The positions on the line along the center of the road are, for example, every 10 meters or every 20 meters.

[0052] In longitudinal planning, elevations at each position on a line along the center of the road are planned, followed by cross-sectional planning. Cross-sectional planning is a plan for elevations at each point on a line along the cross-sectional direction of the road at each position on the line along the center of the road. For example, Figure 4 shows a cross-sectional planning surface for elevations at each point on a line along the cross-sectional direction of the road at point a in Figure 3. In Figure 4, a repair area requiring a repair plan is located between the left and right edges of the road. The cross-sectional planning surface is also shown at the repair area, along with elevation changes based on point cloud data. Figure 4 illustrates the slope of the road for easy understanding.

[0053] The cross-sectional plan is obtained by planning each position on the line along the center of the road shown in Figure 3, taking into account the slope of the slope that slopes downward from the road center toward both ends. For example, when planning a road cross-section, it is common to design it so that the road slopes downward at a predetermined slope from the center toward the road ends. For example, in the cross-sectional plan shown in Figure 4, the elevation decreases from the elevation of the road center at point a on the longitudinal plan shown in Figure 3 to point a1 along the slope that slopes downward at a predetermined slope toward both ends of the road. Then, the elevation decreases along the connecting plane that connects point a1 to the left and right ends of the road to the left and right ends of the road. Therefore, when repairs are made based on the cross-sectional plan, the surface layer of the asphalt pavement formed at the repaired area and the concrete sections at the left and right ends of the road are connected without any steps. Note that the cross-sectional plan shown in Figure 4 is an example of a cross-sectional plan, and cross-sectional planning methods are not limited to this. Therefore, the cross-sectional plan surface may be designed so that, for example, slopes sloping downward at different gradients from the center of the road toward the edge of the road are connected.

[0054] By connecting the cross-sectional plan surfaces at each position on the line along the center of the road obtained as described above in the longitudinal direction, a repair plan surface for repairing a specified area of ​​the road surface can be obtained. Figure 5 is a plan view of the repair plan surface, and Figure 6 is a side view of the repair plan surface.

[0055] The elevation difference calculation unit 14 calculates the elevation difference for each identical planar position within a predetermined area of ​​the road surface based on the point cloud data stored in the point cloud data storage unit 11a and the plan surface data stored in the plan surface data storage unit 13a. Therefore, for the predetermined area of ​​the road surface shown in FIG. 2, the elevation difference calculation unit 14 calculates the elevation difference between the time of road repair construction and the repair plan surface for each identical planar position within the predetermined area of ​​the road. Specifically, based on the point cloud data stored in the point cloud data storage unit 11a, the elevation difference calculation unit 14 converts the point cloud data acquired by the 3D scanner 2 into a three-dimensional TIN model (irregular triangular network) which is a collection of triangular planes connected at vertices, and derives data corresponding to the latitude, longitude, and altitude of each point for each identical planar position within the predetermined area of ​​the road at the time of road repair construction. Therefore, the elevation difference calculation unit 14 can derive data corresponding to the latitude, longitude, and elevation of each point within a specified area of ​​the road even if the point cloud data of each point within the specified area of ​​the road is not stored in the point cloud data storage unit 11a.

[0056] The first color determination unit 15 determines a color according to the magnitude of the elevation difference calculated by the elevation difference calculation unit 14. For example, a plurality of different colors are set to correspond to the magnitude of the elevation difference. The plurality of colors may be a plurality of different colors or may be colors with different densities.

[0057] The display control unit 16 controls the content displayed on the display unit 5. For example, the display control unit 16 displays a 3D image created by the 3D image creation unit 12 on the display unit 5. The display control unit 16 also adds the color determined by the first color determination unit 15 to the 3D image of a predetermined area of ​​the road, and displays the elevation difference at each position within the predetermined area of ​​the road surface on the display unit 5. Therefore, as shown in FIGS. 7 and 8, the display control unit 16 displays the elevation difference between the elevation at the time of repair work start and the elevation on the repair plan surface for each identical planar position within the predetermined area of ​​the road using multiple different colors. FIG. 8 is an enlarged view of a portion of FIG. 7.

[0058] For example, when the elevation difference is displayed in a color density between white and black, the areas where the elevation difference between the time of repair work commencement and the repair plan surface is small are displayed in a color close to white, and the areas where the elevation difference between the time of repair work commencement and the repair plan surface is large are displayed in a color close to black, as shown in Figures 7 and 8. Therefore, on the road surface, the areas displayed in a color close to black are areas where the road surface was heavily dug up when road repair work commenced, and can be identified as repair locations that require repair.

[0059] The user can perform an operation by pressing the display surface 5a of the display unit 5. For example, as shown in FIG. 7, when the elevation difference in a predetermined area of ​​the road surface is displayed on the display unit 5, the user can perform an operation to specify the predetermined position by pressing a predetermined position within the predetermined area displayed on the display surface 5a of the display unit 5. When an operation to specify a predetermined position within the predetermined area is performed, the display control unit 16 displays a numerical value indicating the elevation difference at the specified predetermined position on the display unit 5, as shown in FIG. In this embodiment, the display surface 5a of the display unit 5 is a specifying means for specifying the predetermined position.

[0060] Fig. 10 is a diagram showing the elevation difference between the elevation at the time of repair work commencement and the elevation of the repair plan surface at the same horizontal position within the specified area of ​​the road, after investigating the unevenness of different specified areas (survey ranges) of the road surface in the same manner as described above. Fig. 11 is an enlarged view of part A within the survey area shown in Fig. 10.

[0061] As shown in Figures 10 and 11, the display control unit 16 displays the elevation difference between the elevation at the time of repair work start and the elevation of the repair plan surface for each identical planar position within a specified area of ​​the road using multiple different colors.

[0062] As shown in FIG. 12, the display control unit 16 displays lines indicating portions of a predetermined area of ​​the road where the elevation difference is the same. FIG. 12 is a diagram in which lines indicating portions of the road where the elevation difference is the same are added to the display of FIG. 11. In FIG. 12, lines indicating the elevation difference are displayed in accordance with the color indicating the amount of digging of the road surface, and lines indicating portions with multiple types of elevation difference are shown as the lines indicating the elevation difference, but the elevation difference displayed as a line on the display unit 5 can be set arbitrarily. FIG. 13 is a schematic diagram of lines indicating the elevation difference displayed on the display unit 5. For example, as shown in FIGS. 13(a) and 13(b), when an operation to specify a predetermined position within the predetermined area is performed, the display control unit 16 displays on the display unit 5 a numerical value indicating the area of ​​the area surrounded by lines indicating portions with the same elevation difference near the specified predetermined position. In FIG. 13(a), when an operation to specify a predetermined position within the predetermined area is performed, the line A a1 A numerical value indicating the area of ​​one area surrounded by the line A is displayed on the display unit 5. In FIG. 13(b), when an operation to specify a predetermined position within the predetermined area is performed, the line A a2 A numerical value indicating the total area of ​​the two regions enclosed by the lines A and B is displayed on the display unit 5. In FIG. 13(b), when an operation to designate a predetermined position within the predetermined region is performed, the line A a2 A numerical value indicating the area of ​​one of the two regions surrounded by the squares that includes the predetermined position may be displayed on the display unit 5.

[0063] The altitude difference detection method of the altitude difference detection system 1 of this embodiment will be described with reference to FIG.

[0064] In step S1 (point cloud data acquisition step), when road repair work begins, point cloud data is acquired by scanning a predetermined area of ​​the road surface with a 3D scanner 2 installed around the road. Thereafter, in the elevation difference detection device 10, the point cloud data receiving unit 11 receives the point cloud data supplied from the 3D scanner 2, and the point cloud data supplied from the 3D scanner 2 to the elevation difference detection device 10 is stored in the point cloud data storage unit 11a.

[0065] In step S2 (reference plane data acquisition step), longitudinal and cross-sectional planning is performed to acquire plan plane data showing the repair plan plane when repairing a predetermined area of ​​the road. Thereafter, in the elevation difference detection device 10, the plan plane data receiving unit 13 receives the supplied plan plane data, and the plan plane data is stored in the plan plane data storage unit 13a.

[0066] In step S3 (altitude difference calculation step), an altitude difference is calculated for each identical planar position within a predetermined area of ​​the road surface based on the point cloud data acquired in step S1 and the plan surface data acquired in step S2.

[0067] In step S4 (image display step), a 3D image of a predetermined area of ​​the road surface at the time of starting repair work is displayed on the display unit 5 based on the point cloud data acquired in step S1.

[0068] In step S5 (first color determination step), the first color determination unit 15 determines a color according to the magnitude of the elevation difference for each identical planar position within the predetermined region calculated in step S3.

[0069] In step S6 (first elevation difference color display step, elevation difference line display step), the color determined in step S5 is added to the 3D image of the specified area of ​​the road surface displayed on the display unit 5, and the elevation difference in the specified area is displayed on the display unit 5 in multiple colors, and a line indicating the same elevation difference is displayed on the display unit 5 for the 3D image of the specified area of ​​the road surface displayed on the display unit 5.

[0070] In step S7 (designation step), when a specified position in a specified area is designated, in step S8 (numerical display step), a numerical value indicating the elevation difference at the designated specified position and a numerical value indicating the area of ​​the area surrounded by lines indicating the part with the same elevation difference near the designated specified position are displayed on the display unit 5.

[0071] The elevation difference detection method of this embodiment includes a point cloud data acquisition step that acquires three-dimensional coordinated point cloud data for each point within a specified area of ​​the road surface at the time of repair work commencement using laser light irradiated from a 3D scanner 2 installed at a known point, a planning surface data acquisition step that acquires planning surface data that shows the repair planning surface when repairing the specified area, and an elevation difference calculation step that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the planning surface data acquired in the planning surface acquisition step.

[0072] The elevation difference detection system 1 of this embodiment includes a point cloud data storage unit 11a that stores point cloud data converted into three-dimensional coordinates for each point within a specified area of ​​the road surface at the time of repair work commencement, which is obtained by laser light irradiated from a 3D scanner 2 installed at a known point, a plan surface data storage unit 13a that stores plan surface data that shows the repair plan surface when repairing the specified area, and an elevation difference calculation unit 14 that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage unit 11a and the plan surface data stored in the plan surface data storage unit 13a.

[0073] The elevation difference detection program of this embodiment is characterized in that, when loaded into a computer, it causes the computer to function as a point cloud data receiving unit 11 that receives point cloud data converted into three-dimensional coordinates for each point within a specified area of ​​the road surface at the time of repair work commencement, obtained by laser light irradiated from a 3D scanner 2 installed at a known point, a planning surface data receiving unit 13 that receives planning surface data that shows the repair planning surface when repairing the specified area, and an elevation difference calculation unit 14 that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data received by the point cloud data receiving unit 11 and the planning surface data received by the planning surface data receiving unit 13.

[0074] As a result, with the elevation difference detection method, elevation difference detection system 1, and elevation difference detection program of this embodiment, when repairing a specified area of ​​a road surface, the elevation difference at each planar position within the specified area is calculated based on point cloud data for each point on the road surface at the time of repair work commencement and plan surface data showing the repair plan surface, making it possible to accurately identify repair locations where pits have formed on the road surface. Furthermore, it is possible to accurately detect the amount of pitting on the road surface, and based on the amount of pitting on the road surface at the time of repair work commencement, it is possible to accurately predict the material costs required for repairs to eliminate pitting on the road surface. Furthermore, when repairs are performed using the cutting overlay method, it is possible to accurately predict the cutting volume.

[0075] The elevation difference detection method of this embodiment includes an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a first color determination step of determining a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step for each identical planar position within a specified area, and an elevation difference color display step of adding the color determined in the first color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area.

[0076] The elevation difference detection system 1 of this embodiment includes a display control unit 16 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit 5, and a first color determination unit 15 that determines a color according to the magnitude of the elevation difference calculated by the elevation difference calculation unit 14 for each identical planar position within a specified area, and the display control unit 16 adds the color determined by the first color determination unit 15 to the three-dimensional image displayed by the display unit 5 to display the elevation difference in the specified area.

[0077] As a result, in the elevation difference detection method and elevation difference detection system 1 of this embodiment, the elevation difference at each planar position within a specified area is displayed in a color according to its magnitude, making it easy to understand the location where a depression has formed on the road surface and the amount of depression on the road surface.

[0078] The elevation difference detection method of this embodiment includes an image display step for displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, and an elevation difference line display step for displaying lines indicating parts of a specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step.

[0079] The elevation difference detection system of this embodiment is provided with a display control unit 16 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit, and the display control unit 16 displays lines on the three-dimensional image displayed on the display unit indicating parts of the specified area where the elevation difference is the same depending on the magnitude of the elevation difference calculated by the elevation difference calculation unit 14.

[0080] As a result, in the elevation difference detection method and elevation difference detection system of this embodiment, by displaying areas within a specified area where the elevation difference is the same using lines, it is possible to easily grasp the locations where depressions have formed on the road surface and the amount of depression on the road surface.

[0081] The elevation difference detection method of this embodiment includes a designation step of designating a predetermined position within a predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5 by the first elevation difference display step, and a numerical display step of displaying a numerical value indicating the elevation difference at the predetermined position on the display unit when the predetermined position is designated by the designation step.

[0082] The elevation difference detection method of this embodiment includes a designation step of designating a predetermined position within the predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5 by the first elevation difference line display step, and a numerical display step of displaying on the display unit 5 a numerical value indicating the area of ​​an area surrounded by lines indicating parts with the same elevation difference near the predetermined position when the predetermined position is designated by the designation step.

[0083] In the elevation difference detection system 1 of this embodiment, the display unit 5 is provided with a display surface 5a that specifies a predetermined position within a predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5, and when a predetermined position is specified by the display surface 5a of the display unit 5, the display control unit 16 displays a numerical value indicating the elevation difference at the predetermined position on the display unit 5.

[0084] In the elevation difference detection system 1 of this embodiment, the display unit 5 is provided with a display surface 5a that specifies a predetermined position within a predetermined area while the elevation difference in the predetermined area is displayed on the display unit 5, and when a predetermined position is specified on the display surface 5a of the display unit 5, the display control unit 16 displays on the display unit 5 a numerical value indicating the area of ​​an area surrounded by lines that indicate parts with the same elevation difference near the predetermined position.

[0085] As a result, the elevation difference detection method and elevation difference detection system 1 of this embodiment can numerically detect the elevation difference at a specified position within a specified area or the area surrounded by lines indicating parts with the same elevation difference near the specified position.

[0086] (Second embodiment) The elevation difference detection system 101 of the second embodiment differs from the elevation difference detection system 1 of the first embodiment in that, whereas in the first embodiment, an inspector determines the condition of the road surface based on an image to which multiple colors corresponding to the magnitude of the elevation difference have been added, in the second embodiment, the elevation difference detection system 101 automatically determines the condition of the road surface. Note that detailed description of the configuration of the elevation difference detection system 101 of the second embodiment that is similar to that of the elevation difference detection system 1 of the first embodiment will be omitted.

[0087] As shown in FIG. 15, an altitude difference detection system 101 according to this embodiment includes a 3D scanner 2 (three-dimensional scanning device) and an altitude difference detection device 110 to which the 3D scanner 2 is wirelessly connected.

[0088] The elevation difference detection device 110 has a control unit 110a, which has a point cloud data reception unit 11 including a point cloud data storage unit 11a, a 3D image creation unit 12, a plan surface data reception unit 13 including a plan surface data storage unit 13a, an elevation difference calculation unit 14, a comparison unit 115, a second color determination unit 116, a display control unit 117, a first ratio calculation unit 118, a first judgment unit 118a, a second ratio calculation unit 119, a second judgment unit 119a, a third ratio calculation unit 120, and a third judgment unit 120a.

[0089] The point cloud data receiving unit 11, 3D image creating unit 12, plan surface data receiving unit 13, and elevation difference calculating unit 14 are the same as those in the first embodiment.

[0090] The comparison unit 115 compares the magnitude of the elevation difference with a predetermined value for each identical planar position within the predetermined area. In this embodiment, the comparison unit 115 divides the predetermined area into rectangular areas of 0.25 meters by 0.25 meters (hereinafter, sometimes referred to as detection areas), and compares the magnitude of the elevation difference with a predetermined value for each detection area. That is, the comparison unit 115 divides the predetermined area into multiple detection areas, assumes that each detection area is a single planar position, and compares the magnitude of the elevation difference with a predetermined value for each detection area. In this embodiment, the elevation difference for each detection area is determined as the average value of the elevation differences for each point cloud data set at positions spaced, for example, at intervals of 5 millimeters, using the elevation differences for each point cloud data set.

[0091] Specifically, the comparison unit 115 compares the magnitude of the elevation difference with a predetermined value of 0 for each identical detection area within the predetermined area. In this embodiment, the comparison unit 115 will be described assuming that the predetermined value compared with the magnitude of the elevation difference is 0. That is, the magnitude of the elevation difference is a value obtained by subtracting the elevation of the repair planning surface from the elevation at the time of repair work commencement, and the magnitude of the elevation difference is the predetermined value of 0 when the elevation at the time of repair work commencement is the same as the elevation of the repair planning surface, the magnitude of the elevation difference is a positive value when the elevation at the time of repair work commencement is higher than the elevation of the repair planning surface, and the magnitude of the elevation difference is a negative value when the elevation at the time of repair work commencement is lower than the elevation of the repair planning surface.

[0092] Therefore, the comparison unit 115 determines whether the difference between the elevation at the time of repair work commencement and the elevation of the repair planning surface is greater than 0 (whether the elevation at the time of repair work commencement is a convex area higher than the elevation of the repair planning surface), or whether the difference between the elevation at the time of repair work commencement and the elevation of the repair planning surface is less than 0 (whether the elevation at the time of repair work commencement is a concave area lower than the elevation of the repair planning surface).

[0093] The second color determination unit 116 determines, for each detection area, a color according to whether the detection area has an altitude difference greater than 0 or an altitude difference less than or equal to 0. Specifically, if the altitude difference is greater than 0, the second color determination unit 116 determines the color of the detection area to be a cool color, and if the altitude difference is less than or equal to 0, the second color determination unit 116 determines the color of the detection area to be a warm color.

[0094] More specifically, for a detection area where the magnitude of the altitude difference is greater than 0, the second color determination unit 116 determines the color to be a dark cool color when the magnitude of the altitude difference is greater than a1 (where a1 is a number greater than 0), and determines the color to be a light cool color when the magnitude of the altitude difference is greater than 0 and equal to or less than a1. That is, the larger the altitude difference, the darker the cool color determined by the second color determination unit 116. In this embodiment, a1 is, for example, 50 millimeters.

[0095] Furthermore, for a detection area where the magnitude of the elevation difference is 0 or less, the color determination unit 116 determines a dark warm color when the magnitude of the elevation difference is smaller than a2 (where a2 is a number smaller than 0), and determines a light warm color when the magnitude of the elevation difference is smaller than 0 and larger than a2. That is, the larger the elevation difference, the darker the warm color determined by the color determination unit 116. In this embodiment, a2 is, for example, 50 millimeters.

[0096] The display control unit 117 controls the content displayed on the display unit 5. For example, the display control unit 117 displays a 3D image created by the 3D image creation unit 12 on the display unit 5. The display control unit 117 also adds the color determined by the color determination unit 116 to the 3D image of the predetermined area of ​​the road, and displays the elevation difference in each detection area within the predetermined area of ​​the road surface on the display unit 5. Therefore, the display control unit 117 displays, for each identical detection area within the predetermined area of ​​the road, the magnitude of the difference between the elevation at the time of repair work start and the elevation on the repair plan surface using different colors.

[0097] 16 to 18 are examples of images in which the road surface is divided into predetermined regions, each having a length of, for example, 10 meters, and colors determined by the second color determination unit 116 are added to the predetermined regions. FIG. 16 shows the state of predetermined region a, FIG. 17 shows the state of predetermined region b, and FIG. 18 shows the state of predetermined region c. FIGS. 16(a) to 18(a) are color images to which the colors determined by the second color determination unit 116 have been added, and FIGS. 16(b) to 18(b) are schematic diagrams showing the color arrangements for FIGS. 16(a) to 18(a).

[0098] As described above, in each specified area, detection areas where the elevation at the time of repair work commencement is lower than the elevation of the repair planning surface are displayed in warm colors (dark warm colors or light warm colors) as concave areas, and detection areas where the elevation at the time of repair work commencement is higher than the elevation of the repair planning surface are displayed in cool colors (dark cool colors or light cool colors) as convex areas.

[0099] 16(a) and 16(b), the left side of the predetermined area a is mostly displayed in a dark warm color, the right side is mostly displayed in a light cool color, and a dark cool color area is displayed inside the light cool color area. Therefore, it can be seen that the left side of the predetermined area a is mostly a recessed area relative to the repair planning surface, and the right side is mostly a protruding area relative to the repair planning surface.

[0100] 17(a) and 17(b), the majority of the predetermined area b is displayed in a light warm color, with a dark warm color area displayed within the light warm color area, and some areas at both ends being displayed in a light cool color. Therefore, it can be seen that the majority of the predetermined area b is a recess with respect to the repair plan surface, and some areas at both ends are a protrusion with respect to the repair plan surface.

[0101] 18(a) and 18(b), most of the predetermined area c is displayed in a light cool color, and the part where the vehicle wheels come into contact is displayed in a light warm color. Therefore, it can be seen that most of the predetermined area c is a convex part with respect to the repair planning surface, and the part where the vehicle wheels come into contact is a concave part with respect to the repair planning surface.

[0102] As can be seen from FIGS. 16 to 18, the unevenness of the predetermined area a, the predetermined area b, and the predetermined area c differs based on the hue of the predetermined area.

[0103] Based on the comparison result from the comparison unit 115, the first ratio calculation unit 118 calculates the ratio of detection areas where the magnitude of the elevation difference is greater than 0 and the ratio of detection areas where the magnitude of the elevation difference is 0 or less. That is, the first ratio calculation unit 118 calculates the ratio of areas that are recessed relative to the repair plan surface (areas with warm colors) to areas that are protruding relative to the repair plan surface (areas with cool colors). In this embodiment, since a color is added for each detection area, when the entire predetermined area is divided into a plurality of detection areas, the first ratio calculation unit 118 calculates the ratio of the number (area) of warm-colored detection areas to the number of detection areas in the entire predetermined area, and the ratio of the number (area) of cool-colored detection areas to the number of detection areas in the entire predetermined area.

[0104] The second ratio calculation unit 119 calculates the ratio of the total of detection areas where the magnitude of the elevation difference is greater than 0 and where the magnitude of the elevation difference is greater than a1 (where a1 is a number greater than 0) to detection areas where the magnitude of the elevation difference is equal to or less than 0 and where the magnitude of the elevation difference is equal to or less than a2 (where a2 is a number less than 0) based on the comparison result of the comparison unit 115. In other words, the second ratio calculation unit 119 calculates the ratio of the total of depression areas (areas with dark warm colors) where the elevation difference is large relative to the repair plan surface and projection areas (areas with dark cool colors) where the elevation difference is large relative to the repair plan surface, relative to the entire specified area. In this embodiment, the ratio of detection areas in the first predetermined area is the ratio of detection areas where the magnitude of the elevation difference is greater than 0 and the magnitude of the elevation difference is greater than a1 (where a1 is a number greater than 0), and the ratio of detection areas in the second predetermined area is the ratio of detection areas where the magnitude of the elevation difference is 0 or less and the magnitude of the elevation difference is a2 or less (where a2 is a number less than 0).

[0105] A method for calculating the ratio of the total of concave areas with large elevation differences to convex areas with large elevation differences will be described with reference to Fig. 19. Fig. 19 is an example of a schematic diagram of a portion of a predetermined area, and 60 detection areas are illustrated.

[0106] The ratio of the total of the depression areas with large elevation differences and the convex areas with large elevation differences to all the detection areas in a predetermined area is calculated as the ratio of the total of the depression areas with large elevation differences and the convex areas with large elevation differences. That is, in the schematic diagram of Fig. 19, the total number of detection areas is 60, the number of detection areas that are depression areas with large elevation differences (areas with deep warm colors) is 10, and the number of detection areas that are convex areas with large elevation differences (areas with deep cool colors) is 10. Therefore, the ratio of the total of the depression areas with large elevation differences and the convex areas with large elevation differences is calculated as (10 + 10) / 60 = 0.33.

[0107] Based on the comparison result by the comparison unit 115, the third ratio calculation unit 120 calculates the ratio of the boundary portion (hue boundary) between the detection area in the specified area where the magnitude of the elevation difference is greater than 0 and the detection area where the magnitude of the elevation difference is equal to or less than 0. In other words, the third ratio calculation unit 120 calculates, for the entire specified area, the ratio of the hue boundary between the area that is recessed relative to the repair plan surface (warm color area) and the area that is protruding relative to the repair plan surface (cool color area).

[0108] A method for calculating the ratio of the hue boundary will be described with reference to FIG. 20. FIG. 20(a) is a diagram showing the boundary region for a predetermined region b, and FIG. 20(b) is a schematic diagram of a portion of the predetermined region, showing 25 detection regions. For the sake of explanation, in a detection region with 5 rows and 5 columns, for example, the detection region in row 1 and column 1 is referred to as a 11 , the detection area in row 1 and column 2 is a 12 It will be explained as follows.

[0109] In Fig. 20(b), the color of each detection area is separated into RGB, and the color is judged as either warm or cool based on the ratio of the R and B components, resulting in a simplified grid. That is, in Fig. 20(b), the detection areas with diagonal lines indicate warm color areas, and the detection areas without diagonal lines indicate cool color areas.

[0110] In FIG. 20(b), for all detection areas starting from the top left, if there is a detection area of ​​a different color adjacent to the left or above, that detection area is determined to be a boundary area.

[0111] Specifically, detection area a 11 Since there is no detection area to the left or above, it is determined that there are no adjacent detection areas of different colors. Detection area a 12 Regarding the pixel, since there is a detection area of ​​the same color to the left and no detection area above, it is determined that there are no adjacent detection areas of different colors. Detection area a 14 Since there is a detection area of ​​a different color on the left, it is determined that the detection area of ​​a different color is adjacent. 14 is determined to be a boundary region. Thereafter, when all the detection areas are similarly determined to be boundary areas, five detection areas are determined to be boundary areas, as shown in FIG. 20(c).

[0112] The ratio of the hue boundary is calculated as the ratio of the boundary region to all the detection regions in the specified region. That is, in Figure 20(c), the total number of detection regions is 25 and the number of boundary regions is 5, so the ratio of the hue boundary is calculated as 5 / 25 = 0.2. Therefore, when the ratio of the hue boundary is calculated for the entire specified region in the same manner, the greater the ratio of the hue boundary in the entire specified region, the more concave and convex regions are mixed in the specified region.

[0113] [Table 1]

[0114] Table 1 shows the ratio of dark warm color areas, light warm color areas, light cool color areas, and dark cool color areas, the ratio of all warm color areas (concave areas), the ratio of all cool color areas (convex areas), the ratio of dark color areas, and the ratio of hue boundaries for the specified areas a, b, and c, relative to the entire specified area.

[0115] (color bias judgment) The first determination unit 118a determines the state of the predetermined area based on the ratio calculated by the first ratio calculation unit 118. That is, the first determination unit 118a determines the state of the predetermined area as shown in Table 2, based on the overall ratio of warm colors and the overall ratio of cool colors shown in Table 1.

[0116] [Table 2]

[0117] As shown in Table 1, the color deviation is judged as poor in the predetermined area a, good in the predetermined area b, and poor in the predetermined area c.

[0118] (Dark color judgment) The second determination unit 119a determines the state of the predetermined area based on the ratio calculated by the second ratio calculation unit 119. That is, the second determination unit 119a determines the state of the predetermined area as shown in Table 3, based on the ratio of the dark color area shown in Table 1.

[0119] [Table 3]

[0120] As shown in Table 1, the dark color judgment is that the predetermined area a is judged as good, the predetermined area b is judged as good, and the predetermined area c is judged as good.

[0121] (Border area determination) The third determination unit 120a determines the state of the predetermined area based on the ratio calculated by the third ratio calculation unit 120. That is, the third determination unit 120a determines the state of the predetermined area as shown in Table 4 based on the ratio of the hue boundary shown in Table 1.

[0122] [Table 4]

[0123] As shown in Table 1, in the boundary region determination, the predetermined region a is determined to be poor, the predetermined region b is determined to be acceptable, and the predetermined region c is determined to be poor.

[0124] Therefore, based on the color bias judgment, the dark color judgment, and the boundary area judgment, it is found that the predetermined area b is an area with relatively few irregularities, whereas the predetermined area a and the predetermined area c are areas with many irregularities.

[0125] The altitude difference detection method of the altitude difference detection system 101 of this embodiment will be described with reference to FIG.

[0126] Step S1 (point cloud data acquisition step), step S2 (reference plane data acquisition step), step S3 (altitude difference calculation step), and step S4 (image display step) are the same as those in the first embodiment, and therefore detailed description thereof will be omitted.

[0127] In step S105 (comparison step), the magnitude of the elevation difference is compared with a predetermined value for each identical planar position within the predetermined area. In this embodiment, the predetermined value is 0, so it is determined whether the area is a depression or a protrusion with respect to the repair plan surface.

[0128] In step S106 (second color determination step), the second color determination unit 116 determines a color according to the magnitude of the elevation difference for each identical planar position within the predetermined region calculated in step S3. In this embodiment, a warm color (dark warm color or light warm color) is determined for the concave region, and a cool color (dark cool color or light cool color) is determined for the convex region.

[0129] In step S107 (second elevation difference color display step), the color determined in step S106 is added to the 3D image of the predetermined area of ​​the road surface displayed on the display unit 5, and the elevation difference in the predetermined area is displayed on the display unit 5. That is, recessed area and protruding area are displayed for the predetermined area.

[0130] In step S108 (first ratio calculation step), the ratio of detection areas in which the magnitude of the elevation difference in the specified area is greater than 0 and the ratio of detection areas in which the magnitude of the elevation difference in the specified area is equal to or less than 0 are calculated. Specifically, the ratio of recessed areas (warm color areas) relative to the repair plan surface to protruding areas (cool color areas) relative to the repair plan surface is calculated.

[0131] In step S109 (second ratio calculation step), the ratio of the total dark color areas in the predetermined area is calculated. Specifically, the ratio of the total dark warm color areas to the total dark cool color areas is calculated.

[0132] In step S110 (third ratio calculation step), the ratio of the boundary portion (hue boundary) between the detection area where the magnitude of the elevation difference in the predetermined area is greater than 0 and the detection area where the magnitude of the elevation difference is equal to or less than 0 is calculated. Specifically, the ratio of the hue boundary between the area of ​​the recessed portion (warm color area) relative to the repair plan surface and the area of ​​the protruding portion (cool color area) relative to the repair plan surface is calculated.

[0133] In step S111 (first determination step), the state of the predetermined area is determined based on the ratio calculated in step S108. Specifically, the state of the predetermined area is determined based on the ratio of all recessed portions and the ratio of all protruding portions, as shown in Table 2.

[0134] In step S112 (second determination step), the state of the predetermined area is determined based on the ratio calculated in step S109. Specifically, the state of the predetermined area is determined based on the ratio of the total dark color area, as shown in Table 3.

[0135] In step S113 (third determination step), the state of the predetermined area is determined based on the ratio calculated in step S110. Specifically, the state of the predetermined area is determined based on the ratio of the hue boundary, as shown in Table 4.

[0136] The elevation difference detection method of this embodiment includes a comparison step for comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with 0 (predetermined value) for each identical detection area within a predetermined area, a first ratio calculation step for calculating, based on the comparison result in the comparison step, the ratio of detection areas in the predetermined area where the magnitude of the elevation difference is greater than 0 (predetermined value) and the ratio of detection areas in the predetermined area where the magnitude of the elevation difference is 0 (predetermined value) or less, and a first determination step for determining the state of the predetermined area based on the ratio calculated in the first ratio calculation step.

[0137] The altitude difference detection system 101 of this embodiment is characterized by comprising a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (predetermined value) for each identical detection area within a predetermined area, a first ratio calculation unit 118 that calculates, based on the comparison result of the comparison unit 115, the ratio of detection areas in the predetermined area where the magnitude of the altitude difference is greater than 0 (predetermined value) and the ratio of detection areas in the predetermined area where the magnitude of the altitude difference is 0 (predetermined value) or less, and a first determination unit 118a that determines the state of the predetermined area based on the ratio calculated by the first ratio calculation unit 118.

[0138] As a result, the elevation difference detection method and elevation difference detection system 101 of this embodiment calculates the ratio of detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value) or the ratio of detection areas where the magnitude of the elevation difference is 0 (predetermined value) or less based on the comparison result obtained by comparing the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within the predetermined area, and determines the state of the predetermined area based on this ratio. Therefore, since the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area.

[0139] The elevation difference detection method of this embodiment includes an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a second color determination step of determining a color for each detection area corresponding to either a detection area where the magnitude of the elevation difference is greater than 0 (a predetermined value) or a detection area where the magnitude of the elevation difference is less than or equal to 0 (a predetermined value), and a second elevation difference color display step of adding the color determined in the second color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the predetermined area.

[0140] The elevation difference detection system 101 of this embodiment includes a display control unit 117 that displays a three-dimensional image based on the point cloud data stored in the point cloud data storage unit 11a on the display unit 5, and a color determination unit 116 that determines a color for each detection area according to whether the detection area has an elevation difference magnitude greater than 0 (a predetermined value) or an elevation difference magnitude less than or equal to 0 (a predetermined value), and the display control unit 117 adds the color determined by the color determination unit 116 to the three-dimensional image displayed on the display unit 5 to display the elevation difference in the predetermined area.

[0141] As a result, in the elevation difference detection method and elevation difference detection system 101 of this embodiment, detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value) and detection areas where the magnitude of the elevation difference is 0 (predetermined value) or less are displayed in different colors, making it easy to detect the state of the specified area.

[0142] The elevation difference detection method of this embodiment includes a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with 0 (predetermined value) for each identical detection area within a predetermined area, a second ratio calculation step of calculating, based on the comparison result in the comparison step, for detection areas where the magnitude of the elevation difference is greater than 0 (predetermined value), the ratio of the total of detection areas (detection areas in a first predetermined range) where the magnitude of the elevation difference is greater than 0 (predetermined value) and the magnitude of the elevation difference is greater than a1 (where a1 is a number greater than 0) to detection areas (detection areas in a second predetermined range) where the magnitude of the elevation difference is 0 (predetermined value) or less and the magnitude of the elevation difference is a2 (where a2 is a number less than 0), and a second determination step of determining the state of the predetermined area based on the ratio calculated in the second ratio calculation step.

[0143] The altitude difference detection system of this embodiment includes a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (a predetermined value) for each identical detection area within a predetermined area, a second ratio calculation unit 119 that calculates, based on the comparison result of the comparison unit 115, the ratio of the total of detection areas where the magnitude of the altitude difference is greater than 0 (a predetermined value) and where the magnitude of the altitude difference is greater than a1 (where a1 is a number greater than 0) to detection areas where the magnitude of the altitude difference is 0 (a predetermined value) or less and where the magnitude of the altitude difference is a2 (where a2 is a number less than 0) or less, and a second determination unit 119a that determines the state of the predetermined area based on the ratio calculated by the second ratio calculation unit 119.

[0144] As a result, the elevation difference detection method and elevation difference detection system of this embodiment calculate the ratio of detection areas with very large elevation differences based on the results of comparing the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within a predetermined area, and determine the state of the predetermined area based on that ratio. Therefore, since the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area.

[0145] The elevation difference detection method of this embodiment includes an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit, a third color determination step of determining, for each detection area, a color corresponding to either a detection area where the magnitude of the elevation difference is greater than 0 and the magnitude of the elevation difference is greater than a1 (where a1 is a number greater than 0) (detection area in a first predetermined range), or a detection area where the magnitude of the elevation difference is 0 or less and the magnitude of the elevation difference is a2 or less (where a2 is a number less than 0) (detection area in a second predetermined range), and a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the predetermined area.

[0146] The elevation difference detection method of this embodiment includes a display control unit 117 that displays a three-dimensional image based on point cloud data stored in a point cloud data storage means on a display unit, and a color determination unit 116 that determines a color for each detection area according to either a detection area where the magnitude of the elevation difference is greater than 0 and where the magnitude of the elevation difference is greater than a1 (where a1 is a number greater than 0) (detection area in a first predetermined range), or a detection area where the magnitude of the elevation difference is 0 or less and where the magnitude of the elevation difference is a2 or less (where a2 is a number less than 0), and the display control unit 117 adds the color determined by the color determination unit 116 to the three-dimensional image displayed by the image display means to display the elevation difference in the predetermined area.

[0147] As a result, in the elevation difference detection method and elevation difference detection system of this embodiment, detection areas with very large elevation differences are displayed in a color corresponding to that difference, making it easy to detect the condition of a specified area.

[0148] The elevation difference detection method of this embodiment includes a comparison step in which, for each identical detection area within a predetermined area, the magnitude of the elevation difference calculated in the elevation difference calculation step is compared with 0 (predetermined value), a third ratio calculation step in which, based on the comparison result in the comparison step, the ratio of the boundary portion between detection areas in the predetermined area where the magnitude of the elevation difference is greater than 0 (predetermined value) and detection areas where the magnitude of the elevation difference is 0 (predetermined value) or less, and a third determination step in which the state of the predetermined area is determined based on the ratio calculated in the third ratio calculation step.

[0149] The altitude difference detection system 101 of this embodiment includes a comparison unit 115 that compares the magnitude of the altitude difference calculated by the altitude difference calculation unit 14 with 0 (predetermined value) for each identical detection area within a predetermined area, a third ratio calculation unit 120 that calculates the ratio of the boundary portion between detection areas in the predetermined area where the magnitude of the altitude difference is greater than 0 (predetermined value) and detection areas where the magnitude of the altitude difference is 0 (predetermined value) or less based on the comparison result by the comparison unit 115, and a third determination unit 120a that determines the state of the predetermined area based on the ratio calculated by the third ratio calculation unit 120.

[0150] As a result, the elevation difference detection method and elevation difference detection system 101 of this embodiment calculates the ratio of the boundary between detection areas where the elevation difference is greater than 0 (predetermined value) and detection areas where the elevation difference is equal to or less than 0 (predetermined value) based on the comparison result obtained by comparing the magnitude of the elevation difference with 0 (predetermined value) for each identical detection area within the predetermined area, and determines the state of the predetermined area based on this ratio. Therefore, since the state of the predetermined area is determined automatically, there is no need for an inspector to determine the state of the predetermined area.

[0151] The above describes an embodiment of the present invention, but the specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible within the scope of the spirit of the present invention.

[0152] In the first embodiment described above, when a predetermined position is specified, a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the predetermined position are displayed. However, the present invention includes a display in which at least one of a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the predetermined position is displayed.

[0153] In the first embodiment, the elevation difference between the time of commencement of road repair work and the repair plan surface is displayed in multiple colors on the display unit 5 for each planar position within a predetermined area of ​​the road surface, as shown in FIG. 22(a). However, as shown in FIG. 22(b), it is also possible to display the elevation difference between the road after repair and the repair plan surface in multiple colors on the display unit 5. In this case, after the road is repaired, the 3D scanner 2 acquires point cloud data for each point in a predetermined area of ​​the road surface, and the point cloud data is stored in the point cloud data storage unit 11, and the elevation difference between the road after repair and the repair plan surface is calculated. At the time of commencement of repair work, as shown in FIG. 22(a), there are some locations with a large elevation difference from the repair plan surface. However, after repair, as shown in FIG. 22(b), there are almost no locations with a large elevation difference from the repair plan surface, indicating that the road repair was carried out based on the repair plan.

[0154] In the first embodiment, the user designates the predetermined position by pressing the display surface 5a of the display unit 5, but the method for designating the predetermined position is not limited to this. Therefore, the altitude difference detection device 10 may have an operation unit, and the user may designate the predetermined position within the predetermined area by operating the operation unit.

[0155] In the second embodiment, the magnitude of the elevation difference is compared with a predetermined value of 0 for each identical planar position within a predetermined area, and an area where the elevation at the time of repair work commencement is lower than the elevation of the repair planning surface is defined as a depression, and an area where the elevation at the time of repair work commencement is higher than the elevation of the repair planning surface is defined as a protrusion. However, this is not limited to this. For example, the predetermined value for comparing the magnitude of the elevation difference may be a value other than 0.

[0156] In the second embodiment, areas where the elevation at the time of repair work commencement is lower than the elevation of the repair planning surface are displayed in warm colors (dark warm colors or light warm colors), and areas where the elevation at the time of repair work commencement is higher than the elevation of the repair planning surface are displayed in cool colors (dark cool colors or light cool colors), but this is not limiting. For example, the colors used to display each area are arbitrary.

[0157] In the second embodiment, examples of the calculation methods of the ratios of the first ratio calculation unit 118, the second ratio calculation unit 119, and the third ratio calculation unit 120 have been described, but the calculation methods of these ratios are not limited to these. In the second embodiment, examples of the determination methods of the first determination unit 118a, the second determination unit 119a, and the third determination unit 120a have been described, but the determination methods of these are not limited to these.

[0158] In the second embodiment, the state of the predetermined area is determined by color deviation judgment, deep color judgment, and hue boundary judgment. However, the state of the predetermined area may be determined by at least one of color deviation judgment, deep color judgment, and hue boundary judgment.

[0159] In the above first and second embodiments, the elevation difference calculation unit 14 calculates the elevation difference for each identical planar position within a specified area of ​​the road surface based on point cloud data for each point within the specified area of ​​the road surface at the time repair work begins and reference surface data, which is planning surface data that shows the repair planning surface when repairing a specified area of ​​the road surface.However, as the reference surface data, instead of planning surface data that shows the repair planning surface when repairing a specified area of ​​the road surface, road surface data when the specified area of ​​the road surface is newly constructed or road surface data when the specified area of ​​the road surface is repaired may be used.

[0160] That is, the elevation difference detection method, elevation difference detection system, and elevation difference detection program of the present invention may calculate the elevation difference for each identical planar position within a predetermined area of ​​the road surface based on point cloud data for each point within a predetermined area of ​​the road surface at the time of repair work commencement and reference surface data, which is road surface data when the predetermined area was newly constructed or repaired. The road surface data when the predetermined area was newly constructed or repaired is data indicating the surface condition of the road surface at that time, and is data indicating the elevation of each planar position within the predetermined area when the predetermined area was newly constructed or repaired. For example, if point cloud data for each point within a predetermined area of ​​the road surface is acquired using a three-dimensional scanning device (3D scanner) after the predetermined area of ​​the road surface is newly constructed or repaired, the elevation difference may be calculated for each identical planar position within the predetermined area of ​​the road surface using the road surface data based on the point cloud data as reference surface data. In this case, the surface condition of the road after the specified area is newly constructed or repaired is almost free of damage such as diggings, but by comparing the elevation at the time of commencement of repair work with the road surface data after the specified area is newly constructed or repaired, it is possible to detect unevenness in the road surface caused by damage such as diggings after the specified area is newly constructed or repaired. [Explanation of symbols]

[0161] 1. Elevation Difference Display System (Elevation Difference Display System) 2. 3D scanner (3D scanning device) 5 Display section 5a Display surface (operation detection means) 10. Elevation difference detection device 11 Point cloud data reception unit (point cloud data reception means) 11a Point cloud data storage unit (point cloud data storage means) 12 3D Image Creation Department 13 Plan surface data reception unit (reference surface data reception means) 13a Plan surface data storage unit (reference surface data storage means) 14 Elevation difference calculation unit (elevation difference calculation means) 15 First color determination unit (first color determination means) 16 Display control unit (display control means) 101 Elevation Difference Display System (Elevation Difference Display System) 110 Altitude difference detection device 115 Comparison section (comparison means) 116 color determination unit (second color determination means, third color determination means) 117 Display control unit (display control means) 118 First ratio calculation unit (first ratio calculation means) 118a First judgment unit (first judgment means) 119 Second ratio calculation unit (second ratio calculation means) 119a Second judgment unit (second judgment means) 120 Third ratio calculation unit (third ratio calculation means) 120a Third judgment unit (third judgment means)

Claims

1. a point cloud data acquisition step of acquiring point cloud data converted into three-dimensional coordinates for each point within a predetermined area of ​​the road surface at the time of starting repair work by using laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data acquisition step of acquiring, as reference surface data, any one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired; a method for detecting elevation differences on a road surface, comprising an elevation difference calculation step for calculating an elevation difference for each identical planar position within the specified area based on the point cloud data acquired in the point cloud data acquisition step and the reference surface data acquired in the reference surface data acquisition step.

2. an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a first color determination step of determining a color corresponding to the magnitude of the elevation difference calculated in the elevation difference calculation step for each identical planar position within the predetermined area; The elevation difference detection method according to claim 1, further comprising a first elevation difference color display step of adding the color determined in the first color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area.

3. an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; The elevation difference detection method according to claim 1 or 2, further comprising an elevation difference line display step for displaying a line indicating an area within the specified region where the elevation difference is the same, in accordance with the magnitude of the elevation difference calculated in the elevation difference calculation step, on the three-dimensional image displayed in the image display step.

4. a designation step of designating a predetermined position within the predetermined area in a state in which the elevation difference in the predetermined area is displayed on the display unit by the first elevation difference color display step or the elevation difference line display step; The elevation difference detection method according to claim 2 or 3, characterized in that when a predetermined position is designated by the designation step, the method further comprises a numerical display step of displaying on the display unit at least one of a numerical value indicating the elevation difference at the predetermined position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the predetermined position.

5. a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region; a first ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value; 5. The method for detecting an elevation difference according to claim 1, further comprising a first determination step of determining the state of the predetermined area based on the ratio calculated in the first ratio calculation step.

6. an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a second color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is equal to or less than a predetermined value; The elevation difference detection method according to claim 5, further comprising a second elevation difference color display step of adding the color determined in the second color determination step to the three-dimensional image displayed in the image display step to display the elevation difference.

7. a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region; a second ratio calculation step of calculating, based on the comparison result in the comparison step, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value to planar positions where the magnitude of the elevation difference is within a first predetermined range, and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value to planar positions where the magnitude of the elevation difference is within a second predetermined range; The elevation difference detection method according to any one of claims 1 to 6, further comprising a second determination step of determining the state of the predetermined area based on the ratio calculated in the second ratio calculation step.

8. an image display step of displaying a three-dimensional image based on the point cloud data acquired in the point cloud data acquisition step on a display unit; a third color determination step of determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range; The elevation difference detection method according to claim 7, further comprising a third elevation difference color display step of adding the color determined in the third color determination step to the three-dimensional image displayed in the image display step to display the elevation difference in the specified area.

9. a comparison step of comparing the magnitude of the elevation difference calculated in the elevation difference calculation step with a predetermined value for each identical planar position within the predetermined region; a third ratio calculation step of calculating a ratio of a boundary portion between a planar position in the predetermined region where the magnitude of the elevation difference is greater than a predetermined value and a planar position in the predetermined region where the magnitude of the elevation difference is equal to or less than the predetermined value, based on the comparison result in the comparison step; The elevation difference detection method according to any one of claims 1 to 8, further comprising a third determination step of determining the state of the specified area based on the ratio calculated in the third ratio calculation step.

10. a point cloud data storage means for storing point cloud data converted into three-dimensional coordinates for each point within a predetermined area of ​​the road surface at the time of starting repair work, the point cloud data being acquired by laser light irradiated from a three-dimensional scanning device installed at a known point; a reference surface data storage means for storing, as reference surface data, one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired; an elevation difference calculation means for calculating an elevation difference for each identical planar position within the specified area based on the point cloud data stored in the point cloud data storage means and the reference plane data stored in the reference plane data storage means.

11. a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit; a first color determining means for determining a color corresponding to the magnitude of the elevation difference calculated by the elevation difference calculating means for each identical planar position within the predetermined area, The elevation difference detection system according to claim 10, characterized in that the display control means displays the elevation difference in the specified area by adding the color determined by the first color determination means to the three-dimensional image displayed on the display unit.

12. a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit, The elevation difference detection system according to claim 10 or 11, characterized in that the display control means displays a line on the three-dimensional image displayed on the display unit indicating parts of the specified area where the elevation difference is the same, depending on the magnitude of the elevation difference calculated by the elevation difference calculation means.

13. a designation unit for designating a predetermined position within the predetermined area while the elevation difference within the predetermined area is displayed on the display unit; The elevation difference detection system described in claim 11 or 12, characterized in that when a specified position is specified by the designation means, the display control means displays on the display unit at least one of a numerical value indicating the elevation difference at the specified position and a numerical value indicating the area of ​​an area surrounded by lines indicating a portion with the same elevation difference near the specified position.

14. a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area; a first ratio calculation means for calculating, based on the comparison result of the comparison means, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value; An altitude difference detection system as described in any one of claims 10 to 13, characterized in that it comprises a first determination means for determining the state of the specified area based on the ratio calculated by the first ratio calculation means.

15. a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit; a second color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is greater than a predetermined value or a planar position where the magnitude of the elevation difference is equal to or less than a predetermined value; The elevation difference detection system of claim 14, wherein the display control means displays the elevation difference in the specified area by adding the color determined by the second color determination means to the three-dimensional image displayed on the display unit by the display control means.

16. a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area; a second ratio calculation means for calculating, based on the comparison result by the comparison means, at least one of a ratio of planar positions where the magnitude of the elevation difference is greater than a predetermined value and falls within a first predetermined range, and a ratio of planar positions where the magnitude of the elevation difference is equal to or less than a predetermined value and falls within a second predetermined range; The elevation difference detection method according to any one of claims 10 to 15, further comprising a second determination means for determining the state of the predetermined area based on the ratio calculated by the second ratio calculation means.

17. a display control means for displaying a three-dimensional image based on the point cloud data stored in the point cloud data storage means on a display unit; a third color determination means for determining, for each planar position, a color corresponding to either a planar position where the magnitude of the elevation difference is within a first predetermined range or a planar position where the magnitude of the elevation difference is within a second predetermined range; The elevation difference detection method according to claim 16, characterized in that the display control means displays the elevation difference in the specified area by adding the color determined by the third color determination means to the three-dimensional image displayed by the image display means.

18. a comparison means for comparing the magnitude of the elevation difference calculated by the elevation difference calculation means with a predetermined value for each identical planar position within the predetermined area; a third ratio calculation means for calculating a ratio of a boundary portion between a planar position where the magnitude of the elevation difference is greater than a predetermined value and a planar position where the magnitude of the elevation difference is equal to or less than the predetermined value, based on a comparison result by the comparison means; An elevation difference detection system as described in any one of claims 10 to 17, characterized in that it comprises a third determination means for determining the state of the specified area based on the ratio calculated by the third ratio calculation means.

19. When loaded into a computer, the computer: a point cloud data receiving means for receiving point cloud data converted into three-dimensional coordinates for each point within a predetermined area of ​​the road surface at the time of starting repair work, the point cloud data being obtained by using a laser beam irradiated from a three-dimensional scanning device installed at a known point; a reference surface data receiving means for receiving, as reference surface data, any one of plan surface data indicating a repair plan surface when repairing the predetermined area, road surface data when the predetermined area was newly constructed, and road surface data when the predetermined area was repaired; An elevation difference detection program characterized by functioning as an elevation difference calculation means that calculates the elevation difference for each identical planar position within the specified area based on the point cloud data received by the point cloud data receiving means and the reference plane data received by the reference plane data receiving means.

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