Display system and display method

Abstract

To confirm a state of a construction site.SOLUTION: A display system includes: a three-dimensional data storage unit configured to store three-dimensional data indicating a three-dimensional shape in a first range of a construction site in which work machines operate; a detection data acquisition unit configured to acquire the detection data indicating a three-dimensional shape in a second range which is a part of the first range; an update unit configured to update a partial range of the three-dimensional data based on the detection data; and a display control unit configured to display, in different display forms on a display device, an updated range and a non-updated range in the three-dimensional data.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a display system and a display method. [Background technology]

[0002] In the technical field related to construction management, a construction management system such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 012993 Summary of the Invention [Problem to be solved by the invention]

[0004] The situation at a construction site changes. For example, the topographical conditions at the construction site change as construction progresses. In addition, the status of the work machinery changes as the machinery operates. There is a demand for technology that can accurately check the situation at a construction site.

[0005] The present disclosure aims to check the status of a construction site. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a display system comprising: a three-dimensional data storage unit that stores three-dimensional data indicating the three-dimensional shape of a first range of a construction site where a work machine is operating; a detection data acquisition unit that acquires detection data indicating the three-dimensional shape of a second range that is a part of the first range; an update unit that updates a part of the range of the three-dimensional data based on the detection data; and a display control unit that causes a display device to display the updated range and the non-updated range of the three-dimensional data in different display forms. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to check the status of a construction site. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a construction management system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing an aircraft according to the embodiment. [Figure 3] FIG. 3 is a functional block diagram showing a display system according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing a display method according to the embodiment. [Figure 5] FIG. 5 is a diagram showing the relationship between the first range and the second range according to the embodiment. [Figure 6] FIG. 6 is a diagram illustrating a method for identifying an object according to the embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a display device according to the embodiment. [Figure 8] FIG. 8 is a diagram showing another example of the display device according to the embodiment. [Figure 9] FIG. 9 is a diagram showing another example of the display device according to the embodiment. [Figure 10] FIG. 10 is a diagram showing another example of the display device according to the embodiment. [Figure 11] FIG. 11 is a block diagram showing a computer system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Construction management system] FIG. 1 is a schematic diagram showing a construction management system 1 according to an embodiment. The construction management system 1 manages construction at a construction site 2. A plurality of work machines 20 operate at the construction site 2. In the embodiment, the work machines 20 include a hydraulic excavator 21, a bulldozer 22, and a crawler dump truck 23. A human WM is present at the construction site 2. An example of the human WM is a worker working at the construction site 2. The human WM may be a supervisor who manages the construction. The human WM may also be an observer.

[0011] As shown in FIG. 1, the construction management system 1 includes a management device 3, a server 4, an information terminal 5, and an aircraft 8.

[0012] The management device 3 includes a computer system that is placed at the construction site 2. The management device 3 is supported by a traveling device 6. The management device 3 can travel at the construction site 2 by means of the traveling device 6. Examples of the traveling device 6 include aerial work vehicles, trucks, and traveling robots.

[0013] The server 4 includes a computer system. The server 4 may be located at the construction site 2 or may be located at a remote location from the construction site 2.

[0014] The information terminal 5 is a computer system located in a remote location 9 of the construction site 2. Examples of the information terminal 5 include a personal computer and a smartphone.

[0015] The management device 3, the server 4, and the information terminal 5 communicate with each other via a communication system 10. Examples of the communication system 10 include the Internet, a local area network (LAN), a mobile phone communication network, and a satellite communication network.

[0016] The aircraft 8 flies over the construction site 2. An example of the aircraft 8 is an unmanned aerial vehicle (UAV) such as a drone. In the embodiment, the aircraft 8 and the management device 3 are connected by a cable 7. The management device 3 includes a power source or a generator. The management device 3 can supply power to the aircraft 8 via the cable 7.

[0017] [Flying object] 2 is a diagram showing an aircraft 8 according to an embodiment. The aircraft 8 is equipped with a three-dimensional sensor 11, a position sensor 14, and an attitude sensor 15.

[0018] The three-dimensional sensor 11 detects the construction site 2. The three-dimensional sensor 11 acquires three-dimensional data indicating the three-dimensional shape of the construction site 2. The detection data of the three-dimensional sensor 11 includes three-dimensional data of the construction site 2. The three-dimensional sensor 11 is placed on the aircraft 8. The three-dimensional sensor 11 detects the construction site 2 from above the construction site 2. Examples of detection targets of the three-dimensional sensor 11 include the topography of the construction site 2 and objects present at the construction site 2. Objects include one or both of movable and stationary objects. Examples of movable objects include a work machine 20 and a person WM. Examples of stationary objects include construction tools, lumber, or materials.

[0019] The detection data of the three-dimensional sensor 11 includes image data showing an image of the construction site 2. The image data acquired by the three-dimensional sensor 11 may be video data or still image data. An example of the three-dimensional sensor 11 is a stereo camera. The three-dimensional sensor 11 may include a monocular camera and a three-dimensional measuring device. An example of the three-dimensional measuring device is a laser sensor (LIDAR: Light Detection and Ranging) that detects an object by emitting laser light. The three-dimensional measuring device may be an infrared sensor that detects an object by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects an object by emitting radio waves.

[0020] The position sensor 14 detects the position of the air vehicle 8. The position sensor 14 detects the position of the air vehicle 8 using a global navigation satellite system (GNSS). The position sensor 14 includes a GNSS receiver (GNSS sensor) and detects the position of the air vehicle 8 in a global coordinate system. The three-dimensional sensor 11 is fixed to the air vehicle 8. The position sensor 14 can detect the position of the three-dimensional sensor 11 by detecting the position of the air vehicle 8. The detection data of the position sensor 14 includes position data of the three-dimensional sensor 11.

[0021] The attitude sensor 15 detects the attitude of the flying object 8. The attitude includes, for example, a roll angle, a pitch angle, and a yaw angle. An example of the attitude sensor 15 is an inertial measurement unit (IMU). The three-dimensional sensor 11 is fixed to the flying object 8. The attitude sensor 15 can detect the attitude of the three-dimensional sensor 11 by detecting the attitude of the flying object 8. The detection data of the attitude sensor 15 includes attitude data of the three-dimensional sensor 11.

[0022] The detection data of the three-dimensional sensor 11, the detection data of the position sensor 14, and the detection data of the attitude sensor 15 are each transmitted to the management device 3 via the cable 7. The detection data of the three-dimensional sensor 11, the detection data of the position sensor 14, and the detection data of the attitude sensor 15 received by the management device 3 are each transmitted to the server 4 via the communication system 10.

[0023] [Display System] 3 is a functional block diagram showing a display system 30 according to an embodiment. As shown in FIG. 3, the display system 30 includes an aircraft 8, a management device 3 disposed at a construction site 2, a server 4, and an information terminal 5 disposed at a remote location 9 of the construction site 2.

[0024] The flying object 8 has a three-dimensional sensor 11 , a position sensor 14 , and an attitude sensor 15 .

[0025] The information terminal 5 includes a display control unit 51 and a display device 52 .

[0026] The display device 52 displays the display data. The administrator at the remote location 9 can check the display data displayed on the display device 52. Examples of the display device 52 include a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED).

[0027] The server 4 includes a detection data acquisition unit 41, a three-dimensional data storage unit 42, an update unit 43, an object identification unit 44, and an output unit 45.

[0028] The detection data acquisition unit 41 acquires detection data indicating the three-dimensional shape of the construction site 2 from the three-dimensional sensor 11. That is, the detection data acquisition unit 41 acquires three-dimensional data of the construction site 2 from the three-dimensional sensor 11. The detection data includes at least one of the topography of the construction site 2 and the work machine 20.

[0029] The three-dimensional data storage unit 42 stores the detection data acquired by the detection data acquisition unit 41. The three-dimensional data storage unit 42 stores three-dimensional data indicating the three-dimensional shape of the construction site 2 in the first range.

[0030] The update unit 43 updates a partial range of the three-dimensional data stored in the three-dimensional data storage unit 42 based on the detection data acquired by the detection data acquisition unit 41. In the embodiment, after three-dimensional data indicating the three-dimensional shape in a first range of the construction site 2 is stored in the three-dimensional data storage unit 42, detection data indicating the three-dimensional shape in a second range that is a part of the first range is acquired by the detection data acquisition unit 41.

[0031] The object identification unit 44 identifies an object in the image of the construction site 2 acquired by the detection data acquisition unit 41. As described above, the detection data of the three-dimensional sensor 11 includes image data showing the image of the construction site 2. The object identification unit 44 identifies an object by using artificial intelligence (AI), which analyzes input data using an algorithm and outputs output data. The object identification unit 44 identifies an object by using, for example, a neural network.

[0032] The output unit 45 outputs the three-dimensional data updated by the update unit 43 to the information terminal 5. The output unit 45 transmits the three-dimensional data updated by the update unit 43 to the information terminal 5 via the communication system 10.

[0033] The output unit 45 transmits a control command to the display control unit 51 to cause the display device 52 to display the three-dimensional data updated by the update unit 43. As described above, a partial range of the three-dimensional data is updated. The output unit 45 transmits a control command to the display control unit 51 to cause the display device 52 to display the updated range and the non-updated range in the three-dimensional data in different display forms. Based on the control command transmitted from the output unit 45, the display control unit 51 controls the display device 52 so that the updated range and the non-updated range in the three-dimensional data updated by the update unit 43 are displayed on the display device 52 in different display forms.

[0034] [Construction management method] FIG. 4 is a flowchart showing a display method according to the embodiment.

[0035] When the flying object 8 starts flying in the sky above the construction site 2, the detection process of the construction site 2 by the three-dimensional sensor 11 starts.

[0036] The detection data acquisition unit 41 acquires detection data indicating the three-dimensional shape of the construction site 2 from the three-dimensional sensor 11 (step S1).

[0037] The three-dimensional data storage unit 42 stores three-dimensional data indicating the three-dimensional shape of the first range of the construction site 2 detected in step S1 (step S2).

[0038] The detection data acquisition unit 41 acquires detection data indicating the three-dimensional shape of the second range of the construction site 2 from the three-dimensional sensor 11 (step S3).

[0039] The update unit 43 updates a partial range of the three-dimensional data stored in the three-dimensional data storage unit 42 in step S2 based on the detection data acquired in step S3 (step S4).

[0040] 5 is a diagram showing the relationship between the first range and the second range according to the embodiment. As shown in FIG. 5, the second range of the construction site 2 acquired in step S3 is smaller than the first range of the construction site 2 acquired in step S1. The second range is a part of the first range. The second range includes a range where the situation of the construction site 2 is changing. The range outside the second range in the first range includes a range where the situation of the construction site 2 is not changing.

[0041] At the construction site 2, there may be a dynamic range where the situation changes and a static range where the situation does not change. The dynamic range includes a range where the topographical situation at the construction site 2 changes as construction progresses and a range where the situation of the hydraulic excavator 21 changes as the hydraulic excavator 21 operates. The static range includes a range where construction does not progress and the topographical situation at the construction site 2 does not change, and a range where the hydraulic excavator 21 is present but not operating and the situation of the hydraulic excavator 21 does not change. In step S3, the three-dimensional sensor 11 detects the second range, which is the dynamic range.

[0042] The update unit 43 updates a part of the three-dimensional data by replacing a part of the first range with the second range.

[0043] After the update unit 43 updates a portion of the three-dimensional data, the object identification unit 44 identifies an object in the image of the construction site 2. The object identification unit 44 identifies the object by using artificial intelligence (AI) (step S5).

[0044] FIG. 6 is a diagram showing a method for identifying an object according to an embodiment. The object identification unit 44 holds a learning model generated by learning the feature amounts of an object. The object identification unit 44 identifies an object from a two-dimensional image based on the learning model. The object includes at least one of a person WM and a work machine 20. The object identification unit 44 performs machine learning using, for example, learning images including images of a person and an image of a work machine as training data, to generate a learning model in which the feature amounts of the object are input and the person or the work machine is output. The object identification unit 44 inputs the feature amounts of the object extracted from the image data showing the image of the construction site 2 updated in step S4 into the learning model, and identifies the person WM or the work machine 20 in the two-dimensional image.

[0045] The output unit 45 transmits the three-dimensional data updated in step S4 and the object identified in step S5 to the information terminal 5 via the communication system 10. The output unit 45 transmits a control command to the display control unit 51 to display the updated three-dimensional data on the display device 52. Based on the control command transmitted from the output unit 45, the display control unit 51 causes the display device 52 to display the updated range and the non-updated range in the three-dimensional data in different display formats (step S6).

[0046] The output unit 45 determines whether or not to end the display of the three-dimensional data (step S7). If it is determined in step S7 that the display of the three-dimensional data should continue (step S7: No), the process returns to step S3. This causes the three-dimensional data indicating the three-dimensional shape of the construction site 2 to be continuously updated. Display data that corresponds to the situation of the construction site 2 is displayed in real time on the display device 52. If it is determined in step S7 that the display of the three-dimensional data should end (step S7: Yes), the display of the three-dimensional data ends.

[0047] [Display device] FIG. 7 is a diagram illustrating an example of a display device 52 according to an embodiment. As shown in FIG. 7, the display control unit 51 causes the display device 52 to display an updated range and a non-updated range in the three-dimensional data in different display forms. The updated range corresponds to the second range. The non-updated range corresponds to a range in the first range that is outside the second range. As shown in FIG. 7, the display control unit 51 may cause the display device 52 to display the updated range and the non-updated range in different colors.

[0048] Furthermore, the display control unit 51 causes the display device 52 to display the object identified by the object identification unit 44 so that the object is highlighted. As shown in FIG. 7, the display control unit 51 may display a frame surrounding the object. The object includes at least one of a person WM and a work machine 20. In the example shown in FIG. 7, the display control unit 51 causes the display device 52 to display a frame 31 surrounding the hydraulic excavator 21 that is located in the first range and outside the second range. The display control unit 51 causes the display device 52 to display a frame 32 surrounding the hydraulic excavator 21 that is located in the second range. The display control unit 51 causes the display device 52 to display a frame 33 surrounding the person WM. Furthermore, a three-dimensional model representing the object may be displayed at the position of the object. The three-dimensional model includes computer graphics (CG) of the object. For example, a three-dimensional model of the hydraulic excavator 21 may be displayed at the position of the hydraulic excavator 21 in the first range or the second range.

[0049] Fig. 8 is a diagram showing another example of the display device 52 according to the embodiment. As shown in Fig. 8, the display control unit 51 may cause the display device 52 to display the updated range, that is, the second range, so that it is highlighted. For example, the display control unit 51 may cause the display device 52 to display the second range so that it is surrounded by a thick line.

[0050] FIG. 9 is a diagram illustrating another example of a display device 52 according to an embodiment. As illustrated in FIG. 4, the processes from step S3 to step S7 may be repeated multiple times. That is, the detection data acquisition unit 41 may acquire detection data at each of multiple time points. The update unit 43 may update the three-dimensional data at each of the multiple time points. The display control unit 51 may cause the display device 52 to display the updated range in a different display format for each of the multiple time points. As illustrated in FIG. 9, the display control unit 51 may cause the display device 52 to display a range (second range) updated at a first time point, a range (second range) updated at a second time point after the first time point, and a range (second range) updated at a third point after the second time point in different colors.

[0051] FIG. 10 is a diagram illustrating another example of a display device 52 according to an embodiment. A construction site 2 may have multiple 3D sensors 11, each detecting the construction site 2. For example, multiple aircraft 8 equipped with 3D sensors 11 may fly above the construction site 2. The detection data acquisition unit 41 can acquire detection data from each of the multiple 3D sensors 11. The update unit 43 can update the 3D data based on the detection data from each of the multiple 3D sensors 11. The display control unit 51 may display the updated ranges on the display device 52 in different display formats for each of the multiple 3D sensors. As shown in FIG. 10, the display control unit 51 may display a range (second range) updated based on detection data acquired by a first 3D sensor 11, a range (second range) updated based on detection data acquired by a second 3D sensor 11, and a range (second range) updated based on detection data acquired by a third 3D sensor 11 in different colors on the display device 52.

[0052] [Computer System] FIG. 11 is a block diagram showing a computer system 1000 according to an embodiment. The server 4 described above includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the server 4 described above are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the program. The computer program may be distributed to the computer system 1000 via a network.

[0053] According to the above-described embodiment, the computer program or computer system 1000 can perform the following operations: store three-dimensional data indicating the three-dimensional shape of a first range of the construction site 2 where the work machine 20 is operating; acquire detection data indicating the three-dimensional shape of a second range that is a part of the first range; update a part of the range of the three-dimensional data based on the detection data; and display the updated range and the non-updated range of the three-dimensional data on a display device in different display formats.

[0054] [effect] As described above, according to the embodiment, when the status of part of the construction site 2 changes, only the changed part of the 3D data of the construction site 2 stored in the 3D data storage unit 42 is replaced with the latest detected data, and the 3D data is updated. By displaying the updated 3D data on the display device 52, the manager can check the status of the construction site 2 in real time. By checking the status of the construction site 2 in real time, the manager can grasp the areas where construction has progressed and the areas where construction must continue. Furthermore, instead of replacing the entire first range of the construction site 2 with the latest detected data, only the changed part is replaced with the second range, which is the latest detected data, so that appropriate 3D data is displayed on the display device 52. If the entire first range were to be replaced with the latest detected data, the update load would be enormous. By replacing only the changed part of the first range of the construction site 2 as the second range, appropriate 3D data is displayed on the display device 52.

[0055] [Other embodiments] In the above-described embodiment, the object identification unit 44 identifies an object in the image after a portion of the three-dimensional data is updated by the update unit 43. The object identification unit 44 may identify an object in the image at another time point. For example, before updating a portion of the three-dimensional data, the object identification unit 44 may identify an object in the image from the three-dimensional data indicating the three-dimensional shape in the first range and the detection data indicating the three-dimensional shape in the second range.

[0056] In the above-described embodiment, the flying object 8 is a wired flying object connected to the cable 7. The flying object 8 may be a wireless flying object that is not connected to the cable 7.

[0057] In the above-described embodiment, the position sensor 14 is used to detect the position of the aircraft 8, and the attitude sensor 15 is used to detect the attitude of the aircraft 8. The position and attitude of the aircraft 8 may also be detected using SLAM (Simultaneous Localization and Mapping). The position and attitude of the aircraft 8 may also be detected using geomagnetism or a barometer.

[0058] In the above-described embodiment, the object identification unit 44 may identify an object based on, for example, a pattern matching method without using artificial intelligence. The object identification unit 44 can identify an object by matching a template representing the object with image data of the construction site 2.

[0059] In the above-described embodiment, the management device 3 is supported by the traveling device 6 and can travel within the construction site 2. The management device 3 may be mounted on the work machine 20, or may be installed at a predetermined position within the construction site 2.

[0060] In the above-described embodiment, the information terminal 5 does not have to be located in the remote location 9 of the construction site 2. The information terminal 5 may be mounted on the work machine 20, for example.

[0061] In the above-described embodiment, the display control unit 51 and the display device 52 are each provided in the information terminal 5. The display control unit 51 and the display device 52 may each be provided in a control device for the work machine 20. Furthermore, in cases where the work machine 20 is remotely operated, the display control unit 51 and the display device 52 may each be provided in a control device installed in a remote location where the work machine 20 is remotely operated.

[0062] In the above-described embodiment, the functions of the server 4 may be provided in the management device 3, the information terminal 5, or a computer system mounted on the aircraft 8. For example, at least one function of the detection data acquisition unit 41, the three-dimensional data storage unit 42, the update unit 43, the object identification unit 44, and the output unit 45 may be provided in the management device 3, the information terminal 5, or a computer system mounted on the aircraft 8.

[0063] In the above-described embodiment, the detection data acquisition unit 41, the three-dimensional data storage unit 42, the update unit 43, the object identification unit 44, and the output unit 45 may each be configured by separate hardware.

[0064] In the above-described embodiment, the three-dimensional sensor 11 does not have to be disposed on the flying object 8. The three-dimensional sensor 11 may be disposed on the work machine 20, for example, or on the traveling device 6. The three-dimensional sensor 11 may also be disposed on a moving object separate from the flying object 8, the work machine 20, and the traveling device 6. The three-dimensional sensor 11 may also be disposed on a structure present at the construction site 2. Furthermore, multiple three-dimensional sensors 11 may be installed at the construction site 2, and the construction site 2 may be detected over a wide area.

[0065] In the above-described embodiment, the object includes at least one of the person WM and the work machine 20. The object may also include at least one of construction tools, lumber, or materials.

[0066] In the above-described embodiment, the display control unit 51 may display the updated range and the non-updated range on the display device 52 in different display forms depending on the color lightness, transparency, or brightness. Furthermore, the display control unit 51 may display the range (second range) updated at a first time point, the range (second range) updated at a second time point later than the first time point, and the range (second range) updated at a third time point later than the second time point in different display forms depending on the color lightness, transparency, or brightness. Furthermore, the display control unit 51 may display the range (second range) updated based on the detection data acquired by the first three-dimensional sensor 11, the range (second range) updated based on the detection data acquired by the second three-dimensional sensor 11, and the range (second range) updated based on the detection data acquired by the third three-dimensional sensor 11 in different display forms depending on the color lightness, transparency, or brightness.

[0067] In the above-described embodiments, the work machine 20 may be a work machine other than the hydraulic excavator 21, the bulldozer 22, and the crawler dump truck 23. The work machine 20 may include, for example, a wheel loader. [Explanation of symbols]

[0068] 1...construction management system, 2...construction site, 3...management device, 4...server (data processing device), 5...information terminal, 6...traveling device, 7...cable, 8...aircraft vehicle, 9...remote location, 10...communication system, 11...3D sensor, 14...position sensor, 15...attitude sensor, 20...work machine, 21...hydraulic excavator, 22...bulldozer, 23...crawler dump truck, 30...display system, 31...frame, 32...frame, 33...frame, 41...detection data acquisition unit, 42...3D data storage unit, 43...update unit, 44...object identification unit, 45...output unit, 51...display control unit, 52...display device, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, WM...person

Claims

1. a three-dimensional data storage unit that stores three-dimensional data indicating the three-dimensional shape of a first range of a construction site from a three-dimensional sensor that detects the three-dimensional shape of the construction site where the work machine is operating; a detection data acquisition unit that acquires detection data indicating a three-dimensional shape in a second range that is a part of the first range from the three-dimensional sensor; an update unit that updates the three-dimensional data of the second range, which includes a dynamic range in which the topographical condition of the construction site changes as the construction progresses and a dynamic range in which the condition of the work machine changes as the work machine operates, based on the detection data; a display control unit that causes a display device to display the second range in which the three-dimensional data has been updated and the first range outside the second range in which the three-dimensional data has not been updated in different display forms. Display system.

2. the display control unit displays an updated range and a non-updated range in different colors; The display system of claim 1 .

3. the display control unit displays the updated range in an emphasized manner. The display system of claim 1 .

4. The detection data includes image data showing an image of the construction site, an object identification unit that identifies an object in the image, the display control unit displays the identified object in an emphasized manner. A display system according to any one of claims 1 to 3.

5. the display control unit displays a frame surrounding the object; The display system of claim 4 .

6. The object includes at least one of a person and a work machine.

6. A display system according to claim 4 or claim 5.

7. the detection data acquisition unit acquires the detection data at each of a plurality of time points; the update unit updates the three-dimensional data at each of a plurality of time points; the display control unit displays the updated range in different display forms at different times. A display system according to any one of claims 1 to 6.

8. The three-dimensional sensor is disposed on a moving body. A display system according to any one of claims 1 to 7.

9. The moving body includes at least one of an aircraft and a work machine. The display system of claim 8 .

10. the detection data acquisition unit acquires the detection data from each of a plurality of three-dimensional sensors; the update unit updates the three-dimensional data based on detection data from each of a plurality of three-dimensional sensors; the display control unit displays the updated range in a different display format for each of the plurality of three-dimensional sensors; 10. A display system according to claim 8 or claim 9.

11. storing three-dimensional data indicating the three-dimensional shape of a first range of a construction site from a three-dimensional sensor that detects the three-dimensional shape of the construction site where the work machine is operating; acquiring, from the three-dimensional sensor, detection data indicating a three-dimensional shape in a second range that is a part of the first range; updating the three-dimensional data of the second range based on the detection data, the second range including a dynamic range in which the topographical condition of the construction site changes as construction progresses and a dynamic range in which the condition of the work machine changes as the work machine operates; and displaying, on a display device, the second range in which the three-dimensional data has been updated and the first range outside the second range in which the three-dimensional data has not been updated in different display forms. Display method.

12. Display updated and non-updated ranges in different colors. The display method according to claim 11.

13. The updated range is highlighted, The display method according to claim 11.

14. The detection data includes image data showing an image of the construction site, identifying an object in the image; The identified object is displayed in an emphasized manner. The display method according to any one of claims 11 to 13.

15. displaying a frame surrounding the object; The display method according to claim 14.

16. The object includes at least one of a person and a work machine. The display method according to claim 14 or 15.

17. acquiring the detection data at each of a plurality of time points; updating the three-dimensional data at each of a plurality of time points; Displaying the updated range in different display formats at multiple points in time, The display method according to any one of claims 11 to 16.

18. Acquire the detection data from a three-dimensional sensor that detects the construction site; The three-dimensional sensor is disposed on a moving body. The display method according to any one of claims 11 to 17.

19. The moving body includes at least one of an aircraft and a work machine. The display method according to claim 18.

20. acquiring the detection data from each of a plurality of three-dimensional sensors; updating the three-dimensional data based on the detection data of each of the plurality of three-dimensional sensors; The updated range is displayed in a different display format for each of the plurality of three-dimensional sensors.

20. The display method according to claim 18 or 19.

Images