Survey information management system, survey information management method, and survey information management program

Abstract

To enable scanning to be efficiently carried out on site, as well as visually confirm a scanning state and a data acquisition result.SOLUTION: A survey information management system includes: a survey information acquisition unit for acquiring, using an information display terminal and a survey device for surveying a point cloud in a three-dimensional space, survey information that includes point cloud data to which position information is linked, from the surveying device; a range setting unit for setting the display range of the point cloud; a section setting unit for dividing the display range into prescribed unit sections; a point cloud amount calculation unit for calculating, for each unit section, a point cloud amount included in a space; and a point cloud amount display unit for causing the information display terminal to display with regard to each section of the display range, in accordance with the point cloud amount for each unit section calculated by the point cloud amount calculation unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a survey information management system, a survey information management method, and a survey information management program. [Background technology]

[0002] In recent years, ICT technology has been used in construction sites as well. Due to labor shortages and recent infectious disease infection control measures, there is a demand for ICT technology to improve work efficiency and reduce the number of workers.

[0003] One known system for acquiring 3D data on topography, features, etc. using such ICT technology is one that uses a ground-based 3D scanner device to measure objects from multiple locations, acquires 3D point cloud data, and displays it on a terminal (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-56616 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, the only methods available for checking the acquisition status of such three-dimensional point cloud data are to check the distribution of the point cloud data on a flat map or to check the three-dimensional point cloud data by drawing it in a virtual space that imitates three-dimensional space, etc. However, when checking the distribution of point cloud data on a flat map, it is not clear whether the required three-dimensional point cloud quantity is met, and when checking by drawing it imitates three-dimensional space, there is a limit to the space that can be drawn and checked at one time, making it a burden to check all areas.

[0006] Based on the above, the object of the present invention is to provide a surveying information management system, a surveying information management method, and a surveying information management program that are capable of efficiently scanning on-site in a surveying information management system that measures point clouds in three-dimensional space, and that can visually confirm the scanning status and the results of data acquisition. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a surveying information management system according to an embodiment of the present disclosure includes: a surveying information acquisition unit that acquires surveying information including point cloud data linked to location information from the surveying device using an information display terminal and a surveying device that measures point clouds in three-dimensional space; a range setting unit that sets the display range of the point cloud; a division setting unit that divides the display range into predetermined unit divisions; a point cloud quantity calculation unit that calculates the point cloud quantity contained in the space for each unit division; and a point cloud quantity display unit that displays on the information display terminal the point cloud quantity for each unit division calculated by the point cloud quantity calculation unit for each division of the display range.

[0008] Furthermore, in order to achieve the above-mentioned object, a surveying information management method according to an embodiment of the present disclosure includes a surveying information acquisition step in which a surveying information acquisition unit acquires surveying information including point cloud data linked to location information from the surveying device using an information display terminal and a surveying device, a range setting step in which a range setting unit sets a display range for the point cloud quantity, a section setting step in which a section setting unit divides the display range into predetermined unit sections, a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the point cloud quantity contained in the space for each unit section, and a point cloud quantity display step in which a point cloud quantity display unit displays on the information display terminal the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range.

[0009] Furthermore, in order to achieve the above-mentioned object, the surveying information management method according to an embodiment of the present disclosure has a computer execute the following steps to display surveying information using an information display terminal and a surveying device: a surveying information acquisition step in which a surveying information acquisition unit acquires surveying information including point cloud data linked to location information from the surveying device; a range setting step in which a range setting unit sets a display range for the point cloud; a section setting step in which a section setting unit divides the display range into predetermined unit sections; a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the point cloud quantity contained in the space for each unit section; and a point cloud quantity display step in which a point cloud quantity display unit displays on the information display terminal the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range. [Effects of the Invention]

[0010] According to the present invention, scanning can be performed efficiently on-site, and the scanning status and the results of data acquisition can be visually confirmed. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a system configuration diagram showing a configuration of a survey information management system according to an embodiment of the present disclosure. [Figure 2] FIG. 10 is a flowchart illustrating a processing flow. [Figure 3] 10 shows an example of a screen displayed on an information display terminal. [Figure 4] 10 shows an example of a screen displayed on an information display terminal. [Figure 5] 10 shows an example of a screen displayed on an information display terminal. [Figure 6] 10 shows an example of a screen displayed on an information display terminal. [Figure 7] 10 shows an example of a screen displayed on an information display terminal. DETAILED DESCRIPTION OF THE INVENTION

[0012] <Summary> For example, at outdoor construction sites such as civil engineering works, work is carried out to confirm the site conditions by acquiring three-dimensional point cloud data (hereinafter sometimes referred to as point cloud data) using surveying devices such as 3D scanners before construction begins or at successive times, such as at the start of construction. Such site conditions are submitted as deliverables to required agencies in a predetermined format, such as a report. Acquiring a point cloud at a site typically involves setting up a surveying device and acquiring a point cloud around that location, a process that is repeated multiple times at different locations. Alternatively, it is also possible to mount a 3D scanner on a mobile vehicle and acquire point clouds while moving within a controlled area.

[0013] The status of the acquisition of 3D point cloud data is checked using an information display device that can be viewed by the worker at hand, such as a smartphone, tablet, or PC. In this case, the method of displaying the point cloud volume and point cloud drawing in a virtual space that simulates 3D space is limited in the space that can be drawn and checked at one time, so it takes time to check all areas and it is not possible to check them all at once.

[0014] Furthermore, in order for workers to complete the work of checking the status of point cloud acquisition on-site, they are required to confirm that the required amount of point cloud data is met within all areas of the range to be managed, and it is also necessary to be able to confirm this quantitatively.

[0015] Another problem is that it is not desirable for all of the acquired 3D point cloud data to be displayed. When carrying out construction work, areas that must be managed are defined, and displaying and counting point clouds for areas outside the management range is a waste of computing resources and places a heavy load on the system.

[0016] As a measure to address each aspect of the above phenomena, the inventors of the present disclosure came up with the concept of managing point cloud quantities, and by performing this within a specified management area, they intended to enable efficient scanning when scanning on site, and to make it possible to visually predict the scanning situation and confirm the results of data acquisition, thereby making work more efficient.

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present disclosure will now be described with reference to the accompanying drawings. Fig. 1 is a system configuration diagram showing the configuration of a survey information management system according to an embodiment of the present disclosure.

[0018] <System configuration> The surveying information management system 1 comprises an information display terminal 100 and a surveying device 200, which are used by a worker 2. The worker 2 uses the surveying information management system 1, which comprises these components, to check three-dimensional point cloud data acquired outdoors, for example, at a civil engineering construction site.

[0019] An example of a surveying instrument 200 for measuring and acquiring three-dimensional point cloud data is a three-dimensional scanner, more specifically, a three-dimensional laser scanner. The surveying instrument 200 includes a surveying instrument storage unit 220, a scanner unit 260, an attitude drive unit 281, an attitude detection unit 282, a surveying instrument display unit 250, a surveying instrument operation unit 240, a surveying instrument communication unit 230, a surveying instrument processing unit 210, and a position acquisition unit 270, all of which are electrically connected to one another. In addition, the surveying instrument 200 may include a camera unit (not shown) for taking panoramic photographs of the site.

[0020] The surveying instrument storage unit 220 is a storage device using a memory or a magnetic disk, and stores various design information for the site. This design information includes, for example, BIM (Building Information Modeling). Note that the design information is not limited to BIM, and may be, for example, three-dimensional CAD data. It may also be a graphical drawing in which a scale is added to an image file.

[0021] The scanner unit 260 is, for example, a laser scanner, and includes a distance measurement unit 261 and a deflection unit 262. The distance measurement unit 261 has a function of measuring distance and angle by irradiating laser light, which is distance measurement light, and receiving the reflected light.

[0022] The attitude driving unit 281 is an actuator that rotates the scanner unit 260 in the horizontal and vertical directions. By driving the attitude driving unit 281, the orientation of the scanner unit can be changed.

[0023] The attitude detection unit 282 is a rotation angle sensor (encoder) that can detect the horizontal angle and vertical angle driven by the attitude drive unit 281. The attitude detection unit 282 may also have an inclination measurement device (tilt sensor) that detects the inclination angle of the surveying instrument 200. The attitude detection unit 282 can detect the direction in which the scanner unit 260 is pointed.

[0024] The surveying instrument display unit 250 is a display capable of displaying various information such as a virtual space based on the design information stored in the surveying instrument memory unit 220, the results of measurements made by the scanner unit 260, and the results of analysis made by the surveying instrument processing unit 210.

[0025] The surveying instrument operation unit 240 is a part that allows the setting and operation of measurements by the scanner unit 260, driving of the attitude driving unit 281, etc. This surveying instrument operation unit 240 may be a physical button or the like, or may be a touch screen integrated with the surveying instrument display unit 250.

[0026] The surveying instrument communication unit 230 is a communication device that can communicate with at least various information terminals. For example, the communication unit may be a communication device that can be connected to a network such as the Internet, or may be connected to the information display terminal 100 wirelessly or via a wired connection to communicate with the information display terminal 100.

[0027] The position acquisition unit 270 has a function of acquiring the position of the surveying device 200 while it is stationary or moving. Specifically, for example, it has a function of acquiring the position by installing an instrument point of the surveying device 200, and can measure its own position by surveying a target such as a retroreflecting prism installed at a known position. Alternatively, the position acquisition unit 270 may be a GNSS receiving device.

[0028] The surveying instrument processing unit 210 is the central processing unit that performs various controls in the surveying instrument 200, and has a point cloud data generation unit 221, an actual measurement position calculation unit 222, and a display control unit 223 as functions realized by the programs stored in the surveying instrument memory unit 220.

[0029] The display control unit 223 has the function of generating a three-dimensional virtual space display of the construction site based on the design information stored in the surveying instrument memory unit 220, and displaying the point cloud data displayed in the virtual space, the actual measured position calculated by the actual measured position calculation unit 222, etc. on the surveying instrument display unit 250.

[0030] The point cloud data generation unit 221 has a function of generating three-dimensional point cloud data from the distance of each ranging point (point cloud) measured by the scanner unit 260 and the horizontal angle and vertical angle detected by the attitude detection unit 282.

[0031] The measured position calculation unit 222 has a function of calculating the measured positions of the three-dimensional point cloud data generated by the point cloud data generation unit 221.

[0032] The surveying device 200 may have other surveying functions. For example, it may be a total station (TS) with a three-dimensional scanner function. It may also have a mobile function to autonomously navigate a predetermined route, or may be capable of remotely controlling its travel route. Examples of mobile objects with a mobile function include vehicles, robots, and unmanned aerial vehicles (UAVs). Vehicles also include heavy machinery that travels within a site.

[0033] The information display terminal 100 includes, for example, a smartphone, a feature phone, a tablet, a handheld computer device (e.g., a PDA (Personal Digital Assistant)), a wearable device (e.g., an eyeglass-type device, a watch-type device), etc. By installing application software on a general-purpose terminal, it can be used as the information display terminal according to this embodiment. These information display terminals 100 are equipped with a terminal display unit 150 and can be easily carried to a construction site. Furthermore, the terminal display unit 150 can be viewed hands-free or by holding it in one hand. Furthermore, they are equipped with an internal power source such as a battery and can operate for a certain period of time without requiring an external power source.

[0034] The information display terminal 100 includes a terminal communication unit 130 , a terminal storage unit 120 , a terminal processing unit 110 , a terminal input unit 140 , and a terminal display unit 150 .

[0035] The device processing unit 110 executes functions and / or methods implemented by code or instructions included in a program (not shown) stored in the device storage unit 120. The device processing unit 110 may include, for example, a central processing unit (CPU), an MPU, a GPU, a microprocessor, a processor core, a multiprocessor, an ASIC, an FPGA, etc., and may implement each process disclosed in each embodiment using a logic circuit or a dedicated circuit formed in an integrated circuit, etc. Furthermore, these circuits may be implemented using one or more integrated circuits, and multiple processes described in each embodiment may be implemented using a single integrated circuit. Furthermore, the device may include a main memory (not shown) that temporarily stores programs read from the device storage unit 120 and provides a working area for the device processing unit 110.

[0036] The terminal communication unit 130 can communicate with the surveying instrument communication unit 230 of the surveying instrument 200, and can receive three-dimensional point cloud data measured and calculated by the surveying instrument 200, as well as position information of the surveying instrument 200. The calculation of the measured position information for the three-dimensional point cloud data may be performed on the surveying instrument 200 side, or on the information display terminal 100 side. The communication may be performed either wired or wirelessly, and any communication protocol may be used as long as mutual communication is possible.

[0037] The terminal input unit 140 is realized by any one of or a combination of all types of devices that can receive input from the user, i.e., the worker 2, and transmit information related to the input to the terminal processing unit 110. For example, in addition to hardware input means such as buttons, it includes software input means displayed on a display unit such as a touch panel, a remote controller, a microphone, and other audio input means.

[0038] The terminal display unit 150 may be implemented by any one or a combination of any type of device capable of displaying a screen, including, for example, a flat display such as an LCD or OLED, a curved display, a folding screen provided on a foldable terminal, a head-mounted display, or a device capable of displaying by projection onto a material using a small projector.

[0039] The terminal storage unit 120 has the function of storing various programs and various data required. In addition, it can store surveying information (three-dimensional point cloud data, position information of the surveying device 200) received by the terminal communication unit 130. For example, the terminal storage unit 120 stores design information including information on the land to be used at the construction site (elevation, etc.) and slope design information. The terminal storage unit 120 is realized by various storage media such as an HDD, SSD, and flash memory.

[0040] Design information includes blueprints required for construction work. Construction work includes the construction of structures such as buildings, roads, railways, tunnels, bridges, ditches, waterways, and rivers. Blueprints include floor plans, longitudinal and transverse cross-sectional views, as well as the linear data, point data, the positions, coordinates, and elevations of each point and line segment.

[0041] The terminal storage unit 120 stores, as application software programs, a survey information acquisition unit 121, a range setting unit 122, a division setting unit 123, a point cloud quantity calculation unit 124, a point cloud quantity display unit 125, and a point cloud quantity management unit 126, which realize various functions. The terminal storage unit 120 may also store programs that realize the functions of the point cloud data generation unit 221 and the actual position calculation unit 222 stored in the surveying device 200, and the functions may be realized by executing these programs in the terminal processing unit 110.

[0042] The surveying information acquisition unit 121 has a function of acquiring surveying information including point cloud data linked with position information from the surveying instrument 200. More specifically, three-dimensional point cloud data is generated by the point cloud data generation unit 221 through measurements by the scanner unit 260 of the surveying instrument 200. Position information of the point cloud is assigned to each point cloud of the three-dimensional point cloud data by the measured position calculation unit 222 and linked to the point cloud. The point cloud data linked with the position information is acquired through communication between the surveying instrument communication unit 230 and the terminal communication unit 130.

[0043] The range setting unit 122 has a function of setting the display range of the point cloud. More specifically, a predetermined range on the map of the construction site is set as the display range for managing the point cloud quantity. The range may be set by the worker 2 inputting the display range of the point cloud using the terminal input unit 140 of the information display terminal 100, or may be obtained using software for managing the site that is installed and executed on a predetermined information processing management server that the information display terminal 100 can access by communicating with the terminal communication unit 130. Alternatively, the range setting unit 122 may read and specify management area information included in the design information stored in the terminal storage unit 120. The display range can be specified, for example, so that it is surrounded by a boundary line on the map that separates the inside and outside of the range. Furthermore, the set display range is set on the map, and location information on the map or blueprint is also assigned so that it can be displayed linked to the map or blueprint.

[0044] The division setting unit 123 has a function of dividing the display range into predetermined unit divisions. More specifically, it divides the display range set by the range setting unit 122 into a set of multiple unit divisions separated by predetermined unit area divisions. A typical example, but not limited to, is the division into square sections of the same area, so-called grid units. In addition to squares, any shape that can divide the display range into multiple continuous unit divisions without gaps, such as hexagons or triangles, can be used. The size of each unit division can also be freely set. Each unit division that intersects with a boundary line may include one that extends beyond the boundary line, or may have a shape with a partial cutout so as not to extend beyond the boundary line. Furthermore, location information is assigned to each unit division using the map location information assigned to the display range.

[0045] The point cloud quantity calculation unit 124 has a function of calculating the amount of point clouds contained in the space of each unit segment. More specifically, the point cloud quantity calculation unit 124 can use position information linked to the acquired three-dimensional point cloud data to compare it with the position information of each unit segment and calculate the amount of point clouds contained in the space of each unit segment. The "point cloud quantity" is a quantitative index related to point clouds, including the number of point clouds, the number of point clouds per unit area, the number of point clouds per unit volume, the average elevation value of point clouds contained in a unit segment, and other statistics, and is not limited to simply the number of point clouds.

[0046] Furthermore, the calculation of the point cloud quantity can be limited to point clouds that meet predetermined conditions. Specifically, the surveying instrument 200 can be used to calculate only point clouds within a predetermined distance from the surveying instrument 200. For example, only point clouds within a 30-meter radius from the surveying instrument 200 can be used for calculation. The predetermined distance here is set by calculating a measurement distance that the surveying instrument 200 can use on-site, for example, using a predetermined testing method. An example of the predetermined testing method is an accuracy confirmation test in which the results of measuring the distance between two or more known points using a total station or the like are compared with the distance between the two points obtained by measuring the distance using the surveying instrument 200, and the difference is confirmed to be within a predetermined range. Furthermore, since the measurement accuracy of the surveying instrument 200 generally decreases as the incident angle of the laser beam to the road surface decreases, only point clouds at or above a predetermined incident angle can be used to calculate the point cloud quantity.

[0047] The point cloud quantity calculation unit 124 may also have a function of calculating the amount of point cloud contained in a space within a predetermined altitude range for each unit section. More specifically, an upper limit and a lower limit of the altitude value are set, and the amount of point cloud contained in the space of the unit section within the altitude range is calculated.

[0048] The point cloud quantity calculation unit 124 may also have a function to calculate an index (such as a fulfillment rate) related to the fulfillment of the required point cloud quantity for the display range or unit section. More specifically, the required point cloud quantity per unit section stored in the design information of the device storage unit 120 can be read, and the index related to the fulfillment of the required point cloud quantity can be calculated by comparing the required point cloud quantity with the actually calculated point cloud quantity. The index related to the fulfillment of the required point cloud quantity may be a fulfillment rate for the required point cloud quantity (e.g., "80% fulfilled") or a shortage rate for the required point cloud quantity (e.g., "20% shortage"). It may be expressed numerically, or may be expressed as a rank such as high, medium, or low, or may be expressed by setting a predetermined threshold and indicating only fulfillment or shortage. Alternatively, the fulfillment rate may be calculated for all unit sections to calculate the fulfillment rate for the entire display range. The fulfillment rate for the entire display range may be, for example, an average value of the fulfillment rates for all unit sections, or may be calculated by dividing the number of unit sections that fulfill the required fulfillment rate by the total number of unit sections.

[0049] Furthermore, the point cloud quantity calculation unit 124 may further have a function to calculate, based on the position of the acquired point cloud, a predicted value of the range and point cloud quantity that can be acquired when a point cloud is surveyed at that position. More specifically, when the surveying instrument 200 is installed at a certain location within the display range and a point cloud is about to be acquired, the position information of the surveying instrument 200 is acquired as described above, and an estimate of the amount of three-dimensional point cloud data that can be acquired from the surroundings of the surveying instrument 200 is calculated. Regarding the range and amount of point clouds that can be acquired, information on the performance of the surveying instrument 200 is stored in advance in the unit storage unit, and the acquisition range and number of point clouds can be calculated based on the performance of the instrument, with the location where the surveying instrument 200 is installed as the center.

[0050] Furthermore, when calculating the predicted value, if there is an overlapping section within the predicted range for which a point cloud quantity has already been calculated based on measurement information and set as an existing value, the point cloud quantity calculation unit 124 may further have a function of calculating an added value by adding the calculated point cloud quantity and the predicted point cloud quantity for the overlapping section. More specifically, the point cloud quantity calculation unit 124 retrieves the measurement information of the already measured three-dimensional point cloud data as an existing value from the terminal storage unit 120, and if there is an area among the predicted values ​​calculated as above where the observation range overlaps with the existing value, i.e., where there is a unit section where the observation range overlaps, the existing value and the planned value for that unit section can be added to calculate an added value that indicates an estimate of how the point cloud quantity will increase if a survey is carried out from now on.

[0051] Furthermore, the point cloud quantity calculation unit 124 may calculate the added value in the unit section where the observation ranges overlap, not only by calculating the existing value and the predicted value, but also by calculating the added value by calculating the existing value and the existing value that have already been measured.

[0052] The point cloud quantity display unit 125 has a function of displaying, on the information display terminal 100, the calculated point cloud quantity for each unit section of the display range according to the calculated point cloud quantity for each unit section. More specifically, if the point cloud quantity is the number of point clouds, the number of point clouds per unit area, or the number of point clouds per unit volume, the calculated point cloud quantity, the predicted value of the point cloud quantity, and the added value obtained by adding the predicted value to the existing value of the calculated point cloud quantity can be displayed differently depending on the level of the point cloud quantity so that the level of the point cloud quantity can be clearly seen. A color-coded display is the most typical example, and is not limited to this. For example, a unit section with a high point cloud quantity can be displayed in red, a unit section with a low point cloud quantity in blue, and a color distribution such as yellow in between. Furthermore, if the point cloud quantity is the elevation value of the point cloud, the average elevation value of the point clouds included in the unit section, or a statistical quantity thereof, a color distribution such as red for unit sections with high elevation, blue for sections with low elevation, and yellow for sections with low elevation, can be displayed.

[0053] The point cloud quantity display unit 125 may further have a function to display the point cloud quantity included within a predetermined elevation range for each unit section, an indicator regarding the sufficiency of the required point cloud quantity for the display range or unit section, a point cloud quantity corresponding to a predicted value for each section, a point cloud quantity corresponding to an added value obtained by adding a predicted value to an existing value that has already been calculated, and a point cloud quantity corresponding to an added value obtained by adding two existing values. More specifically, the display method that shows the level of the indicator, such as the color-coded display described above, can also be applied to the point cloud quantity included within a predetermined elevation range for each unit section, an indicator regarding the sufficiency of the required point cloud quantity for the display range or unit section, a point cloud quantity corresponding to a predicted value for each section, and a point cloud quantity corresponding to an added value obtained by adding a predicted value to an existing value that has already been calculated.

[0054] The point cloud quantity management unit 126 has a function of displaying information indicating a shortage of the point cloud quantity on the information display terminal 100 when there is a section in which the point cloud quantity does not reach a predetermined required point cloud quantity among the sections within the display range. More specifically, as in the example described above, a predetermined threshold value for the point cloud quantity stored in advance in the terminal storage unit 120 is used to determine whether the point cloud quantity is sufficient or insufficient for each unit section, and for unit sections in which the point cloud quantity is insufficient, a display indicating the shortage is displayed on the terminal display unit 150 of the information display terminal 100 as a so-called alert so that the worker 2 can understand. Furthermore, when the point cloud quantity is the elevation value of the point cloud, the average elevation value, or a statistical value thereof, it may be compared with other three-dimensional data serving as a reference, such as the design elevation value of the design information to be compared, and whether the elevation value is higher or lower than the reference value may be determined for each unit section, and for unit sections that deviate from the reference, a display indicating this may be displayed as an alert so that the worker 2 can understand.

[0055] The point cloud quantity management unit 126 also has a function of calculating the accuracy of instrument installation of the surveying device 200 based on point cloud data measured from multiple installation positions, and displaying information related to the accuracy of the instrument installation on the information display terminal 100. More specifically, in a unit section including multiple point cloud data measured from different directions, it calculates comparison indices such as average elevation and median value for each of the multiple point cloud data, and calculates the accuracy of instrument installation based on the difference between the comparison indices.

[0056] For example, if there is point cloud data (first point cloud data Da, second point cloud data Db, third point cloud data Dc) measured from three installation locations within the same unit section, the differences (Ea-Eb, Ea-Ec, Eb-Ec) between the average elevations (Ea, Eb, Ec) calculated from each point cloud data are calculated as the accuracy of each instrument installation. If this difference is less than a predetermined value, the point cloud quantity management unit 126 determines that there is no problem with any of the instrument installations. On the other hand, if any two differences are equal to or greater than a predetermined value, it determines that there is a problem with the instrument installation. For example, if the difference Eb-Ec not involving the first point cloud data Da is less than a predetermined value, while the differences Ea-Eb and Ea-Ec involving the first point cloud data Da are both equal to or greater than a predetermined value, it determines that there is a problem with the instrument installation at the location where the first point cloud data Da was measured. In addition, the accuracy of instrument installation is such that the number of types of point cloud data contained within the same unit division is not limited to three, but may be four or more, or may be two if there is point cloud data that has been determined to be no problem in other unit divisions.

[0057] The point cloud quantity management unit 126 then displays the difference between the above-mentioned comparison indices for each unit segment on the information display terminal 100 as information regarding the instrument installation accuracy. For example, unit segments where the difference between the comparison indices is less than a predetermined value may be displayed in blue, unit segments where the difference is equal to or greater than the predetermined value may be displayed in red, and unit segments where there is no point cloud data measured from at least three locations within the same unit segment may be displayed in white. Alternatively, the numerical value of the difference between the comparison indices may be displayed for each unit segment. This display of instrument installation accuracy may be displayed together with the above-mentioned point cloud quantity display, or may be displayed on a separate screen. Furthermore, for unit segments determined to be problematic, a detailed display may be displayed, prompting a re-examination of the surveying position and installation method of the surveying device 200 that measured the point cloud data, and an alert requesting remeasurement. Note that the accuracy does not necessarily have to be calculated for each unit segment where overlapping occurs; the accuracy of instrument installation may be calculated and displayed for the entire area where point cloud data overlaps, such as by showing the percentage of unit segments where the difference between the comparison indices of other point cloud data is equal to or greater than a predetermined value. Furthermore, when measuring point cloud data, if there is point cloud data acquired from another installation location in the same unit division, and the difference between the point cloud data measured this time and the comparison index (for example, average elevation) of the other point cloud data is greater than or equal to a predetermined value, an alert may be displayed at that point, and the surveying location, installation method, etc. may be re-verified and a request for re-measurement may be made.

[0058] <Processing flow> FIG. 2 shows a flowchart illustrating the processing flow of a surveying information management method and a surveying information management program using the surveying information management system according to the embodiment of the present disclosure.

[0059] First, in step S101, the surveying information acquisition unit 121 acquires surveying information including point cloud data linked with location information from the surveying instrument 200. Note that the acquisition of this point cloud data may be performed after the range setting in step S102 and the division setting in step S103, which will be described later.

[0060] In step S102, the range setting unit 122 sets the display range of the point cloud. FIG. 3 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the information display terminal 100 is a so-called tablet terminal, the terminal display unit 150 is, for example, an LCD or OLED display, and the terminal input unit 140 is an input unit implemented by the touch panel function of these displays. In this figure, a map display (not shown) such as a map or an aerial photograph is displayed on the terminal display unit 150. On this map display, the worker 2 inputs the display range while referring to the map display, and the range setting unit 122 sets the display range based on the input. Input can be performed using various methods, such as freely drawing a boundary line using a finger or a touch pen, or setting a rectangular range by setting two points that form a diagonal line. In this figure, a display range DA is displayed on the map display. At this point, position information is also assigned to the display range DA.

[0061] In step S103, the division setting unit 123 divides the display range into predetermined unit divisions. FIG. 4 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the display range DA is divided into a plurality of unit divisions GU. Note that the unit divisions are exaggerated and shown larger in the drawing for ease of understanding, but in reality, they would be easier to understand if they were highly precise, such as in units of one dot or one pixel. Also, in this drawing, for the area where the boundary lines of the display range DA intersect, the unit divisions outside the boundary lines are displayed, but the area outside the boundary lines does not need to be displayed. Note that the acquired 3D point cloud data can be managed regardless of whether it is enclosed by the display range or not.

[0062] In step S104, the point cloud amount calculation unit 124 calculates the amount of points included in the space for each unit section. The point cloud amount is calculated for all of the above-mentioned unit sections.

[0063] In step S105, the point cloud quantity display unit 125 displays the calculated point cloud quantity for each unit section of the display range on the information display terminal 100. Figure 5 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. In this example, the surveying instrument 200 has been installed in the unit section at position SP and has completed surveying. The point cloud quantity based on the 3D point cloud data acquired at this surveying instrument position SP is displayed in a shaded color for the unit sections surrounding position SP according to the point cloud quantity. Note that in reality, point clouds are not acquired at the location where the surveying instrument 200 is installed or directly below it, so the point cloud quantity is low. However, for ease of understanding, the point cloud quantity is displayed as being higher the closer to the surveying instrument position SP. For example, between unit section GU2 and unit section GU1, unit section GU2 is displayed in a darker color, allowing intuitive understanding that the acquired point cloud quantity is higher. Similarly, differences in comparative indices such as elevation based on point cloud data from multiple installation positions can also be displayed as information regarding the accuracy of instrument installation. In this way, the point cloud acquisition status and the difference in comparison indices are displayed in an easy-to-understand manner using colors, etc., and the display range can be viewed at a glance, so Worker 2 can easily check whether the point cloud quantity of the 3D point cloud data and the accuracy of the equipment installation have been acquired in the required number and with the required accuracy in each section within the display range where the point cloud quantity should be managed, allowing for efficient scanning on site and the ability to visually check the scanning status and data acquisition results.

[0064] FIG. 6 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. This figure illustrates an example in which a predicted value of the point cloud quantity to be acquired next is added to an existing value of a point cloud that has already been acquired, and the resulting value is displayed as an added value. For example, in the previous stage of this figure, as shown in FIG. 5, the surveying instrument 200 has already been installed at a certain position SP and a point cloud has been acquired. In contrast, when the surveying instrument 200 is installed at a new position NSP, a predicted value of how the point cloud will be acquired and added is calculated, and for areas where the observation ranges overlap, the predicted value is added to the existing value to calculate the added value. Then, the unit section within the display range is displayed according to the point cloud quantity of the added value. For example, unit section GU3 is a unit section where the observation range of the surveying instrument 200 at position SP overlaps with the observation range of the surveying instrument 200 at position NSP. In such a unit section GU3, the point cloud quantity, which is an existing value already measured at position SP, and the point cloud quantity, which is a predicted value to be obtained by measuring at position NSP, are added together and displayed as an added value. Therefore, the point cloud quantity of unit section GU3 is displayed in a darker color than unit section GU4, where the observation ranges of the two points do not overlap. This allows operator 2 to carry out surveying while considering where to install the surveying device 200 to obtain point cloud data in order to proceed with the work efficiently.

[0065] FIG. 7 shows an example of a screen displayed on the terminal display unit 150 of the information display terminal 100. This figure illustrates an example of a so-called alert display regarding the fulfillment rate, etc. The unit segments included in the display range DA shown in this figure have a high point cloud amount throughout almost the entire area, but the point cloud amount is low in some segments, as indicated by "5% missing" in the upper left corner of the screen. For example, unit segment GU5 is a unit segment whose point cloud amount does not reach the required point cloud amount. To distinguish this unit segment from other unit segments, an alert display is provided, for example, by hatching. Whether to display an alert is determined by the point cloud amount management unit 126 based on the level of the point cloud amount of this unit segment compared to the required point cloud amount stored in advance, as described above. By displaying a so-called alert for unit segments that do not reach the required point cloud amount, the operator 2 can perform point cloud acquisition work without any omissions. Furthermore, if there is point cloud data whose difference with the comparison index (e.g., average elevation) of point cloud data acquired from other installation locations in the same unit division is greater than a predetermined value, an alert will be displayed, and the surveying location, installation method, etc. will be re-verified and re-measurement will be requested, thereby easily improving the accuracy of the point cloud data.

[0066] Thus, according to the surveying information management system of the embodiment of the present disclosure, an information display terminal 100 and a surveying device 200 that measures point clouds in three-dimensional space are used, and the system includes a surveying information acquisition unit 121 that acquires surveying information including point cloud data linked to location information from the surveying device 200, a range setting unit 122 that sets the display range of the point cloud, a section setting unit 123 that divides the display range into predetermined unit sections, a point cloud quantity calculation unit 124 that calculates the point cloud quantity contained in the space for each unit section, and a point cloud quantity display unit 125 that displays on the information display terminal the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range.This makes it easy to check whether the required number of point cloud quantities of three-dimensional point cloud data have been acquired for each section within the display range where the point cloud quantities are to be managed, thereby enabling efficient scanning on site and visual confirmation of the scanning status and the results of data acquisition.

[0067] Furthermore, by further providing a point cloud quantity management unit 126 that displays information indicating the lack of point cloud on the information display terminal when there is a section within the display range where the point cloud quantity does not reach the predetermined required point cloud quantity, worker 2 can perform the point cloud acquisition work without any omissions.

[0068] In addition, the point cloud quantity calculation unit 124 calculates the point cloud quantity contained in the space within a specified altitude range for each unit section, and the point cloud quantity display unit 125 displays on the information display terminal 100 the point cloud quantity contained in the space within the specified altitude range for each section, thereby making it possible to check the acquisition status of the point cloud within the desired altitude range.

[0069] In addition, the point cloud quantity calculation unit 124 calculates an index regarding the fulfillment of the required point cloud quantity for the display range or unit section, and the point cloud quantity display unit 125 displays the fulfillment index on the information display terminal 100, thereby allowing the acquisition status of the point cloud to be quantitatively confirmed.

[0070] Furthermore, the surveying information acquisition unit 121 acquires the position information of the surveying device 200, and the point cloud quantity calculation unit 124 calculates the range and predicted value of the point cloud quantity that can be acquired when a point cloud survey is conducted at that position based on the position of the surveying device 200, and the point cloud quantity display unit 125 displays the predicted value for each section on the information display terminal, so that the worker 2 can understand how a point cloud can be acquired when the surveying device 200 is installed at that position, and the point cloud acquisition work can be carried out efficiently.

[0071] Furthermore, when calculating the predicted value, if there are overlapping sections within the predicted range for which point cloud quantities have already been calculated based on surveying information and are set as existing values, the point cloud quantity calculation unit 124 calculates an added value for the overlapping sections by adding the calculated point cloud quantities and the predicted point cloud quantities, and the point cloud quantity display unit 125 displays the added value for each section on the information display terminal 100, thereby making it possible to understand how a point cloud can be acquired when the surveying device 200 is installed at that location, taking into account past measurements that have already been taken, and allowing the point cloud acquisition work to proceed efficiently.

[0072] Furthermore, the point cloud quantity calculation unit 124 can reduce unnecessary data and improve the efficiency of processing point cloud data by calculating the point cloud quantity only from the point cloud data acquired by the survey information acquisition unit 121 that meets predetermined conditions based on the measurement distance, incident angle, etc.

[0073] In addition, the point cloud quantity management unit 126 calculates the accuracy of the instrument installation of the surveying device 200 based on point cloud data measured from multiple installation positions, and displays information regarding the accuracy of the instrument installation on the information display terminal 100, making it possible to easily check and correct the quality of the instrument installation and further improve the efficiency of scanning.

[0074] Although the description of the embodiment of the present invention has been completed above, the aspects of the present invention are not limited to this embodiment.

[0075] For example, in the above embodiment, the scanner unit 260 of the surveying instrument 200 is a laser scanner, but the scanner unit that performs measurements to acquire three-dimensional point cloud data is not limited to this. For example, the scanner unit may be a LIDAR (Light Detection and Ranging) unit that performs distance measurement by measuring scattered light from a pulsed laser beam. Alternatively, the scanner unit may be provided with an imaging unit such as a camera, and the point cloud data generation unit may generate point cloud data from one or more images captured by the imaging unit using a so-called SfM (Structure from Motion) or photogrammetry technique. [Explanation of symbols]

[0076] 1. Survey Information Management System 2. Workers 100 Information display terminal 110 Terminal processing section 120 Terminal memory section 121 Survey information acquisition section 122 Range setting section 123 Classification section 124 Point cloud amount calculation section 125 Point cloud amount display section 126 Point cloud quantity management department 130 Terminal communication unit 140 Terminal input section 150 Terminal display 200 Surveying equipment 210 Surveying Instrument Processing Section 220 Survey instrument storage section 221 Point Cloud Data Generation Unit 222 Actual position calculation unit 223 Display control unit 230 Survey Instrument Communication Unit 240 Survey instrument operation section 250 Survey instrument display section 260 Scanner Unit 261 Ranging section 262 Deflection section 270 Position acquisition part 281 Attitude drive unit 282 Attitude detection unit DA display range GU Unit Classification SP surveying device position

Claims

1. A survey information management system for displaying survey information using an information display terminal and a surveying device that measures a point cloud in a three-dimensional space, comprising: a surveying information acquisition unit that acquires surveying information including point cloud data linked with position information from the surveying instrument; a range setting unit that sets a display range of the point cloud; a division setting unit that divides the display range into predetermined unit divisions; a point cloud quantity calculation unit that calculates a point cloud quantity included in a space for each unit section; a point cloud quantity display unit that displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range, the surveying information acquisition unit acquires position information of the surveying device, the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity; A surveying information management system in which the point cloud quantity display unit displays information corresponding to the predicted value for each section on the information display terminal.

2. A surveying information management system for displaying surveying information using an information display terminal and a surveying device that measures point clouds in three-dimensional space, comprising: a surveying information acquisition unit that acquires surveying information including point cloud data linked with position information from the surveying instrument; a range setting unit that sets a display range of the point cloud; a division setting unit that divides the display range into predetermined unit divisions; a point cloud quantity calculation unit that calculates a point cloud quantity included in a space for each unit section; a point cloud quantity display unit that displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated by the point cloud quantity calculation unit for each section of the display range; and a point cloud quantity management unit that calculates the accuracy of instrument installation of the surveying instrument based on point cloud data measured from a plurality of installation positions and displays information relating to the accuracy of instrument installation on the information display terminal. Survey information management system.

3. A survey information management system as described in claim 1 or 2, further comprising a point cloud quantity management unit that, when there is a section within the display range in which the point cloud quantity does not reach a predetermined required point cloud quantity, displays information indicating a shortage of point clouds on the information display terminal.

4. the point cloud amount calculation unit calculates the amount of point clouds included in a space within a predetermined altitude range for each unit section; The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays, for each section, on the information display terminal according to the point cloud quantity contained in a space within a predetermined altitude range.

5. the point cloud quantity calculation unit calculates an index relating to the fulfillment of a required point cloud quantity for the display range or the unit segment; The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays an index relating to the satisfaction on the information display terminal.

6. When calculating the predicted value, if there is an overlapping section within the predicted range for which a point cloud amount has already been calculated based on measurement information and is set as an existing value, the point cloud amount calculation unit calculates an added value for the overlapping section by adding the calculated point cloud amount and the point cloud amount of the predicted value, The survey information management system according to claim 1 , wherein the point cloud quantity display unit displays information corresponding to the added value for each division on the information display terminal.

7. A surveying information management system as described in any one of claims 1 to 6, wherein the point cloud quantity calculation unit calculates the point cloud quantity only for point cloud data acquired by the surveying information acquisition unit that meets predetermined conditions.

8. A surveying information management method for displaying surveying information using an information display terminal and a surveying instrument, comprising: a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device; a range setting step in which a range setting unit sets a display range of the point cloud; a division setting step in which a division setting unit divides the display range into predetermined unit divisions; a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section; a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range; a step in which the surveying information acquisition unit acquires position information of the surveying instrument; a step in which the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity; a step in which the point cloud quantity display unit displays information corresponding to the predicted value for each of the sections on the information display terminal; A survey information management method including:

9. A surveying information management method for displaying surveying information using an information display terminal and a surveying device, comprising: a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device; a range setting step in which a range setting unit sets a display range of the point cloud; a division setting step in which a division setting unit divides the display range into predetermined unit divisions; a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section; a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range; a step in which a point cloud quantity management unit calculates the accuracy of instrument installation of the surveying instrument based on point cloud data measured from a plurality of installation positions, and displays information regarding the accuracy of instrument installation on the information display terminal; A survey information management method including:

10. A survey information management program for displaying survey information using an information display terminal and a surveying instrument, comprising: a surveying information acquiring step in which a surveying information acquiring unit acquires surveying information including point cloud data linked with position information from the surveying device; a range setting step in which a range setting unit sets a display range of the point cloud; a division setting step in which a division setting unit divides the display range into predetermined unit divisions; a point cloud quantity calculation step in which a point cloud quantity calculation unit calculates the amount of points included in the space for each unit section; a point cloud quantity display step in which a point cloud quantity display unit displays, on the information display terminal, information corresponding to the point cloud quantity for each unit section calculated in the point cloud quantity calculation step for each section of the display range; a step in which the surveying information acquisition unit acquires position information of the surveying instrument; a step in which the point cloud quantity calculation unit calculates, based on the position of the surveying device, a range that can be obtained when a point cloud survey is performed at that position and a predicted value of the point cloud quantity; a step in which the point cloud quantity display unit displays information corresponding to the predicted value for each of the sections on the information display terminal; A survey information management program that allows a computer to execute the above.

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