Three dimensional information display system, display method, and program

Abstract

To visualize a state of a three dimensional space.SOLUTION: The three dimensional information display system includes a block data storage unit that divides a three dimensional space into blocks 301 to 303 and stores three dimensional coordinates of each block, an information acquisition unit that acquires information associated with the blocks, and a processor that specifies one or more blocks based on the three dimensional coordinates of the blocks and a set viewpoint and replaces a plurality of blocks stacked in a height direction with a plurality of planar images 401 to 403. And a display control unit that arranges the planar images to be adjacent to each other in a certain direction of the display unit in descending order or ascending order of the block, and displays the information associated with the block acquired by the information acquisition unit on the planar image corresponding to the block.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a three-dimensional information display system, a display method, and a program. [Background technology]

[0002] Maps are known as flat representations of the Earth's surface at a fixed scale, showing where things are on the ground using symbols, letters, and colors. There are various types of maps depending on their purpose, such as navigational charts, mountain climbing charts, nautical charts, and geological maps.

[0003] A technique for expressing the state of a three-dimensional space using blocks for a mobile object that moves in three-dimensional space, such as a drone, is known (see, for example, Patent Document 1). Patent Document 1 discloses a technique for controlling a mobile object in real space based on dynamic information that expresses real space using dynamic information blocks associated with dynamically changing situations, and common block data that expresses real space using common blocks associated with the dynamic information blocks. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-091201 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a state of three-dimensional space is expressed using blocks, it is difficult to visualize the state of the three-dimensional space. This will be explained with reference to FIG.

[0006] FIG. 1 shows an example of a map in which multiple voxels 360 are arranged. One voxel is a block that divides a three-dimensional space. The actual voxels are color-coded according to the state of the three-dimensional space (e.g., no-entry, speed limit, one-way street, etc.). Each voxel can also be displayed semi-transparently, allowing the user to see voxels behind the viewpoint. For example, suppose that the bottommost voxel 361, indicated by the dotted line, is a no-entry zone. The user can understand that the bottommost voxel is a no-entry zone by operating the terminal device to change the viewpoint or rotate the entire voxel, but this is inefficient.

[0007] On the other hand, when the terminal device displays the entire voxel in two dimensions as viewed from above, information in the vertical direction is not visualized, making it difficult for the user to confirm, for example, from what height to what height passage is prohibited or permitted.

[0008] In this way, when a state of three-dimensional space is represented by blocks, it is difficult to visualize the state of three-dimensional space.

[0009] In view of the above problems, the present invention provides a technique for visualizing a state of a three-dimensional space. [Means for solving the problem]

[0010] The present invention is a three-dimensional information display system that displays information about a three-dimensional space in which a moving body can move on a display unit, and includes a block data storage unit that divides the three-dimensional space into blocks and stores the three-dimensional coordinates of each block, an information acquisition unit that acquires information associated with the blocks, and a display control unit that identifies one or more blocks based on the three-dimensional coordinates of the blocks and a set viewpoint, replaces multiple blocks stacked in the vertical direction with multiple two-dimensional images, arranges the two-dimensional images adjacent to each other in a certain direction on the display unit in order of height or height of the blocks, and displays the information associated with the blocks acquired by the information acquisition unit on the two-dimensional image corresponding to the block. [Effects of the Invention]

[0011] The present invention allows visualization of a state in three-dimensional space. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing an example of a map on which a plurality of voxels are arranged. [Figure 2] FIG. 1 is a schematic diagram illustrating a three-dimensional information display system for controlling the flight of a moving object. [Figure 3] FIG. 1 is an example of a hardware configuration diagram of a flight server. [Figure 4] FIG. 2 is a diagram illustrating an example of the functional configuration of each function of the three-dimensional information display system. [Figure 5] FIG. 10 is a diagram illustrating an example of control of a moving object by a three-dimensional information display system. [Figure 6] FIG. 10 is a diagram illustrating an example of an association between a route and dynamic information. [Figure 7] FIG. 7 is a diagram showing an example of an arrangement of common blocks corresponding to FIG. 6. [Figure 8] 10A to 10C are diagrams showing various examples of dynamic information blocks corresponding to one common block. [Figure 9] FIG. 2 is a diagram illustrating an example of map data. [Figure 10] FIG. 10 is a diagram illustrating an example of common block data. [Figure 11] FIG. 10 is a diagram illustrating an example of dynamic information. [Figure 12] FIG. 10 is a flowchart illustrating an example of a process in which a terminal device accepts a departure point and a destination. [Figure 13] FIG. 10 is a flowchart illustrating an example of the operation of the flight server. [Figure 14] FIG. 10 is a flowchart illustrating an example of acquiring a situation in a three-dimensional space. [Figure 15] FIG. 10 is a diagram showing an example of conversion between 3D voxels and a 2D planar image. [Figure 16] FIG. 10 is a diagram showing an example of conversion of two voxel pillars into a 3D representation of voxels and a 2D representation of a planar image. [Figure 17]FIG. 10 is a diagram showing an example of conversion of 3D voxels and 2D planar images when there are three voxel pillars. [Figure 18] FIG. 10 is a diagram illustrating a planar image to which a note has been added. [Figure 19] 10A and 10B are diagrams illustrating an example of displaying altitude in a planar image converted into a 2D representation. [Figure 20] 10A and 10B are diagrams showing examples of displaying voxel pillars and a 2D-expressed planar image when common blocks of different sizes are included. [Figure 21] FIG. 10 is a diagram showing an example of a planar image displaying the current location of a moving object. [Figure 22] 10A and 10B are diagrams illustrating the display of a path in a planar image converted into a 2D representation of voxels in a 3D representation. [Figure 23] 10A and 10B are diagrams illustrating modified examples of the shape of a planar image. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, a three-dimensional information display system and a display method provided by the three-dimensional information display system will be described as an example of an embodiment of the present invention.

[0014] The 3D information display system of this embodiment displays multiple voxels stacked in the vertical direction in a 2D representation viewed from above. In the 2D representation, information on voxels of different heights is acquired in order of height, converted into a planar image, and displayed expanded in a certain direction. This allows the terminal device to display information on multiple stacked voxels, making it possible to display the state of 3D space that is difficult to visualize.

[0015] <System Overview> FIG. 2 is a schematic diagram of a three-dimensional information display system 100 that controls the flight of a moving body 50. As shown in the figure, in the three-dimensional information display system 100, the moving body 50 has the ability to communicate wirelessly with a flight server 80 that functions as a control device. The flight server 80 can communicate with an external server 70 via a network NW. The flight server 80 not only transmits and receives data to and from the moving body 50, but also acquires various information from the external server 70 as needed. The terminal device 10 can communicate with the flight server 80 via the network NW.

[0016] The mobile body 50 is equipped with a wireless communication device for wireless communication with the flight server 80, a GPS device for identifying its own position, a flight controller for controlling the flight direction, etc. The mobile body 50 flies from the departure point to the destination using instruction data etc. received from the flight server 80.

[0017] The terminal device 10 displays the map data received from the flight server 80. When displaying the map data, the terminal device 10 displays the voxels in 3D or 2D representation. The user can set the departure point and destination on the terminal device 10, which then transmits the same to the flight server 80. The flight server 80 performs a route search on the map data to create a route from the departure point to the destination, and returns the route to the terminal device 10. The flight server 80 then transmits this route to the mobile object 50 as part of the instruction data.

[0018] The external server 70 is a server that stores dynamic information that is used as a reference when the flight server 80 and the mobile unit 50 move. Known dynamic information includes weather information such as wind speed, which will be described in detail later.

[0019] The three-dimensional information display system 100 according to this embodiment is a computer system for controlling a moving object 50. The moving object 50 refers to an artificial object capable of moving within a real space (a space in the real world). The type of the moving object 50 is not limited, and may be, for example, a manned moving object or an unmanned moving object. The locations in which the moving object 50 can move are not limited, and for example, the moving object 50 may be capable of moving on at least one of land, water, air, underground, underwater, and indoors. Specific examples of the moving object 50 include air vehicles (e.g., aircraft, drones, etc.), surface vehicles (e.g., ships), underwater vehicles (e.g., submarines, underwater research vessels), and land vehicles (e.g., automobiles, trains, motorcycles, etc.). However, the type of the moving object 50 is not limited thereto, and the three-dimensional information display system 100 may manage any type of moving object 50. Since the type of the moving object 50 is not limited, the route of the moving object 50 may be a land route, a water route, or an air route.

[0020] The three-dimensional information display system 100 controls the moving body 50 in consideration of dynamically changing situations in the real space, thereby making it possible to appropriately manage the operation of the moving body 50. The "control of the moving body 50" may include at least one of control of the movement of the moving body 50 and control of equipment (e.g., a camera) mounted on the moving body 50.

[0021] <Hardware configuration example> FIG. 3 shows an example of the hardware configuration of the flight server 80. In one example, the flight server 80 includes one or more processors 101, a memory 102, a storage 103, a communication port 104, and an input / output port 105. The processor 101 executes an operating system and application programs. The storage 103 is composed of a storage medium such as a hard disk, a nonvolatile semiconductor memory, or a removable medium (e.g., a magnetic disk, an optical disk, etc.), and stores the operating system and application programs. The memory 102 temporarily stores programs read from the storage 103 or the results of calculations performed by the processor 101. In one example, the processor 101 functions as each of the above-mentioned functional modules by executing programs in cooperation with the memory 102. The communication port 104 communicates data with other devices via a network NW in accordance with instructions from the processor 101. The input / output port 105 inputs and outputs electrical signals to and from input / output devices (user interfaces) such as a keyboard / mouse 107 and a display 106 in accordance with instructions from the processor 101.

[0022] The flight server 80 may be configured by one or more computers. When multiple computers are used, a single flight server 80 is logically configured by connecting these computers to each other via a communication network.

[0023] There are no limitations on the computer that functions as the flight server 80. For example, the flight server 80 may be configured as a large computer such as a business server, or may be configured as a small computer such as a personal computer or a mobile terminal (e.g., a smartphone, a tablet terminal, etc.).

[0024] The hardware configuration of the terminal device 10 may be the same as that shown in FIG. 3, or may be different without causing any problems in the description of this embodiment.

[0025] <About the function> FIG. 4 is a diagram showing an example of the functional configuration of each function of the three-dimensional information display system 100. As shown in FIG.

[0026] <External server> The external server 70 has an external database 71. The external server 70 has an external database 71. The number of external servers 70 is not limited, and there may be as many external servers 70 as there are pieces of dynamic information 72 managed by the external servers 70. The dynamic information 72 is information that represents a situation in a three-dimensional space when the situation changes dynamically. Examples of the dynamic information 72 include, but are not limited to, weather, radio wave strength, and GPS strength. Details of the dynamic information 72 will be described later with reference to FIG. 11.

[0027] <Flight Server> The flight server 80 includes a map data acquisition unit 81, an information acquisition unit 82, an instruction generation unit 83, a first communication unit 84, a Web application control unit 85, and a second communication unit 86. Each of these functional units of the flight server 80 is a function or means realized by the processor 101 shown in FIG. 3 executing a program stored in storage 103 or the like and controlling the hardware of the flight server 80. The flight server 80 also includes a map database 61 formed in storage 103 or the like shown in FIG. 3. However, the map database 61 may be located on the network NW.

[0028] The map data acquisition unit 81 is a functional module that acquires map data 62 relating to the three-dimensional space in which the moving body 50 is to move. The three-dimensional space in which the moving body 50 is to move is a range that includes the starting point transmitted from the terminal device 10 to the destination.

[0029] The information acquisition unit 82 is a functional module that acquires dynamic information 72 that changes dynamically in the three-dimensional space through which the moving object 50 is to move. The three-dimensional space through which the moving object 50 is to move is specified by common block data 63 through which the route can pass. A range including the departure point to the destination may be used as the three-dimensional space through which the moving object 50 is to move.

[0030] The instruction generation unit 83 is a functional module that generates instruction data based on the situation in three-dimensional space. The instruction generation unit 83 generates a route by searching for a route using an existing method in the map data 62 between the departure point and destination transmitted from the terminal device 10. The instruction data includes this route. The map data 62 is associated with the common block data 63 and the dynamic information 72 by its position information.

[0031] The first communication unit 84 is a functional module that transmits the generated instruction data to the mobile object 50. The mobile object 50 moves according to the route in the instruction data and can take an image with a camera at the instructed position. The first communication unit 84 also receives the current location from the mobile object 50 in real time, and also receives image data if there is an image taken with the camera.

[0032] The Web application control unit 85 is a functional module that controls Web applications executed by the terminal device 10. The Web application control unit 85 generates a Web application that includes information (common block data 63 and display processing logic) for the terminal device 10 to display voxels in 2D or 3D representation. The Web application control unit 85 can include instruction data in the Web application.

[0033] The second communication unit 86 transmits the Web application generated by the Web application control unit 85 to the terminal device 10. The Web application includes HTML, JavaScript (registered trademark), CGS (Cascading Style Sheets), XML, and the like.

[0034] The map database 61 includes map data 62 and common block data 63. Details of the map data 62 and the common block data 63 will be described later with reference to FIGS.

[0035] <<Terminal Device>> The terminal device 10 has a communication unit 11, a display control unit 12, and an operation reception unit 13. Each of these functional units of the terminal device 10 is a function or means realized by the processor 101 shown in Fig. 3 executing a program stored in the storage 103 or the like and controlling the hardware of the terminal device 10. This program may be, for example, a web browser, or may also be a native application.

[0036] The communication unit 11 receives the web application from the flight server 80. When the web browser executes the web application, the display control unit 12 displays a map screen on the display unit. The display unit may be a display or a projector. The map screen may include voxels and routes displayed in 2D or 3D. Figure 1 above shows one form of the map screen. The map screen in Figure 1 displays voxels in 3D.

[0037] The operation reception unit 13 receives user operations on the terminal device 10. The operation reception unit 13 receives, for example, input of a departure point and a destination. The communication unit 11 transmits the departure point and destination to the flight server 80.

[0038] <<Modifications of functional configuration>> In FIG. 4, the three-dimensional information display system 100 has a system configuration including the flight server 80 and the terminal device 10, but the flight server 80, rather than the terminal device 10, may display the map screen.

[0039] 4, the three-dimensional information display system 100 has a system configuration including the flight server 80, but the flight server 80 is not necessary. Therefore, the terminal device 10 can accept user operations and display a map screen.

[0040] <Common blocks, dynamic information blocks> FIG. 5 is a diagram illustrating an example of control of a moving object 50 by the three-dimensional information display system 100. In this example, the moving object 50 is an airborne object. An airborne object is an artificial object capable of moving through the air. The type of airborne object is not limited, and may be, for example, a manned aircraft or an unmanned aircraft (drone). In this example, the moving object 50 is attempting to move along a route (flight path) 200 consisting of multiple nodes 201-206 and multiple links connecting adjacent nodes. A node refers to a position set for controlling the route of the moving object 50, and more specifically, refers to a position where the moving method (e.g., direction, speed, etc.) of the moving object 50 can be changed. A link refers to a virtual line set to indicate a route along which the moving object 50 can move, connecting adjacent nodes. Dynamically changing conditions may occur along the route 200. For example, the condition may be a temporarily set no-entry zone 211, the passage of another moving object 50, or weather conditions 212. The three-dimensional information display system 100 acquires such dynamically changing situations and controls the movement of the moving object 50 based on the situations.

[0041] The route of the mobile object 50 can be represented using map data 62. The map data 62 is data that represents real space in which the mobile object 50 can move or real space in which the mobile object 50 cannot move (e.g., obstacles). The map data 62 can be represented using map elements such as nodes and links. The map data 62 for a land vehicle can also be represented using map elements such as the location, width, and number of lanes of a road. Meanwhile, dynamically changing situations are associated in advance with areas in which the situation has occurred or may occur, and this association can be acquired as dynamic information 72. By referring to this dynamic information 72, the three-dimensional information display system 100 can determine where and what kind of situation has occurred or may occur. Because the route and the dynamic information 72 include positions in real space, the route and the dynamic information 72 can be associated by matching the positions of the route and the dynamic information 72.

[0042] FIG. 6 is a diagram showing an example of the association between a route and dynamic information 72, specifically, the association between the route 200 shown in FIG. 5 and three situations. In this example, it is assumed that the dynamic information 72 is set for each three-dimensional block (dynamic information block), and three dynamic information blocks 221 to 223 exist corresponding to the route 200. Dynamic information 72 regarding a no-entry zone 211 is set in the dynamic information block 221, dynamic information 72 regarding another moving body 50 is set in the dynamic information block 222, and dynamic information 72 regarding weather conditions 212 is set in the dynamic information block 223. By comparing the map data 62 of the route 200 with the dynamic information 72, the three-dimensional information display system 100 can determine that the area near node 202 is a temporary no-entry zone 211, that another moving body 50 is present near node 204, and that weather conditions 212 are near node 205. The three-dimensional information display system 100 can then control the moving body 50 based on this determination.

[0043] As described above, the type of dynamically changing situation is not limited in any way. In other words, the external server 70 is not limited to one, and multiple computer systems may manage different dynamic information 72. When multiple types of dynamic information 72 are used, the methods of defining the blocks (dynamic information blocks) indicated by the individual pieces of dynamic information 72 may differ from one another due to various factors such as the type of situation and differences in the external server 70.

[0044] Here, a block refers to a closed space represented by a virtual boundary, and can also be called a mesh or a cell. The shape, size, or arrangement of the dynamic information block may differ depending on the type of dynamic information 72. The example in Figure 6 also illustrates such differences between dynamic information blocks. If the definition methods of the dynamic information blocks differ, the flight server 80 must match the route and the dynamic information 72 in a manner appropriate for each individual dynamic information block. Because the matching method varies depending on the type of dynamic information block, the matching algorithm may become complex, or the algorithm may need to be changed in response to changes in the definition of the dynamic information block or the addition of dynamic information 72.

[0045] The 3D information display system 100 employs the concept of a common block to accommodate these differences in dynamic information blocks. A common block is a block that connects the map data 62 with the dynamic information blocks and is set independently of both the map data 62 and the dynamic information blocks. By employing the concept of a common block, the real space represented by the map data 62 is represented as a collection of multiple common blocks. In other words, the real space is virtually divided by multiple common blocks. Each common block is associated with one or more map elements (e.g., nodes, links, roads, etc.) that make up the map data 62, and is also associated with one or more types of dynamic information blocks. By referencing a single common block, the flight server 80 can access all of the dynamic information blocks associated with that common block. This means that by referencing a single common block corresponding to a certain portion of a route, the flight server 80 can acquire all of the dynamic information 72 corresponding to that portion. In other words, the flight server 80 can efficiently acquire various pieces of dynamic information 72 by referencing the common block.

[0046] Fig. 7 is a diagram showing an example of an arrangement of common blocks corresponding to Fig. 6. In this example, 5 x 3 x 3 common blocks 230 are shown, and the set of common blocks 230 includes dynamic information blocks 221 to 223.

[0047] One common block may be associated with multiple types of dynamic information 72. For example, the common block may be associated with both first dynamic information that represents a real space using a first dynamic information block associated with a dynamically changing first situation, and second dynamic information that represents the real space using a second dynamic information block associated with a dynamically changing second situation. The size of the dynamic information block can be set arbitrarily, so the correspondence between the common block and the dynamic information block may vary depending on the type of dynamic information 72.

[0048] FIG. 8 shows various examples of dynamic information blocks corresponding to one common block 250. In FIG. 8(a), the common block 250 is associated with four dynamic information blocks 261-264 out of six dynamic information blocks 261-266. In FIG. 8(b), the common block 250 is associated with two dynamic information blocks 271 and 273 out of four dynamic information blocks 271-274. In FIG. 8(c), the common block 250 is associated with one dynamic information block 281. The common block 250 is associated with at least one type of dynamic information block among the dynamic information blocks 261-264, the dynamic information blocks 271 and 273, and the dynamic information block 281. For a given type of dynamic information block, one common block may exist across multiple dynamic information blocks or may be contained within a single dynamic information block. Similarly, one dynamic information block may exist across multiple common blocks or may be contained within a single common block.

[0049] In both Figures 7 and 8, both the dynamic information blocks and the common blocks are rectangular parallelepipeds, but the shapes of these blocks are not limited to any particular shape and may be arbitrarily set. For example, the dynamic information blocks or common blocks may be spherical, cylindrical, or more complex three-dimensional. Alternatively, the dynamic information blocks or common blocks may be rectangular, circular, or more complex two-dimensional. Both the dynamic information blocks and the common blocks may be three-dimensional, or both may be two-dimensional. Alternatively, one of the dynamic information blocks and the common blocks may be three-dimensional and the other two-dimensional. At least one of the shapes and dimensions of the common blocks may or may not be uniform. For dynamic information blocks corresponding to a certain type of dynamic information 72, at least one of the shapes and dimensions may or may not be uniform. In other words, at least one of the shapes and sizes of both the common blocks and the dynamic information blocks may change during their creation.

[0050] <Data Structure> Next, the data structure of the map data 62 will be described with reference to FIG. 9. FIG. 9 is a diagram showing an example of the map data 62, specifically, an example of the map data 62 that can be used to move the mobile object 50. The map data 62 is data that represents the real space in which the mobile object 50 can move. In this example, the map data 62 includes node information that indicates each node and link information that indicates each link. There are no limitations on the data structure of the map data 62 as long as it is possible to identify a space or a position in order to move the mobile object 50. In any case, the map data 62 is data in which map elements and common blocks are associated with each other.

[0051] In one example, node information indicating one node includes a node ID, which is an identifier that uniquely identifies the node, the coordinates of the node, and a common block ID that indicates the common block corresponding to the node's position. The common block ID is an identifier that uniquely identifies the common block. In Figure 9, the three-dimensional coordinates of the node identified by node ID "N0" are (nx0, ny0, nz0), and this indicates that the position of this node corresponds to the common block identified by common block ID "SP0." The position of a node corresponding to a common block means, for example, that the node is included in the common block.

[0052] In one example, link information indicating one link includes a link ID, which is an identifier that uniquely identifies the link, the node IDs of the start and end points of the link, and a common block ID that indicates the common block corresponding to the link's location. In FIG. 9, the link identified by link ID "L0" connects two nodes "N0" and "N1," and the location of this link corresponds to two common blocks identified by common block IDs "SP0" and "SP1." The link's location corresponding to a common block means, for example, that at least a portion of the link is included in the common block. In FIG. 9, link "L0" extends across two common blocks "SP0" and "SP1." A link may be included in only one common block, or it may extend across three or more common blocks. Therefore, the number of common block IDs corresponding to one link ID is one or more.

[0053] FIG. 10 is a diagram showing an example of common block data 63, specifically, an example of common block data 63 that can be used to move the mobile object 50. The common block data 63 is data that represents a common block. A map database that stores the common block data 63 is an example of a block data storage unit. As long as the common block can be identified, the data structure of the common block data 63 is not limited in any way.

[0054] In one example, common block data 63 representing one common block includes a common block ID, center coordinates (three-dimensional coordinates) indicating the center position of the common block, the size of the common block, and one or more types of dynamic information block IDs. FIG. 10 shows that the common block identified by the common block ID "SP0" has a virtual three-dimensional shape defined by center coordinates (Xsp0, Ysp0, Zsp0) and size (sp0, sp0, sp0). Furthermore, FIG. 10 shows that the common block "SP0" corresponds to three types of dynamic information 72: weather, signal strength, and GPS strength (GPS reception status). In this example, the dynamic information blocks corresponding to weather, signal strength, and GPS strength are referred to as the "weather block," the "signal strength block," and the "GPS strength block," respectively. The common block ID "SP0" corresponds to two weather block IDs "WM001" and "WM002", three signal strength block IDs "SM001", "SM003", and "SM004", and two GPS strength block IDs "GM001" and "GM002". This means that in real space, at least a part of the common block "SP0" overlaps with these two weather blocks, three signal strength blocks, and two GPS strength blocks.

[0055] 11 shows an example of the dynamic information 72, specifically, weather information, signal strength information, and GPS supplemental information, which are dynamic information 72 that can be used to move the mobile object 50. The dynamic information 72 is data that indicates dynamically changing conditions within a dynamic information block. The data structure of the dynamic information 72 is not limited in any way as long as the conditions of each dynamic information block can be identified.

[0056] Dynamic information 72 is information about a dynamically changing situation, which refers to a situation that changes over time. The length of time required for a situation change is not limited and may be any value, such as 1 second, 10 seconds, 30 seconds, 1 minute, 10 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, 12 hours, 1 day, 1 week, or 1 month. The type of situation is not limited and may be, for example, a natural phenomenon, a situation caused by an artificial object, or a situation based on a rule established by humans. For example, a dynamically changing situation may be the weather, the movement of mobile objects 50, the number of mobile objects 50, the degree of traffic congestion, radio wave intensity, traffic rules, the location of obstacles, the number of transported items, the density of people or mobile objects 50, or the movement of other natural objects (e.g., birds and animals).

[0057] In one example, dynamic information 72 indicating one dynamic information block includes a dynamic information block ID, which is an identifier that uniquely identifies the dynamic information block, center coordinates (three-dimensional coordinates) that indicate the position of the center of the dynamic information block, the size of the dynamic information block, and information indicating the situation. In FIG. 11, each piece of dynamic information 72 indicates the situation for a particular time period, but the method of expressing the situation is not limited to this and may be expressed in any format. For example, the situation may be expressed without using a time period. The weather information shown in FIG. 11(a) indicates the weather, wind speed, and wind direction within the weather block "WM001." The radio wave strength information shown in FIG. 11(b) indicates the radio wave strength within the radio wave strength block "SM003." The GPS strength information shown in FIG. 11(c) indicates the GPS strength within the GPS strength block "GM002."

[0058] 9 to 11 are merely examples, and the map data 62, common block data 63, and dynamic information 72 may be expressed in any format. In any case, the map data 62 and dynamic information 72 are associated with each other via the common block data 63, making it possible to efficiently acquire the dynamic information 72 of any point in real space.

[0059] <Processing Procedure> Next, a process in which the terminal device 10 accepts the departure point and destination will be described with reference to Fig. 12. Fig. 12 is a flowchart relating to the process in which the terminal device 10 accepts the departure point and destination.

[0060] A user who intends to move the moving body 50 connects the terminal device 10 to the flight server 80. As a result, the communication unit 11 of the terminal device 10 receives the web application from the flight server 80. The web application displays a map screen based on the set viewpoint (S1). The set viewpoint is For example, a viewpoint looking north up from the current location, a viewpoint looking in the direction set by the user from the input starting point, etc. Voxels may or may not be displayed on the map screen in the initial state. This is because voxels are displayed after the processing of Figure 14 described later, and it takes time for them to be displayed.

[0061] When the flight server 80 executes the process of FIG. 14, the map screen displays the 3D voxels shown in FIG. 1, 15 to 22, etc., or a planar image in which the voxels have been converted to a 2D representation. Both the 3D voxels and the planar image converted to a 2D representation may be displayed on the same screen. The user can switch the 3D voxels to a planar image converted to a 2D representation, and can switch the planar image converted to a 2D representation to the 3D voxels. The user can also hide the voxels or the planar image itself.

[0062] The user inputs the departure point and destination to which the user wants to move the mobile object 50 into the web application (S2). If the departure point is the current location, input of the departure point may be omitted. The user may specify the departure point and destination on the map screen using a pointing device, or may input a place name, address, telephone number, etc. The operation reception unit 13 receives the input of the departure point and destination.

[0063] The communication unit 11 of the terminal device 10 transmits the departure point and destination to the flight server 80 (S3). This generates a route. Instruction data including the generated route is transmitted to the terminal device 10. The terminal device 10 can display the route in a planar image converted into a 3D representation of voxels or a 2D representation.

[0064] Next, the method of associating common blocks with dynamic information 72 and creating instruction data performed by flight server 80 will be described with reference to Figures 13 and 14. Figure 13 is a flowchart showing an example of the operation of flight server 80. Figure 14 is a flowchart showing an example of acquiring the situation of a three-dimensional space.

[0065] First, the map data acquisition unit 81 acquires a target area by referring to the map data 62 (S11). The target area refers to an area for which dynamically changing conditions are to be acquired. Specifically, the target area is at least a part of a space in which the moving object 50 may move. In an embodiment, the display control unit 12 identifies one or more blocks based on a set viewpoint and position information of the common block data 63. The set viewpoint is information that identifies coordinates in a three-dimensional space and angles of view in the up, down, left, and right directions. The display control unit 12 can identify blocks around or north of the current location of the terminal device 10, for example. After a departure point and a destination are specified on the terminal device 10, the target area may be the space between the departure point and the destination. At step S11, the target area is identified in the map data 62.

[0066] Next, the information acquisition unit 82 acquires the dynamic information 72 of the target area (S12). The information acquisition unit 82 identifies the common block data 63 corresponding to the target area and associates the dynamic information 72 with the common block data 63. Details will be explained with reference to FIG. 14. The common block data 63 associated with the dynamic information 72 is transmitted to the terminal device 10.

[0067] Next, the instruction generation unit 83 generates instruction data corresponding to the target area based on the acquired situation (S13). Because the dynamic information 72 is associated with the common blocks of the target area, the instruction generation unit 83 searches for a route based on the dynamic information 72, such as detouring around one-way streets, avoiding areas with weak GPS signal strength, or avoiding areas with strong winds. In this way, the instruction generation unit 83 generates a route by searching the map data 62 between the departure point and the destination. There is no limitation on the method of creating the instruction data based on the dynamic information 72, and the instruction generation unit 83 may generate instruction data for controlling the mobile object 50 based on any rule. Furthermore, there is no limitation on the data structure of the instruction data. For example, the instruction data includes the route of the mobile object 50.

[0068] Next, the first communication unit 84 transmits the instruction data to the moving body 50 and receives information such as the current location of the moving body 50 from the moving body 50 (S14). The destination of the instruction data is not limited. For example, the first communication unit 84 may transmit the instruction data directly to the moving body 50 or may transmit the instruction data to the moving body 50 via any computer other than the moving body 50. For example, the instruction data is used to control the movement of the moving body 50, for example, to change, determine, or calculate a route. For example, a control circuit of the moving body 50 may receive and process the instruction data to calculate a route and control the power and rudder of the moving body 50 to move along that route. Alternatively, a computer other than the moving body 50 (e.g., a remote controller) may calculate a route based on the instruction data and transmit route data indicating the route to the moving body 50, and the control circuit of the moving body 50 may control the power and rudder of its own aircraft based on the route data. In either case, the moving body 50 can move based on the instruction data provided by the flight server 80.

[0069] Each time a new target area is received, the three-dimensional information display system 100 executes a series of processes shown in steps S11 to S14. For example, the three-dimensional information display system 100 processes each of the multiple target areas that make up the route of the moving object 50 in the order in which the moving object 50 moves, thereby appropriately controlling the moving object 50 to its destination.

[0070] The processing in FIG. 14 will be described. The information acquisition unit 82 identifies at least one common block included in the target area (S21). Specifically, the information acquisition unit 82 refers to the map data 62 corresponding to the position of the target area, and acquires at least one common block ID indicated in the map data 62.

[0071] The information acquisition unit 82 selects one common block (common block ID) (S22). Next, the information acquisition unit 82 identifies one dynamic information block corresponding to the selected common block (S23). Specifically, the information acquisition unit 82 references the common block data 63 identified by the selected common block ID, and acquires one or more dynamic information block IDs included in the common block data 63.

[0072] The information acquisition unit 82 selects one dynamic information block (dynamic information block ID) (S24). Next, the information acquisition unit 82 acquires the status of the selected dynamic information block (S25). Specifically, the information acquisition unit 82 references the dynamic information 72 identified by the selected dynamic information block ID and acquires the status indicated by the dynamic information 72. If the dynamic information 72 includes a time period, the information acquisition unit 82 acquires the status of the specified time period.

[0073] If multiple dynamic information blocks correspond to one common block (No in S26), the information acquisition unit 82 processes the remaining dynamic information blocks (unprocessed dynamic information blocks among the dynamic information blocks to be processed). If there are unprocessed dynamic information blocks, the information acquisition unit 82 selects the next dynamic information block (next dynamic information block ID) (S27) and executes the process of step S25 for the next dynamic information block (S25).

[0074] If multiple common blocks correspond to one target area, the information acquisition unit 82 processes all of the common blocks (Yes in S28). If there are unprocessed common blocks, the information acquisition unit 82 selects the next common block (next common block ID) by referring to the map data 62 (S29), and executes the processes from step S23 onwards for the next common block.

[0075] In this way, the information acquisition unit 82 can acquire all the conditions of the target area by processing all of the common blocks corresponding to the target area while sequentially identifying the common block IDs indicated in the map data 62.

[0076] <Voxel and 2D representation of common blocks> Next, a display method will be described in which common blocks are represented as voxels on a map screen displayed by the terminal device 10. A voxel is a cube or a rectangular parallelepiped. When common blocks are displayed on a map screen, one common block is represented as one voxel. The common block and the voxel may have a similar relationship. Although voxels are three-dimensional in this way, the terminal device 10 of this embodiment can display voxels in a 2D representation.

[0077] Figure 15 shows an example of converting 3D voxels into a 2D planar image. Figure 15(a) shows the 3D voxels, and Figure 15(b) shows the planar image converted from the voxels into a 2D representation. Due to limitations in drawing, the patterns shown in the voxels in the following figures are color-coded. The color coding indicates the status of common blocks, such as traffic rules, weather, signal strength, and GPS strength. Furthermore, traffic rules include open, closed, one-way, speed limits, and altitude limits.

[0078] FIG. 15(a) shows three voxels 301 to 303. Voxel 301 is a common block where passage is prohibited, and voxels 302 and 303 are common blocks where passage is permitted. For ease of explanation, multiple voxels stacked vertically are referred to as a "voxel pillar" (a voxel pillar is an example of a block pillar). If the upper limit of three-dimensional space on the ground is considered to be the stratosphere, the height of a voxel pillar can reach the stratosphere, but may be limited by a preset height limit, the height of the current viewpoint, legal height restrictions, or the like.

[0079] 15(a) and 1 are obtained by generating an image captured by a virtual camera assumed to exist in the three-dimensional coordinate system of the moving body 50. Specifically, the virtual camera and the common block are assumed to be located in a world coordinate system, and a view transformation is performed to represent the position of the common block expressed in the world coordinate system in the camera coordinate system (the camera position is the origin, and the camera orientation is the -z direction). Assuming that there is a screen in front of the virtual camera that corresponds to the angle of view, the common block can be perspectively projected onto the screen to display the 3D voxel representation as an image captured by the virtual camera.

[0080] 15(a), there is only one voxel pillar 300 in the depth direction of the paper, so the user can see all voxels without rotating the voxel pillar 300. However, on a map screen, it is common for multiple voxel pillars to be adjacent to each other, and in this case, the user cannot see the voxels in the depth direction of the paper.

[0081] Therefore, in this embodiment, the display control unit 12 of the terminal device 10 converts the voxel column 300 into a 2D representation viewed from above. The display control unit 12 replaces each voxel with the same number of planar images. There is a fixed ratio (e.g., 1:1, 1:0.5, etc.) between the size of one side of the voxel (e.g., the front side relative to the viewpoint) and the size of the planar image. In other words, the larger the size of one side of the voxel, the larger the size of the planar image.

[0082] In FIG. 15(b), planar image 401 corresponds to voxel 301, planar image 402 corresponds to voxel 302, and planar image 403 corresponds to voxel 303. Converting multiple voxels 301 to 303 in the height direction into corresponding planar images 401 to 403 in this way is called "unfolding." The display control unit 12 unfolds the planar images 401 to 403 in a fixed direction in descending order of voxel size. In other words, the display control unit 12 arranges the planar images 401 to 403 adjacent to each other from the top to the bottom of the map screen. Processing may also be performed in descending order of voxel size. The display control unit 12 unfolds the planar images 401 to 403 in a fixed direction in descending order of voxel size. In other words, the display control unit 12 arranges the planar images 401 to 403 adjacent to each other from the bottom to the top of the map screen.

[0083] The multiple planar images corresponding to the voxel column 300 are collectively referred to as "unfolded planar images." The unfolded planar image 400 includes planar images 401 to 403 that are unfolded in a certain direction. The certain direction is, for example, from top to bottom on the display of the terminal device 10, starting from the planar image 401 or 403, but it may also be bottom to top, right to left, or left to right.

[0084] As shown in FIG. 15(b), in the 2D representation of planar images 401 to 403, the user can see that the topmost voxel is prohibited, but the second and third voxels from the top are passable.

[0085] One possible method for displaying the unfolded planar image is to display the voxel directly below the current location of the moving object 50 (the highest voxel among the voxel pillars lower than the moving object 50) in the center of the map screen. However, it is difficult to match the position of the planar image with the position of the moving object 50 in a 2D representation. Therefore, a possible method is to simultaneously display the voxel pillars and the unfolded planar image, and display them in the same color so that they correspond to each other. The user can select one or more voxel pillars with a mouse or the like, and the display control unit 12 displays the selected voxel pillars as the unfolded planar image. This makes it easier for the user to understand which voxel pillars on the map data are unfolded in the planar image.

[0086] Alternatively, the voxel pillars along the path ahead of the current location of the moving object 50 and the surrounding voxel pillars may be automatically expanded into a planar image without the user having to select a voxel pillar. In this case, too, it is preferable to display the voxel pillars and the expanded planar image in the same corresponding color.

[0087] The display control unit 12 can display a planar image converted into 3D voxel representation or 2D representation based on the common block data 63 transmitted from the flight server 80 as a Web application, and can further convert between them or display them simultaneously. Because the common block data 63 includes the center coordinates of the three-dimensional space, the display control unit 12 can identify multiple common blocks stacked in the vertical direction. The display control unit 12 can also identify common blocks adjacent in the horizontal direction. The display control unit 12 displays multiple common blocks stacked in the vertical direction and also develops them into a planar image. Note that in this embodiment, the display control unit 12 of the terminal device 10 executing the Web application has been described as converting between 3D voxel representation and 2D planar image representation. However, the same process can also be performed by the flight server 80. In this case, the flight server 80 transmits map screen data including the planar image converted into 2D representation to the terminal device 10, and the display control unit 12 displays it.

[0088] 15(a) is a cube or a rectangular parallelepiped close to a cube, the voxels may be rectangular instead of cubic, and the planar image may be rectangular instead of square.

[0089] <<When there are two voxel pillars in the horizontal direction>> 16 shows an example of conversion between a 3D representation of voxels and a 2D representation of a planar image when there are two voxel pillars 300 and 310. Voxel pillar 300 is an example of a first block pillar, and voxel pillar 310 is an example of a second block pillar.

[0090] FIG. 16(a) shows voxels in a 3D representation, and FIG. 16(b) shows a planar image converted to a 2D representation. When multiple voxel pillars 300, 310 exist horizontally relative to the viewpoint 308, the display control unit 12 arranges the unfolded planar images 400, 410 converted to a 2D representation so that their longitudinal directions are adjacent to each other. The longitudinal direction is the direction in which the planar images are unfolded. Because the voxel pillar 310 is to the right of the voxel pillar 300, the unfolded planar image 410 is arranged to the right of the unfolded planar image 410. Therefore, the voxel pillar 300 corresponds to the unfolded planar image 400, and the voxel pillar 310 corresponds to the unfolded planar image 410. The unfolded planar image 400 is an example of a first plurality of planar images, and the unfolded planar image 410 is an example of a second plurality of planar images. There may or may not be a gap between the unfolded planar images 400, 410 in the longitudinal direction. In FIG. 16(b), a planar image 411 corresponds to the voxel 311, a planar image 412 corresponds to the voxel 312, and a planar image 413 corresponds to the voxel 313.

[0091] In this way, when there are multiple voxel pillars 300, 310 in the horizontal direction, the display control unit 12 arranges the developed planar images 400, 410 adjacent to each other in the longitudinal direction, so that the user can check the state of the voxels included in the voxel pillars 300, 310.

[0092] <<When there are two voxel pillars in the depth direction>> 17 shows an example of conversion between 3D voxels and 2D planar images for three voxel pillars 300, 310, and 320. Voxel pillar 300 is an example of a third block pillar, and voxel pillar 310 is an example of a fourth block pillar.

[0093] FIG. 17(a) shows voxels in a 3D representation, and FIG. 17(b) shows a planar image converted into a 2D representation. When voxel pillars 300, 320 exist in the depth direction relative to viewpoint 308, display control unit 12 arranges the short sides of unfolded planar images 400, 420 converted into 2D representations adjacent to each other, and places unfolded planar image 420 above unfolded planar image 400. The short side direction is the direction perpendicular to the direction in which the planar images are unfolded. Unfolded planar image 400 is an example of a third plurality of planar images, and unfolded planar image 420 is an example of a fourth plurality of planar images. The unfolded planar image 400 of voxel pillar 300 in the foreground is placed on the bottom, and the unfolded planar image 420 of voxel pillar 320 in the background is placed on the top. 17(b), planar image 421 corresponds to voxel 321, planar image 422 corresponds to voxel 322, and planar image 423 corresponds to voxel 323.

[0094] In this way, when there are multiple voxel pillars 300, 320 in the depth direction, the display control unit 12 arranges the unfolded planar images 400, 420 adjacent to each other in the short direction, allowing the user to check the state of the voxels contained in the voxel pillar 320. The same applies when there are three or more voxel pillars in the depth direction, with the third and subsequent unfolded planar images being arranged above the unfolded planar image 420.

[0095] <<When voxels have notes>> Next, Fig. 18 is a diagram illustrating a planar image to which a note has been added. The voxel columns 300, 310 in Fig. 18(a) are the same as those in Fig. 16(a), and the unfolded planar images 400, 410 in Fig. 18(b) are the same as those in Fig. 16(b). It is assumed that a speed limit traffic rule is set in the common block corresponding to voxel 302. Therefore, the display control unit 12 displays a speed limit note 302a in voxel 302. Similarly, a one-way traffic rule is set in the common block corresponding to voxel 312. Therefore, the display control unit 12 displays a one-way traffic note 312a in voxel 312.

[0096] When the terminal device 10 displays a planar image converted into a 2D representation, the display control unit 12 displays a note 402a indicating the speed limit superimposed on the planar image 402 corresponding to the voxel 302. When the terminal device 10 displays a planar image, the display control unit 12 also displays a note 412a indicating that it is a one-way street on the planar image 412 corresponding to the voxel 312. This allows the user to recognize the traffic rules even when the voxels are represented in 2D.

[0097] Note that for a note 312a where direction is an element, such as a one-way street, the note 412a is displayed in the direction when viewed from above in the planar image 412. The direction of the one-way street set in the common block corresponding to the voxel 312 is the depth direction as viewed from the viewpoint 308. Therefore, the display control unit 12 displays the note 412a in the bottom-up direction.

[0098] For example, if the one-way direction set in the common block corresponding to voxel 312 is from left to right, note 412a is displayed in the left-to-right direction. If the one-way direction set in the common block corresponding to voxel 312 is from top to bottom, note 412a is displayed as a mark indicating the top-to-bottom direction. Figure 18(c) shows an example of the mark.

[0099] Although FIG. 18 illustrates the display of directions using traffic rules as an example, for notes that have directions such as wind direction, the display control unit 12 converts the directions in three-dimensional space into directions as viewed from above and displays them.

[0100] <<Displaying elevation on planar images>> Next, Figure 19 is a diagram illustrating an example of displaying elevation in a planar image converted to a 2D representation. Voxel pillars 300 and 310 in Figure 19(a) are the same as those in Figure 16(a), and unfolded planar images 400 and 410 in Figure 19(b) are the same as those in Figure 16(b). However, the elevations of the locations where voxel pillar 300 is located and those where voxel pillar 310 is located are different. For example, mountain 309 is located where voxel pillar 300 is located, making the elevation of the location where voxel pillar 300 is located higher. Because common blocks are defined based on the ground surface, the heights of the bottom surfaces of voxel pillars 300 and 310 may differ.

[0101] However, differences in altitude do not appear in planar images converted into 2D representations. Therefore, the display control unit 12 displays altitudes 404, 414 below the lowest planar images 403, 413. For example, if the altitude of the location of the voxel pillar 300 is "50 m," "50 m" is displayed below the lowest planar image. If the moving body 50 is an aircraft, it needs to move with a margin for altitude, so altitude information may be important. In this embodiment, the altitude is also displayed in planar images converted into 2D representations, allowing the user to check the altitude.

[0102] The altitude in the planar images may be displayed inside the lowest planar images 403, 413. Alternatively, the altitude may be displayed above or inside the highest planar images 401, 411. In other words, the altitudes 404, 414 may be displayed in association with the planar images 403, 413 so that it is clear that they are altitudes.

[0103] <<Voxel and 2D representations with common blocks of different sizes>> Next, FIG. 20 shows a display example of a voxel column 340 and 2D-represented planar images 431-438 when common blocks of different sizes are included. As described above, 3D-represented voxels are displayed based on common blocks, but the size of the common blocks is not constant. For this reason, voxels displayed by the terminal device 10 may include voxels of different sizes. The voxel column 340 in FIG. 20(a) has eight small voxels 331-338 (an example of a second block). Voxels 331-334 are located on the higher side relative to the ground surface, and voxels 335-338 are located on the lower side.

[0104] In FIG. 20, the common block is divided by equally dividing the length, width, and depth of the block. This allows the divided common block to also be cubic. Therefore, the original common block is divided into eight blocks of the same size. Any one or more of the common blocks corresponding to voxels 331 to 338 can be further divided into eight blocks. The size of voxels 331 to 338 does not necessarily have to be uniform. How the length, width, and depth of the common block are divided may be determined based on the design policy of the common block. Dynamic information is associated with the divided common block by performing the process of FIG. 14.

[0105] FIG. 20(b) shows an expanded planar image 440 in which the voxel column 340 is expanded into a 2D representation. Since there are eight voxels 331-338, the display control unit 12 divides the undivided planar image into four vertically and two horizontally to generate eight planar images 431-438 (an example of a second planar image). The division into four and two halves is performed so that the sizes of the planar images 431-438 are uniform. It is preferable that the size of the planar images 431-438 correlates with the size (volume, area, or length) of the voxels 331-338. For example, the display control unit 12 calculates the volume ratio or the area ratio of a certain face of the voxels 331-338, and divides the planar images 431-438 so that the size ratio is the same as the volume ratio or area ratio. The vertical, horizontal, and depth lengths of the common block do not necessarily need to be divided equally.

[0106] The display control unit 12 first renders the upper voxels 331 to 334 onto the planar image. Furthermore, the display control unit 12 first renders the back voxels 331 and 332 of the upper voxels 331 to 334 onto the planar image. Therefore, the display control unit 12 arranges planar images 431 and 432 corresponding to the back voxels 331 and 332 of the upper voxels 331 to 334 below the planar image 402, and arranges the planar images 431 and 432 adjacent to each other on the left and right. Next, the display control unit 12 arranges planar images 433 and 434 corresponding to the front voxels 333 and 334 below the planar images 431 and 432, and arranges the planar images 433 and 434 adjacent to each other on the left and right. The same applies to the lower voxels 335 to 338.

[0107] Thus, voxel 331 corresponds to planar image 431, voxel 332 corresponds to planar image 432, voxel 333 corresponds to planar image 433, and voxel 334 corresponds to planar image 434. Voxel 335 corresponds to planar image 435, voxel 336 corresponds to planar image 436, voxel 337 corresponds to planar image 437, and voxel 338 corresponds to planar image 438.

[0108] In this way, even if one voxel column 340 has voxels of different sizes, the 3D representation of voxels can be converted into a 2D representation of a planar image and displayed.

[0109] 20, the upper voxels are expanded into the planar image first, but this is because the expansion is performed in a fixed direction from top to bottom. The display control unit 12 may expand the lower voxels into the planar image first. That is, the display control unit 12 places planar images 435 and 436 above planar images 437 and 438. The display control unit 12 repeats this process up to planar image 401.

[0110] <<Displaying the current location of a moving object>> Next, Figure 21 shows a planar image displaying the current location of the moving object 50. The voxel columns 300, 310 in Figure 21(a) are the same as those in Figure 16(a), and the unfolded planar images 400, 410 in Figure 21(b) are the same as those in Figure 16(b). Voxel 312 in Figure 21(a) is the current location of the moving object 50. The flight server 80 communicates with the moving object 50 and receives the current location in real time. The flight server 80 transmits this current location to the terminal device 10, so that the display control unit 12 can display the current location of the moving object 50 on the map screen. The terminal device 10 determines which common block the current location of the moving object 50 is included in, and displays a mark 312b representing the moving object 50 in the voxel 312 corresponding to this common block.

[0111] As shown in FIG. 21(b), the display control unit 12 also displays a mark 412b of the moving object 50 in the planar image converted into a 2D representation. That is, the display control unit 12 displays the mark 412b of the moving object 50 in the planar image 412 corresponding to the voxel 312. When the display control unit 12 displays the mark 412b of the moving object 50, it is preferable to also display the direction of movement. The direction of movement may be determined from the route or from time-series position information. This allows the user to determine the direction of movement of the moving object 50 in the planar image converted into a 2D representation.

[0112] The movement direction of the moving object 50 is displayed as a direction when viewed from above in the planar image 412. When the movement direction of the moving object 50 is a depth direction when viewed from the viewpoint 308, the display control unit 12 displays an arrow or the like indicating a bottom-to-top direction.

[0113] <<Displaying the route of a moving object>> Next, Fig. 22 is a diagram for explaining the display of a route in a planar image converted into a 2D representation of voxels in 3D. For the sake of convenience, Fig. 22 assumes that there are no traffic rules. Fig. 22(a) shows the route in the 3D representation of voxels with arrow 370. This route indicates movement in the order of "voxel 302 → voxel 301 → voxel 311 → voxel 351."

[0114] 22(b) is an example of a path displayed in a planar image converted into a 2D representation. Voxels 302, 301, 311, and 351 correspond to planar images 402, 401, 411, and 451. Therefore, planar images 402, 401, 411, and 451 correspond to the path in the 2D representation. In this way, when moving object 50 moves to the voxel column on the far side, the path is not continuous in the planar image converted into a 2D representation.

[0115] The display control unit 12 displays a mark 412b representing the moving object 50 on all planar images corresponding to the 3D voxels through which the path passes. Therefore, in FIG. 22(b), the mark 412b representing the moving object 50 is displayed on the planar images 402, 401, 411, and 451.

[0116] Furthermore, the display control unit 12 may display the direction of movement when viewed from above in each of the planar images 402, 401, 411, and 451. The direction of movement is the direction of the route. For example, since the moving object 50 in voxel 302 moves upward, the planar image 402 displays a mark 461 indicating an upward direction from the bottom of the paper. Since the moving object 50 in voxel 301 moves to the right, the planar image 401 displays a mark 462 indicating the right direction. Since the moving object 50 in voxel 311 moves in the depth direction relative to the viewpoint, the planar image 411 displays a mark 463 indicating the upward direction. Since the moving object 50 in voxel 351 moves in the depth direction relative to the viewpoint, the planar image 451 displays a mark 464 indicating the upward direction. By doing so, the user can easily understand the route even if the route is not continuous in the planar images converted into a 2D representation.

[0117] <Modification of planar image> In this embodiment, the planar image is a rectangle, but the planar image may be a rectangle with rounded corners, a circle, an ellipse, a polygon, etc. The shape of the planar image may also vary depending on the height.

[0118] FIG. 23 shows modified shapes of planar images. FIG. 23(a) is the same as FIG. 18(a). FIG. 23(b) shows an unfolded planar image 470 (planar images 471 to 473) corresponding to a voxel pillar 300. Planar image 471 has a single square shape, planar image 472 has a double square shape, and planar image 473 has a triple square shape. Therefore, the user can easily determine which common block from the ground level each planar image corresponds to by looking at the shapes of planar images 471 to 473. For example, if there is a block pillar in the depth direction as shown in FIG. 20, it becomes easy to determine from the planar image where the block pillar changes.

[0119] The shape of the planar images may vary depending on the height of the common block, for example, by using a rectangle with rounded corners for every other image, or by repeatedly using three or more different planar images in the same pattern.

[0120] Furthermore, as shown in FIG. 23(c), the planar images may have numbers indicating their height from the ground surface. FIG. 23(c) shows an unfolded planar image 480 (planar images 481 to 483) corresponding to the voxel pillar 300. Planar image 481 has the number "1," planar image 482 has the number "2," and planar image 483 has the number "3." The numbers 1 to 3 indicate which common block each planar image corresponds to from the ground surface. Therefore, the user can easily determine which common block each planar image corresponds to from the ground surface by the numbers assigned to planar images 481 to 483. Since the user knows the size of one common block, they can grasp the height of planar images 481 to 483.

[0121] The display control unit 12 may display, on the planar images 481 to 483, the height (absolute value such as meters) from the ground surface of the common block to which the planar images 481 to 483 correspond. This height may be the height of the top surface, bottom surface, or center of the common block.

[0122] <Major Effects> When displaying multiple voxels stacked in the height direction in a 2D representation viewed from above, the 3D information display system 100 of this embodiment acquires information about voxels at different heights in descending order and displays planar images corresponding to the voxels by expanding them in a certain direction. This allows the terminal device 10 to display information about multiple stacked voxels even in a 2D representation, making it possible to display a state of 3D space that is difficult to visualize.

[0123] <Other application examples> The best mode for carrying out the present invention has been described above using examples, but the present invention is not limited to these examples in any way, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention.

[0124] For example, the moving body 50 may have the functionality of the flight server 80. In this case, the moving body 50 accesses the map database 61 and the external database 71 via the network NW to read the map data 62, the common block data 63, and the dynamic information 72. Alternatively, the moving body 50 may have all the functions of the flight server 80, the map database 61, and the external database 71. In this case, the moving body 50 can control its movement as if it were a standalone machine, without relying on other information processing devices.

[0125] In addition, in this embodiment, a 2D planar image is described when the voxel is viewed from above, but a 2D planar image may be displayed when the voxel is viewed from the front from the direction of travel. Alternatively, a 2D planar image may be displayed when the voxel is viewed from the side from the left or right of the direction of travel.

[0126] Furthermore, the map data may be displayed on the display 106 or may be projected onto a wall or the like by a projector.

[0127] Furthermore, the procedure for controlling a moving object performed by the three-dimensional information display system 100 is not limited to the example of the flowchart shown above. For example, some of the steps (processing) described above may be omitted, or the steps may be performed in a different order. Furthermore, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to the steps described above.

[0128] The configuration examples in Figure 4 and the like are divided according to main functions to make it easier to understand the processing by the flight server 80, the external server 70, and the terminal device 10. The method of dividing the processing units and their names do not limit the present invention. The processing by the flight server 80, the external server 70, and the terminal device 10 can also be divided into more processing units depending on the processing content. Furthermore, one processing unit can also be divided so that it includes more processes.

[0129] Each function of the above-described embodiments can be realized by one or more processing circuits. Here, the term "processing circuit" in this specification includes a processor programmed to perform each function by software, such as a processor implemented by an electronic circuit, as well as devices such as an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and conventional circuit modules designed to perform each of the above-described functions. [Explanation of symbols]

[0130] 10 Terminal Equipment 50 Mobile 70 External Servers 80 Flight Server

Claims

1. A three-dimensional information display system that displays information about a three-dimensional space in which a moving object can move on a display unit, a block data storage unit that divides a three-dimensional space into blocks and stores three-dimensional coordinates of each block; an information acquisition unit that acquires information associated with the block; Identifying one or more blocks based on the three-dimensional coordinates of the blocks and the set viewpoint; replacing a plurality of blocks stacked in a height direction with a plurality of planar images, and arranging the planar images adjacent to each other in a certain direction of the display unit in ascending or descending order of the blocks; a display control unit that displays the information associated with the block acquired by the information acquisition unit on the planar image corresponding to the block; A three-dimensional information display system having:

2. the information associated with the block acquired by the information acquisition unit is a traffic rule regarding the movement of the mobile object; The three-dimensional information display system according to claim 1 .

3. When the information associated with the block acquired by the information acquisition unit includes information regarding a direction, the display control unit converts information about the direction into a direction when the block is viewed from above, and displays the information about the direction in the planar image corresponding to the block. The three-dimensional information display system according to claim 2 .

4. the information acquisition unit acquires the elevation of the lowest block among the plurality of blocks stacked in the height direction, the display control unit displays the elevation in association with the planar image corresponding to the bottommost block. The three-dimensional information display system according to claim 1 .

5. an instruction generation unit that generates a route for the moving object based on a starting point and a destination; the display control unit displays a mark indicating that the route is a route on the planar image corresponding to the block through which the route passes. The three-dimensional information display system according to claim 1 .

6. the display control unit converts the moving direction determined from the route into a top view direction on the planar image corresponding to the block including the route, and displays the converted moving direction on the planar image corresponding to the block including the route. The three-dimensional information display system according to claim 5 .

7. A display method for a three-dimensional information display system to display information about a three-dimensional space in which a moving object can move on a display unit, comprising: a process in which a three-dimensional space is divided into blocks, and an information acquisition unit acquires information associated with each block based on a block data storage unit that stores three-dimensional coordinates of each block; a display control unit that identifies one or more blocks based on the three-dimensional coordinates of each block and the set viewpoint; replacing a plurality of blocks stacked in a height direction with a plurality of planar images, and arranging the planar images adjacent to each other in a certain direction of the display unit in ascending or descending order of the blocks; a process of displaying information associated with the block acquired by the information acquisition unit on the planar image corresponding to the block; Display method.

8. A terminal device that displays information about a three-dimensional space in which a moving object can move on a display unit, a block data storage unit that divides a three-dimensional space into blocks and stores three-dimensional coordinates of each block; a server having an information acquisition unit that acquires information associated with the block, and a terminal device that can communicate via a network; a communication unit that receives the three-dimensional coordinates of the block and information associated with the block from the server; Identifying one or more blocks based on the three-dimensional coordinates of the blocks and the set viewpoint; replacing a plurality of blocks stacked in a height direction with a plurality of planar images, and arranging the planar images adjacent to each other in a certain direction of the display unit in ascending or descending order of the blocks; a display control unit that displays the information associated with the block acquired by the information acquisition unit on the planar image corresponding to the block; A program to function as a

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