Terrain information generating device, terrain information generating system, and information generating method

Abstract

To provide a topographic information generation device which obtains topographic information for accurately grasping topography around a construction machine.SOLUTION: A topographic information generation device acquires topography sensing information from a plurality of topography sensing devices respectively provided near an upper portion of a vertical expansion and contraction mechanism of a plurality of working vehicles having the vertical expansion and contraction mechanism, and generates topographic information obtained by integrating the topography sensing information on the basis of a reference position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a topographical information generating device, a topographical information generating system, and an information generating method. [Background technology]

[0002] At construction sites, information on the topography of the area where construction machinery is to be worked is sometimes required to ensure safe operation. As a related technique, Patent Document 1 discloses a technique in which a camera monitor is attached to the tip of the boom of a work vehicle or to a member installed at the tip, allowing a person other than the operator to view the video. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-87059 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, in order to operate a construction machine safely, topographical information is required to accurately grasp the topography of a predetermined range including the position of the construction machine.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a topographical information generating device, a topographical information generating system, and an information generating method that solve the above-mentioned problems. [Means for solving the problem]

[0006] According to a first aspect of the present invention, a terrain information generating device is characterized by comprising: a linking unit that acquires terrain sensing information from a plurality of terrain sensing devices that are respectively provided near the top of the vertical extension mechanisms of a plurality of work vehicles that have vertical extension mechanisms; and a terrain information generating unit that generates terrain information based on transformed terrain sensing information that converts position information included in the terrain sensing information into position information in a reference coordinate system that is based on a reference position.

[0007] According to a second aspect of the present invention, a terrain information generation system includes a terrain information generation device, the terrain information generation device including a linking unit that acquires terrain sensing information from a plurality of terrain sensing devices that are respectively provided near the top of the up-down telescopic mechanisms of a plurality of work vehicles that have up-down telescopic mechanisms, and a terrain information generation unit that generates terrain information based on transformed terrain sensing information that converts position information included in the terrain sensing information into position information in a reference coordinate system based on a reference position.

[0008] According to a third aspect of the present invention, a terrain information generating method is characterized in that terrain sensing information is acquired from a plurality of terrain sensing devices each provided near the top of a vertical extension mechanism of a plurality of work vehicles having a vertical extension mechanism, and terrain information is generated based on transformed terrain sensing information obtained by converting position information included in the terrain sensing information into position information in a reference coordinate system based on a reference position. [Effects of the Invention]

[0009] According to the present invention, it is possible to obtain topographical information for accurately grasping the topography around the construction machine. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing an overview of a construction machine control system according to an embodiment of the present invention; [Figure 2] FIG. 1 is a block diagram of a construction machine control system according to an embodiment of the present invention. [Figure 3]FIG. 10 is a diagram showing the relationship between terrain information and terrain sensing information according to the present embodiment. [Figure 4] 1 is a hardware configuration diagram of a topographical information generating device according to an embodiment of the present invention. [Figure 5] 1 is a functional block diagram of a topographical information generating device according to an embodiment of the present invention. [Figure 6] FIG. 2 is a first diagram showing the processing flow of the topographical information generating device according to the present embodiment. [Figure 7] FIG. 1 is a diagram showing an outline of processing performed by a topographical information generating device according to an embodiment of the present invention. [Figure 8] FIG. 10 is a second diagram showing the processing flow of the topographical information generating device according to the present embodiment. [Figure 9] FIG. 1 is a diagram showing the minimum configuration of a topographical information generating device according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing a processing flow of a topographical information generating device with a minimum configuration according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a construction machine control system including a topographical information generating device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an outline of a construction machine control system according to this embodiment. As shown in FIG. 1, the construction machine control system 100 is configured to include at least a first aerial work vehicle 10, a second aerial work vehicle 20, and a construction machine 2.

[0012] The first aerial work vehicle 10 is equipped with a first terrain sensing device 11. The second aerial work vehicle 20 is equipped with a second terrain sensing device 21. The first terrain sensing device 11 and the second terrain sensing device 21 detect position information of each point in the area that the device can sense. For example, the first terrain sensing device 11 detects the distance from the first terrain sensing device 11 to an object. For example, the first terrain sensing device 11 detects the distance from the first terrain sensing device 11 to the ground surface E, the distance to a construction machine 2 parked in the area that the device can sense, the distance to a structure located in the area, and the distance to an obstacle. For example, the first terrain sensing device 11 identifies coordinates (position information) with the first terrain sensing device 11 as the origin for each point on the surface of the object from the first sensing device 11. Like the first terrain sensing device 11, the second terrain sensing device 21 also acquires position information of each point in the area that the device can sense. The location information is information indicating a location, such as the latitude, longitude, and altitude of each location. The first terrain sensing device 11 is provided on a bucket at the top of a boom that is one aspect of the vertical telescopic mechanism of the first aerial work platform 10. Similarly, the second terrain sensing device 21 is one aspect of the vertical telescopic mechanism of the first aerial work platform 20. be They are provided on the bucket at the top of the boom. The first terrain sensing device 11 and the second terrain sensing device 21 are, for example, TOF (Time of Flight) sensors. Note that the first terrain sensing device 11 and the second terrain sensing device 21 may also be stereo cameras.

[0013] FIG. 2 is a block diagram of the construction machine control system according to this embodiment. The first terrain sensing device 11 and the second terrain sensing device 21 each detect the distance from their own device to the ground surface at each point in their detection range. The first terrain sensing device 11 generates first terrain sensing information based on the distance from their own device to the ground surface at each point in their own detection range, and transmits this information to the terrain information generating device 1. Similarly, the second terrain sensing device 21 generates second terrain sensing information based on the distance from their own device to the ground surface at each point in their own detection range, and transmits this information to the terrain information generating device 1. The first terrain sensing information and the second terrain sensing information are collectively referred to as terrain sensing information.

[0014] The first terrain sensing device 11 and the second terrain sensing device 21 are attached to the tip of the boom of each aerial work platform 10, 20, and generate terrain sensing information by sensing from above, making it possible to generate terrain sensing information for a wide area. Also, because the first terrain sensing device 11 and the second terrain sensing device 21 are provided on each aerial work platform 10, 20, terrain sensing information for a variety of different areas can be generated as the aerial work platforms 10, 20 move.

[0015] The terrain information generating device 1 generates terrain information based on the terrain sensing information acquired from each of the first terrain sensing device 11 and the second terrain sensing device 21, the reference position P0, the position P1 of the first terrain sensing device 11, and the position P2 of the second terrain sensing device 21. The reference position P0 is a position determined by a person in charge using a surveying device 40 or the like. The terrain information generating device 1 outputs the generated terrain information to a display device 6. The terrain information generating device 1 and the display device 6 may be provided on the construction machine 2, or may be provided in a remote location away from the construction machine 2.

[0016] FIG. 3 is a diagram showing the relationship between the terrain information generated by the terrain information generating device and the terrain sensing information. The terrain information generating device 1 acquires first terrain sensing information generated by a first terrain sensing device 11 located at P1 sensing a first area 81, and second terrain sensing information generated by a second terrain sensing device 21 located at P2 sensing a second area 82. The terrain information generating device 1 converts the information on each position indicated by the first terrain sensing information and the second terrain sensing information into position information in a reference coordinate system with a reference position P0 as the origin, and generates terrain information.

[0017] FIG. 4 is a diagram showing the hardware configuration of the topographical information generating device 1. As shown in FIG. As shown in FIG. 4, the topographical information generating device 1 is a computer equipped with various hardware components such as a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a database 104, a communication module 105, and the like.

[0018] FIG. 5 is a functional block diagram of the topographical information generating device. The topographical information generating device 1 executes a program stored in advance, thereby causing the topographical information generating device 1 to perform the functions of a control unit 51, a linking unit 52, a topographical information generating unit 53, and an output unit .

[0019] The control unit 51 controls the other functional units. The linking unit 52 acquires terrain sensing information from the first terrain sensing device 11 and the second terrain sensing device 21 . The terrain information generation unit 53 generates terrain information. The terrain information generation unit 53 generates terrain information by converting the terrain sensing information into a reference coordinate system using the position P1 of the first terrain sensing device 11 and the position P2 of the second terrain sensing device 21, with the reference position P0 as the reference. The output unit 54 outputs the topographical information to the display device 6.

[0020] FIG. 6 is a first diagram showing the processing flow of the topographical information generating device. FIG. 7 is a diagram showing an outline of the processing performed by the topographical information generating device. Next, the processing flow of the topographical information generating device will be explained step by step. The control unit 51 of the terrain information generating device 1 starts generating terrain information (step S101). For example, the control unit 51 starts generating terrain information when it detects the start of the construction machine 2. The control unit 51 instructs the cooperation unit 52 to acquire terrain sensing information.

[0021] The collaboration unit 52 requests the first terrain sensing device 11 to transmit first terrain sensing information (step S102). The collaboration unit 52 also requests the second terrain sensing device 21 to transmit second terrain sensing information (step S103). The collaboration unit 52 acquires the first terrain sensing information from the first terrain sensing device 11 (step S104). The collaboration unit 52 also acquires the second terrain sensing information from the second terrain sensing device 21 (step S105).

[0022] The first terrain sensing information includes the x, y, and z coordinates of each position in the first region 81 in a first coordinate system with position P1 (x1, y1, z1) as its origin. The first region 81 is the sensing region of the first terrain sensing device 11. The first terrain sensing information may also include polar coordinates (r, θ, φ) of each position in the first region 81 in the first coordinate system with position P1 (x1, y1, z1) as its origin. Here, r is the distance of each position from position P1, θ is the angle between the x-axis of the first coordinate system and a line from position P to each position in the xy plane of the first coordinate system, and φ is the angle between the x-axis of the first coordinate system and a line from position P to each position in the xz plane of the first coordinate system. In this case, the polar coordinates (r, θ, φ) are converted into three-dimensional coordinates (x, y, z) using the following equations: x = r × cos(θ) × cos(φ) y=r×cos(θ)×sin(φ) z=r×sin(θ)

[0023] The second terrain sensing information includes the x, y, and z coordinates of each position in the second region 82 in a second coordinate system with the position P2 (x2, y2, z2) as its origin. The second region 82 is the sensing region of the second terrain sensing device 21. The second terrain sensing information may also include polar coordinates (r, θ, φ) of each position in the second region 82 in the second coordinate system with the position P2 (x2, y2, z2) as its origin. Here, r is the distance of each position from the position P2, θ is the angle between the x-axis in the second coordinate system and a straight line from the position P to each position in the xy plane of the second coordinate system, and φ is the angle between the x-axis in the second coordinate system and a straight line from the position P to each position in the xz plane of the second coordinate system. In this case, Also, the above Convert polar coordinates (r, θ, φ) to three-dimensional coordinates (x, y, z) using the formula:

[0024] The linking unit 52 acquires information about the reference position P0 (step S106). The information about the reference position P0 is, for example, information that is input in advance by an administrator into the terrain information generating device 1 and stored in the terrain information generating device 1. The linking unit 52 also acquires the position P1 of the first terrain sensing device 11 and the position P2 of the second terrain sensing device 21 (step S107). The position P1 of the first terrain sensing device 11 and the position P2 of the second terrain sensing device 21 are, for example, information that is input in advance by an administrator into the terrain information generating device 1 and stored in the terrain information generating device 1. Alternatively, the information about the reference position P0, the position P1 of the first terrain sensing device 11, and the position P2 of the second terrain sensing device 21 may be information that the terrain information generating device 1 acquires from an external terminal via a wired network (e.g., a local area network (LAN) or optical fiber) or a wireless network (e.g., LTE (Long Term Evolution), WiFi (registered trademark), or local 5G). The first terrain sensing device 11 may be equipped with a GPS sensor, and the first terrain sensing device 11 may generate GPS information indicating the latitude, longitude, and altitude of position P1 detected by the GPS sensor at position P1 (x1, y1, z1), and store this GPS information in the first terrain sensing information. Similarly, the second terrain sensing device 21 may be equipped with a GPS sensor, and the second terrain sensing device 21 may generate GPS information indicating the latitude, longitude, and altitude of position P2 detected by the GPS sensor at position P2 (x2, y2, z2), and store this GPS information in the second terrain sensing information. The linking unit 52 outputs the first terrain sensing information, the second terrain sensing information, and the reference position P0 to the terrain information generating unit 53.

[0025] Here, in Figure 7, dashed line H0 indicates the height position of reference position P0. Also, dashed line L0 indicates the planar position of reference position P0. Also, dashed line H1 indicates the height of position P1 of the first terrain sensing device 11, which is the origin of the first coordinate system. Also, dashed line H2 indicates the height of position P2 of the second terrain sensing device 21, which is the origin of the second coordinate system. Also, dashed line H91 indicates the height of arbitrary position P91 in the first coordinate system. Also, dashed line H92 indicates the height of arbitrary position P92 in the second coordinate system. The terrain information generation unit 53 calculates position information (x01, y01, z01) of the arbitrary position P91 in the reference coordinate system based on the positional relationship d81, h62 between the position P1 (x1, y1, z1) of the first terrain sensing device 11, which is the origin of the first coordinate system, and the arbitrary position P91 (x11, y11, z11) in the first coordinate system, and the positional relationship d82, h61 between the first terrain sensing device 11 and the reference position P0. Similarly, the terrain information generation unit 53 generates converted first terrain sensing information by calculating the positional information in the reference coordinate system of each point included in the first terrain sensing information (step S108).

[0026] More specifically, the terrain information generation unit 53 calculates position information (x01, y01, z01) of an arbitrary position P91 in a reference coordinate system having the reference position P0 as its origin, based on the difference between position information (x00, y00, z00) of the reference position P0 in the first coordinate system and position information (x11, y11, z11) of the position P1 of the first terrain sensing device 11, which is the origin of the first coordinate system. In this way, the terrain information generation unit 53 generates converted first terrain sensing information by converting the position information of each position included in the first terrain sensing information.

[0027] Similarly, the terrain information generation unit 53 calculates position information (x02, y02, z02) of the arbitrary position P92 in the reference coordinate system based on the positional relationship d91, h72 between the position P2 (x2, y2, z2) of the second terrain sensing device 21, which is the origin in the second coordinate system, and the arbitrary position P92 (x22, y22, z22) in the second coordinate system, and the positional relationship d92, h71 between the second sensing device 21 and the reference position P0. Similarly, the terrain information generation unit 53 generates converted second terrain sensing information by calculating the positional information in the reference coordinate system of each point included in the second terrain sensing information (step S109).

[0028] More specifically, the terrain information generation unit 53 calculates position information (x02, y02, z02) of an arbitrary position P92 in a reference coordinate system having the reference position P0 as its origin, based on the difference between position information (x000, y000, z000) of the reference position P0 in the second coordinate system and position information (x22, y22, z22) of a position P2 of the second terrain sensing device 21, which is the origin of the second coordinate system. In this way, the terrain information generation unit 53 generates converted second terrain sensing information by converting the position information of each position included in the second terrain sensing information.

[0029] The terrain information generating unit 53 pre-stores area information 80 indicating an area for which terrain information is to be generated in a reference coordinate system having a reference position P0 as its origin. For example, this area information may be information set by a user and acquired by the terrain information generating device 1. The area information includes position information indicating the area. The terrain information generating unit 53 acquires position information in the reference coordinate system of each position included in the area information in the converted first terrain sensing information. The terrain information generating unit 53 also acquires position information in the reference coordinate system of each position included in the area information in the converted second terrain sensing information. The terrain information generating unit 53 then generates terrain information for the target area based on the position information in the reference coordinate system of each position included in the area information 80 acquired from the converted first terrain sensing information and the position information in the reference coordinate system of each position included in the area information 80 acquired from the converted second terrain sensing information (step S110). The terrain information is information including the x, y, and z values ​​of each position in the reference coordinate system.

[0030] The topographical information generating unit 53 outputs the topographical information to the output unit 54. The output unit 54 outputs the topographical information to the display device 6 (step S111). Based on the topographical information, the display device 6 generates a topographical image in a reference coordinate system with the reference position P0 as the origin, and displays it on the monitor.

[0031] In the above description, as shown in FIGS. 1 and 3, there is one area for which terrain information is to be generated, and this area is included in the first region 81 that can be sensed by the first terrain sensing device 11 and the second region 82 that can be sensed by the second terrain sensing device 21. However, this is not limiting. For example, there may be two areas for which terrain information is to be generated, and each area may be included in the first region 81 that can be sensed by the first terrain sensing device 11 and the second region 82 that can be sensed by the second terrain sensing device 21. In this case, the output unit 54 outputs terrain information for each area for which terrain information is to be generated. There may be three or more areas for which terrain information is to be generated, and similarly, there may be three or more terrain measurement devices.

[0032] FIG. 8 is a second diagram showing the processing flow of the topographical information generating device. The terrain information generating device 1 may control the aerial work vehicle based on information about the area for which terrain information is to be generated so that the area can be sensed. When performing this control, the terrain information generating device 1 further includes a work vehicle control unit (not shown). The work vehicle control unit acquires converted first terrain sensing information and converted second terrain sensing information (step S201). The work vehicle control unit compares predetermined area information 80 for which terrain information is to be generated with the converted first terrain sensing information and the converted second terrain sensing information, and determines whether the area indicated by the area information 80 is an area encompassed by the converted first terrain sensing information and the converted second terrain sensing information (step S202). If the area information 80 is not an area encompassed by the converted first terrain sensing information and the converted second terrain sensing information, the work vehicle control unit determines the amount of movement required to move the first terrain sensing device 11 or the second terrain sensing device 21 to the area indicated by the converted first terrain sensing information or the area indicated by the converted second terrain sensing information so that the area indicated by the area information 80 is encompassed by the converted first terrain sensing information and the converted second terrain sensing information (step S203).

[0033] Specifically, the work vehicle control unit compares the area indicated by the converted first terrain sensing information, the area indicated by the converted second terrain sensing information, and the area for which terrain information is to be generated. If the work vehicle control unit determines that the area for which terrain information is to be generated is not included in the area encompassed by the area indicated by the converted first terrain sensing information and the area indicated by the converted second terrain sensing information, the work vehicle control unit determines whether the area indicated by predetermined area information 80 for which terrain information is to be generated will be included in the area encompassed by the area indicated by the converted first terrain sensing information and the area indicated by the converted second terrain sensing information by shifting or enlarging either the area indicated by the converted first terrain sensing information or the area indicated by the converted second terrain sensing information.

[0034] If the identified area is an area of ​​the converted first terrain sensing information, the work vehicle control unit decides to control the first aerial work vehicle 10. If the identified area is an area of ​​the converted second terrain sensing information, the work vehicle control unit decides to control the second aerial work vehicle 20. The work vehicle control unit instructs the first aerial work vehicle 10 or the second aerial work vehicle 20 that it has decided to control to move (step S204). This movement instruction may be an instruction to move the sensing range, or may be converted into an instruction to further extend the boom to expand the sensing range. Through this processing, it is possible to automatically change the sensing position of the terrain sensing device for generating terrain information.

[0035] The above-mentioned construction machinery control system shows a case where two aerial work vehicles are used, but the terrain information generating device 1 may also calculate terrain information using terrain sensing information from terrain sensing devices installed on more aerial work vehicles through similar processing.

[0036] FIG. 9 is a diagram showing the minimum configuration of a topographical information generating device. FIG. 10 is a diagram showing the processing flow of a topographical information generating device with a minimum configuration. The topographical information generating device 1 includes at least a linking unit 52 and a topographical information generating unit 53. The linking unit 52 acquires terrain sensing information from a plurality of terrain sensing devices provided near the tops of the booms of a plurality of aerial work platforms (step S901). The terrain information generating unit 53 generates terrain information based on transformed terrain sensing information obtained by converting the position information included in the terrain sensing information into position information in a reference coordinate system based on the reference position P0 (step S902).

[0037] Each of the above-mentioned devices may have a computer system built in. The steps of each of the above-mentioned processes may be stored in the form of a program on a computer-readable recording medium, and the computer may read and execute the program to perform the above-mentioned processes. Here, computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Alternatively, the computer program may be distributed to a computer via a communication line, and the computer that receives the program may execute the program.

[0038] The program may also be a program for implementing some of the functions described above, or may be a so-called differential file (differential program) that can implement the functions described above in combination with a program already stored in the computer system. [Explanation of symbols]

[0039] 1... Terrain information generation device 2. Construction machinery 10...First aerial work vehicle 20...Second aerial work vehicle 11. First terrain sensing device 21. Second terrain sensing device 6...Display device 51 Control unit 52. Collaboration Department 53...Terrain information generation section 54 Output section

Claims

1. a linking unit that acquires terrain sensing information from terrain sensing devices that are respectively provided near the tops of the vertical extension mechanisms of a plurality of work vehicles having vertical extension mechanisms; a terrain information generating unit that generates terrain information based on a plurality of converted terrain sensing information pieces corresponding to the terrain sensing information pieces, the converted terrain sensing information pieces being obtained by converting the position information included in the terrain sensing information pieces into position information in a reference coordinate system based on a reference position input by a user; a control unit that controls at least one of the work vehicles so that an area specified based on the area information can be sensed, based on a comparison between area information acquired based on a user's settings and indicating an area for which the terrain information is to be generated and sensing areas indicated by a plurality of the converted terrain sensing information; and A topographical information generating device comprising:

2. the work vehicle is an aerial work vehicle, the terrain sensing device is provided near a work platform provided on an upper part of the vertical extension mechanism of the aerial work vehicle, The control unit controls at least one of the work vehicles so that the specified area can be sensed by the vertical extension mechanism. The topographical information generating device according to claim 1 .

3. the terrain sensing device measures the distance to the ground surface; The terrain information generating unit generates terrain information based on converted terrain sensing information obtained by converting terrain sensing information indicating position information in a coordinate system based on a distance to each position on the earth's surface in a coordinate system having each of the terrain sensing devices as an origin into position information in a reference coordinate system having the reference position as a reference.

3. The topographical information generating device according to claim 1 or 2.

4. The control unit controls the work vehicle so that each individual area specified based on area information indicating an area for which the topographical information is to be generated can be sensed. The topographical information generating device according to any one of claims 1 to 3, comprising:

5. a linking unit that acquires terrain sensing information from terrain sensing devices that are respectively provided near the tops of the vertical extension mechanisms of a plurality of work vehicles having vertical extension mechanisms; a terrain information generating unit that generates terrain information based on a plurality of converted terrain sensing information pieces corresponding to the terrain sensing information pieces, the converted terrain sensing information pieces being obtained by converting the position information included in the terrain sensing information pieces into position information in a reference coordinate system based on a reference position input by a user; a control unit that controls at least one of the work vehicles so that an area specified based on the area information can be sensed, based on a comparison between area information acquired based on a user's settings and indicating an area for which the terrain information is to be generated and sensing areas indicated by a plurality of the converted terrain sensing information; and A topographical information generating system comprising:

6. the work vehicle is an aerial work vehicle, the terrain sensing device is provided near a work platform provided on an upper part of the vertical extension mechanism of the aerial work vehicle, The control unit controls at least one of the work vehicles so that the specified area can be sensed by the vertical extension mechanism. The topographical information generating system according to claim 5 .

7. the terrain sensing device measures the distance to the ground surface; The terrain information generating unit generates terrain information based on converted terrain sensing information obtained by converting terrain sensing information indicating position information in a coordinate system based on a distance to each position on the earth's surface in a coordinate system having each of the terrain sensing devices as an origin into position information in a reference coordinate system having the reference position as a reference.

7. The topographical information generating system according to claim 5 or 6.

8. The topographical information generating unit The work vehicle is controlled so that each individual area specified based on area information indicating an area for which the topographical information is to be generated can be sensed. The topographical information generating system according to any one of claims 5 to 7, comprising:

9. Acquiring terrain sensing information from terrain sensing devices provided near the top of the vertical extension mechanisms of a plurality of work vehicles having vertical extension mechanisms; control at least one of the work vehicles so that the area specified based on the area information can be sensed based on the area information, based on a comparison between area information acquired based on user settings and indicating an area for which terrain information is to be generated, and converted terrain sensing information obtained by converting position information included in the terrain sensing information into position information in a reference coordinate system based on a reference position input by the user, the converted terrain sensing information indicating sensing areas corresponding to each of the terrain sensing information; generating terrain information based on the plurality of pieces of terrain sensing information after conversion; Topographic information generation method.

10. the terrain sensing device measures the distance to the ground surface; The terrain sensing information indicates position information in a coordinate system based on a distance between each position on the surface of the earth in the coordinate system having each of the terrain sensing devices as an origin, and is converted into position information in a reference coordinate system having the reference position as a reference. The terrain information is generated based on converted terrain sensing information. The method for generating topographical information according to claim 9.

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