Flood detection device, flood detection system, flood detection method and program

Abstract

To provide an inundation grasping device capable of providing information about the scale of an inundation.SOLUTION: An inundation grasping device 4 comprises: an inundation depth calculation unit 47 which calculates inundation information being information on the scale of an inundation by using a boundary position of an inundation area determined by using a camera image captured with a camera device mounted on an aircraft 1 and altitude data; and an output unit 53 which outputs the inundation information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a flood detection device, a flood detection system, a flood detection method, and a program for detecting flooded areas. [Background technology]

[0002] When flooding occurs, it is desirable to accurately assess the scale of the flood damage and quickly formulate plans for rescue and recovery activities. For example, planning the dispatch of pump trucks requires understanding the amount of flood water. Until now, one method for assessing the scale of flood damage has been to dispatch personnel to the affected area to manually assess the scale of flood damage, but this method takes a very long time and causes delays in rescue and recovery efforts.

[0003] Another method involves photographing the affected area from a helicopter and using the captured images to grasp flood damage. Patent Document 1 discloses a technology in which, during a disaster, a television camera mounted on a helicopter captures images of a scene directly below, and a terminal device on the ground displays the images captured by the television camera overlaid on a map screen based on the helicopter's position information, allowing an operator to check the images and specify the disaster spot with a mouse, thereby identifying the disaster spot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-331831 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 above can identify the location of a disaster as a specific point based on images captured by a television camera mounted on a helicopter, but cannot provide information on the scale of flooding.

[0006] The present disclosure has been made in consideration of the above, and aims to provide a flood detection device that can provide information regarding the scale of flooding. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, the flood detection device according to the present disclosure includes a flood information calculation unit that calculates flood information, which is information about the scale of flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data, and an output unit that outputs the flood information. The boundary position is calculated as the intersection point between the direction of light incident on the camera device corresponding to the specified position designated by the user as a position in the displayed camera image and the ground surface indicated by the elevation data. do. [Effects of the Invention]

[0008] The present disclosure has the effect of being able to provide information regarding the scale of flooding. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration example of a flood detection system according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing a configuration example of an aircraft according to a first embodiment; [Figure 3] FIG. 10 is a diagram showing an example of helicopter information according to the first embodiment; [Figure 4] FIG. 1 shows an example of the configuration of a boundary calculation unit according to a first embodiment. [Figure 5] 1 is a flowchart showing an example of a flood detection process performed by the flood detection device according to the first embodiment. [Figure 6] FIG. 1 is a diagram schematically illustrating photography by the camera device of the first embodiment. [Figure 7] FIG. 1 is a diagram for explaining a method for specifying a boundary position according to the first embodiment; [Figure 8] FIG. 1 is a diagram for explaining an imaging direction vector and a boundary position direction vector according to the first embodiment; [Figure 9] FIG. 1 is a diagram showing an example of a polygon having vertices at boundary positions according to the first embodiment; [Figure 10] FIG. 1 is a diagram for explaining a method for calculating flood depth according to the first embodiment. [Figure 11] FIG. 10 is a diagram showing an example of a flood depth display screen according to the first embodiment. [Figure 12] FIG. 1 is a diagram showing an example of the configuration of a computer system that realizes a flood detection device according to a first embodiment. [Figure 13] FIG. 1 is a diagram showing a configuration example of a flood detection device according to a modification of the first embodiment. [Figure 14] FIG. 10 is a diagram showing a configuration example of a flood detection system according to a second embodiment. [Figure 15] FIG. 10 is a diagram for explaining estimation of a flooded area in the second embodiment. [Figure 16] A flowchart showing an example of a flood detection process in the flood detection device of the second embodiment. [Figure 17] FIG. 10 is a diagram showing an example of an estimated flooded area according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The flood detection device, flood detection system, flood detection method, and program according to the embodiments will be described in detail below with reference to the drawings.

[0011] Embodiment 1 FIG. 1 is a diagram showing an example of the configuration of a flood detection system according to the first embodiment. The flood detection system 100 of this embodiment comprises a receiving system 2, a helicopter information branching device 3, and a flood detection device 4. In the example shown in FIG. 1, the receiving system 2, helicopter information branching device 3, and flood detection device 4 are provided separately, but the flood detection device 4 may comprise the helicopter information branching device 3, or the flood detection device 4 may comprise the receiving system 2 and the helicopter information branching device 3.

[0012] The receiving system 2 receives camera footage with helicopter information (aircraft information) superimposed from an aircraft 1 such as a helicopter, and outputs the received signal to a helicopter information branching device 3. The aircraft 1 is, for example, a helicopter, and although an example in which the aircraft 1 is a helicopter will be described below, the aircraft 1 is not limited to this and may also be an airship, a UAV (Unmanned Aerial Vehicle), a drone, or a manned aircraft. The helicopter information is information including the position, attitude, etc. of the aircraft 1. Details of the helicopter information will be described later. The camera footage is footage acquired by a camera device mounted on the aircraft 1, which will be described later.

[0013] The receiving system 2 includes an antenna 21 and a receiving processor 22. The antenna 21 receives camera images with helicopter information superimposed thereon from the aircraft 1 as radio waves, converts the received radio waves into electrical signals, and outputs the electrical signals to the receiving processor 22. The receiving processor 22 performs predetermined receiving processing on the electrical signals (received signals) output from the antenna 21, and transmits the processed received signals to the helicopter information branching device 3.

[0014] The helicopter information branching device 3, which is an aircraft information branching device, separates the helicopter information and the camera footage contained in the received signal received from the receiving system 2, thereby branching the helicopter information from the camera footage. The helicopter information branching device 3 transmits the helicopter information and the camera footage to the flooding detection device 4. As described below, for example, the helicopter information is superimposed on the camera footage by being modulated in the aircraft 1 and transmitted as an audio signal for the camera footage, but the method of superimposing the helicopter information is not limited to this example. Note that the following describes an example in which the helicopter information is superimposed on the camera footage. However, the helicopter information and the camera footage may also be transmitted separately from the aircraft 1, and the receiving system 2 may receive the helicopter information and the camera footage separately. When the helicopter information is superimposed on the camera footage, helicopter information synchronized with the camera footage can be obtained by simply receiving and processing one type of received signal. This improves the real-time processing speed compared to when the helicopter information and the camera footage are separately received and processed to synchronize them.

[0015] The flood detection device 4 provides information about the scale of flooding using camera images taken by a camera device mounted on the aircraft 1. In this embodiment, the information about the scale of flooding is, for example, the depth of flooding, the amount of water, the area of ​​the flooded area, etc., and includes at least the depth of flooding.

[0016] The flood detection device 4 includes an image acquisition unit 41, a helicopter information acquisition unit 42, an elevation data storage unit 43, a still image extraction unit 44, a boundary calculation unit 45, an area calculation unit 46, a flood depth calculation unit 47, a water volume calculation unit 48, a flood information storage unit 49, an input reception unit 50, an image position detection unit 51, a display data generation unit 52, and an output unit 53.

[0017] The video acquisition unit 41 acquires the camera video by receiving it from the helicopter information branching device 3, and outputs the acquired camera video to the still image extraction unit 44. The still image extraction unit 44 extracts still images by dividing the camera video into images for each frame, for example, and outputs the extracted still images (images) to the boundary calculation unit 45 and the display data generation unit 52.

[0018] The display data generation unit 52 generates display data for displaying the still images output from the still image extraction unit 44, and outputs the display data to the output unit 53. The display data generation unit 52 also generates display data for displaying the flood information stored in the flood information storage unit 49, and outputs the display data to the output unit 53. The flood information is information related to the scale of the flooding, and includes, for example, at least one of the area, flood depth, and water volume (flood volume) of the flooded area. The flood information may also include information indicating the location of the flooded area.

[0019] The output unit 53 outputs camera footage (still images extracted from camera footage), flood information, etc. The output unit 53 outputs camera footage (still images extracted from camera footage) and flood information, for example, by displaying display data for displaying the camera footage (still images extracted from camera footage), flood information, etc. The output unit 53 may output camera footage (still images extracted from camera footage) and flood information by transmitting the display data to a display device such as a terminal device (not shown). In this case, the display device displays the display data. The output unit 53 may both display the display data and transmit the display data to the display device.

[0020] The helicopter information acquisition unit 42 , which is an aircraft information acquisition unit, acquires helicopter information by receiving helicopter information, which is an example of aircraft information, and outputs the acquired helicopter information to the boundary calculation unit 45 .

[0021] The input receiving unit 50 is an input means such as a mouse, touch panel, keyboard, or touch pad, and receives input of a designated position indicating the boundary of a flooded area from a user and outputs the received designated position to the in-image position detection unit 51. The designated position is received, for example, as a coordinate value within a displayed display screen. Furthermore, when display data is transmitted to a display device (not shown), the input receiving unit 50 may receive, from the display device, the designated position input by the user that the display device has received, and output the received designated position to the in-image position detection unit 51.

[0022] The intra-image position detection unit 51 calculates the coordinate values ​​of the specified position received from the input reception unit 50 in an image xy coordinate system, which is a coordinate system in the displayed image (still image), and outputs the calculated coordinate values ​​as image position coordinates to the boundary calculation unit 45. The image xy coordinate system is, for example, a coordinate system in which the horizontal direction of the displayed image is the x-axis and the vertical direction is the y-axis. Note that when the display data is displayed on a display device (not shown), the input reception unit 50 may acquire the specified position from the display device as coordinate values ​​in the image xy coordinate system. In this case, the intra-image position detection unit 51 may not be provided, and the specified position may be output from the input reception unit 50 to the boundary calculation unit 45.

[0023] The elevation data storage unit 43 stores elevation data. Examples of elevation data that can be used include, but are not limited to, elevation data indicating the elevation of each mesh. Examples include elevation data on a 10-meter mesh or a 5-meter mesh provided by the Geospatial Information Authority of Japan. The boundary calculation unit 45 determines the boundary position of the flooded area using camera images captured by a camera device mounted on the aircraft 1. Specifically, the boundary calculation unit 45 uses image position coordinates, helicopter information, and elevation data to calculate the coordinate values ​​in the Earth-fixed coordinate system of a designated position that is the boundary of the flooded area as the boundary position, and outputs the calculated boundary position to the area calculation unit 46, the flood depth calculation unit 47, and the water volume calculation unit 48. The boundary position does not necessarily have to be output to the water volume calculation unit 48. In this embodiment, the boundary position is calculated as the intersection of the direction of light incident on the camera device corresponding to a designated position designated by the user as a position in the displayed camera image and the ground surface indicated by the elevation data.

[0024] The area calculation unit 46 calculates the area of ​​the flooded area using the boundary position and stores the calculated area in the flood information storage unit 49. The flood depth calculation unit 47 calculates the flood depth using the boundary position and elevation data and stores the calculated flood depth in the flood information storage unit 49. The water volume calculation unit 48 calculates the water volume using the flood depth calculated by the flood information storage unit 49 and stores the calculated water volume in the flood information storage unit 49.

[0025] The area calculation unit 46, the flood depth calculation unit 47, and the water volume calculation unit 48 are examples of a flood information calculation unit that calculates flood information, which is information about the scale of flooding, using the boundary position of the flooded area determined using camera footage and elevation data. While the configuration example shown in FIG. 1 includes the area calculation unit 46, the flood depth calculation unit 47, and the water volume calculation unit 48, this is not limiting and at least one of these may be provided. For example, at least the flood depth calculation unit 47 may be provided as the flood information calculation unit. The flood assessment device 4 of this embodiment accepts input from the user of a designated position indicating the boundary of the flooded area, determines the flooded area based on the designated position, and calculates the flood depth, which is an example of information about the scale of flooding, using the determined flooded area and elevation data. This allows the flood assessment device 4 of this embodiment to provide information about the scale of water. For example, when the flood assessment device 4 calculates and outputs the flood depth, the user can understand the extent of flood damage at each location. Furthermore, when the flood detection device 4 calculates and outputs the water volume, the user can use the water volume to formulate a dispatch plan for pump trucks.

[0026] Fig. 2 is a diagram showing an example configuration of an aircraft 1 according to this embodiment. As shown in Fig. 2, the aircraft 1 is equipped with a GPS (Global Positioning System) receiver 11, a gyro 12, a helicopter information creation device 13, a camera device 14, a helicopter information superimposition device 15, and a transmission system 16. The inundation detection system 100 according to this embodiment may include at least some of the helicopter information creation device 13, the camera device 14, the helicopter information superimposition device 15, and the transmission system 16.

[0027] The GPS receiver 11 receives positioning signals transmitted from GPS satellites, performs positioning based on the positioning signals, and outputs the positioning results as GPS information to the helicopter information creation device 13. Note that although the GPS receiver 11 is used as an example here, the present invention is not limited to this and any receiver that performs positioning using GNSS (Global Navigation Satellite System) satellites may be used.

[0028] Gyro 12 detects the inclination of the aircraft 1 (pitch angle, roll angle, yaw angle (azimuth angle)) and outputs the detection result to helicopter information creation device 13 as helicopter attitude information. Camera device 14 is mounted on aircraft 1 and captures video of the ground in response to operation by a cameraman on board aircraft 1, for example. Note that the camera device 14 is not limited to capturing video in response to operation by the cameraman, and may capture video automatically, for example, by remote control from the ground. Camera device 14 outputs the camera video obtained by capturing video to helicopter information superimposition device 15, and outputs camera information, which is information related to the camera, such as pan angle, tilt angle, and focal length, to helicopter information creation device 13.

[0029] Helicopter information creation device 13 creates helicopter information using GPS information, helicopter attitude information, and camera information, and outputs the created helicopter information to helicopter information superimposition device 15. Helicopter information superimposition device 15, which is an aircraft information superimposition device, superimposes the helicopter information on the camera image and outputs the camera image with the helicopter information superimposed to transmission system 16. For example, helicopter information creation device 13 superimposes the helicopter information on the camera image by modulating the helicopter information and including it in the audio signal of the camera image.

[0030] The camera image with the helicopter information superimposed thereon is transmitted to the ground by a transmission system 16. The transmission system 16 includes a transmission processing device 17 that performs predetermined transmission processing on the camera image with the helicopter information superimposed thereon and outputs the processed signal, and an antenna 18 that transmits the signal output from the transmission processing device 17 as radio waves.

[0031] FIG. 3 is a diagram showing an example of helicopter information according to this embodiment. As shown in FIG. 3, the helicopter information includes helicopter position information (latitude, longitude, altitude), which is position information indicating the position of the aircraft 1; helicopter attitude information (roll angle, pitch angle, yaw angle (azimuth angle)) indicating the tilt (attitude) of the aircraft 1; and camera information (pan angle, tilt angle, focal length). Note that FIG. 3 is an example, and the helicopter information may include information other than that shown in FIG. 3, or may not include some of the information shown in FIG. 3. Furthermore, the helicopter position information may be represented by values ​​other than latitude, longitude, and altitude, and the helicopter attitude information may be represented by values ​​other than roll angle, pitch angle, and yaw angle (azimuth angle). Furthermore, the camera information is not limited to the example shown in FIG. 3.

[0032] Next, details of the flood detection device 4 of this embodiment will be described. Fig. 4 is a diagram showing an example configuration of the boundary calculation unit 45 of this embodiment. As shown in Fig. 4, the boundary calculation unit 45 includes a helicopter information separation unit 451, a shooting direction vector calculation unit 452, a boundary position coordinate identification unit 453, a device information storage unit 454, and a boundary position direction vector calculation unit 455.

[0033] Helicopter information separation unit 451 separates the helicopter information into helicopter position information, helicopter attitude information, and camera information, outputs the helicopter position information to boundary position coordinate identification unit 453, and outputs the helicopter attitude information to shooting direction vector calculation unit 452. Furthermore, helicopter information separation unit 451 extracts camera angle information (pan angle and tilt angle among the camera information) from the camera information, and extracts altitude information indicating altitude from the helicopter information, and outputs the extracted camera angle information and altitude information to boundary position direction vector calculation unit 455. Furthermore, helicopter information separation unit 451 extracts focal length information indicating focal length from the camera information, and outputs the extracted focal length information to shooting direction vector calculation unit 452.

[0034] The shooting direction vector calculation unit 452 calculates a shooting direction vector in the platform coordinate system, which is a coordinate system fixed to the aircraft 1, and outputs the calculated shooting direction vector to the boundary position direction vector calculation unit 455. The shooting direction vector is a vector that indicates the shooting direction of the camera device 14 mounted on the aircraft 1, for example, the direction of the center of the angle of view.

[0035] The device information storage unit 454 stores camera device information, which is fixed information related to the camera device 14 mounted on the aircraft 1. The camera device information includes, for example, the size of the image sensor of the camera device 14 (the size corresponding to one pixel and the number of image sensors). The image sensor is, for example, a CCD (Charge Coupled Device), but is not limited to this. The camera device information may be input to the flood detection device 4 by an operator or the like, or may be transmitted from a device not shown and received by the flood detection device 4.

[0036] The boundary position direction vector calculation unit 455 calculates a boundary position direction vector in the platform coordinate system using the image position coordinates output from the intra-image position detection unit 51, the camera device information read from the device information storage unit 454, the focal length information output from the helicopter information separation unit 451, and the shooting direction vector output from the shooting direction vector calculation unit 452. In this embodiment, the boundary position is a position (hereinafter referred to as a designated position) designated by the user based on the captured image. Therefore, in this embodiment, the boundary position direction vector is a vector directed from the camera device 14 to the designated position. Since multiple designated positions are designated to indicate flooded areas, multiple boundary position direction vectors are calculated, and the boundary position direction vector calculation unit 455 calculates the multiple boundary position direction vectors and outputs the multiple boundary position direction vectors to the boundary position coordinate identification unit 453 as a boundary position direction vector list.

[0037] The boundary position coordinate identification unit 453 uses helicopter position information, boundary position direction vector list, and elevation data to determine boundary position coordinates, which are coordinate values ​​in the Earth-fixed coordinate system, for each of the multiple boundary positions, and outputs a list of boundary position coordinates (boundary position coordinate list) to the area calculation unit 46 and the flood depth calculation unit 47.

[0038] Next, the operation of the flood detection device 4 of this embodiment will be described. Figure 5 is a flowchart showing an example of the flood detection process in the flood detection device 4 of this embodiment. As shown in Figure 5, the flood detection device 4 acquires camera footage and helicopter information (step S1). In detail, the video acquisition unit 41 and the helicopter information acquisition unit 42 acquire the camera footage and helicopter information, respectively.

[0039] Next, the flood detection device 4 separates the helicopter information (step S2). In detail, the helicopter information separation unit 451 separates the helicopter information, outputs the helicopter position information to the boundary position coordinate identification unit 453, outputs the helicopter attitude information, camera angle information, and altitude information to the shooting direction vector calculation unit 452, and outputs the focal length information to the boundary position direction vector calculation unit 455.

[0040] Next, the flood detection device 4 calculates a shooting direction vector (step S3). In detail, the shooting direction vector calculation unit 452 calculates a shooting direction vector in the platform coordinate system using helicopter attitude information, camera angle information, and altitude information. The shooting direction vector is calculated by, for example, converting a view angle center direction vector that indicates the direction of the center of the view angle of the camera device 14 when the pan angle and tilt angle are 0 degrees into a transformation matrix T (bold type) shown in the following formulas (1) and (2): CH , T(bold) HW where pa is the pan angle, ti is the tilt angle, ya is the yaw angle, pi is the pitch angle, ro is the roll angle, and h is the altitude.

[0041]

number

[0042]

number

[0043] Next, the flood detection device 4 calculates a boundary position direction vector (step S4). In detail, the boundary position direction vector calculation unit 455 calculates the boundary position direction vector in the platform coordinate system using the image position coordinates output from the intra-image position detection unit 51, the camera device information read from the device information storage unit 454, the focal length information output from the helicopter information separation unit 451, and the shooting direction vector output from the shooting direction vector calculation unit 452.

[0044] Here, we will explain how the camera device 14 of this embodiment captures images. In this embodiment, when a flood or other disaster occurs, the aircraft 1 is dispatched to an area where damage is expected, and the camera device 14 captures images from the aircraft 1. FIG. 6 is a diagram schematically illustrating how the camera device 14 captures images of the area. The camera device 14 has a field of view 61 when capturing an image directly below it, and a field of view 62 when capturing an image diagonally, i.e., diagonally below the vertical direction of the aircraft 1. When capturing an image diagonally, the range captured by the camera device 14 is wider than when capturing an image directly below it. Also, capturing an image diagonally allows for height information to be obtained for high parts. Therefore, the following description will be given using an example in which the camera device 14 captures an image diagonally. However, the operation of this embodiment can also be applied when the camera device 14 captures an image directly below it. Furthermore, since this embodiment can be applied to both diagonal and diagonal image capture, the flooding situation can be grasped using images captured from any direction.

[0045] FIG. 7 is a diagram illustrating a method for specifying a boundary position according to this embodiment. In FIG. 7, image 70 shows an entire image captured by camera device 14. In the example shown in FIG. 7, a flooded area 71 and a non-flooded area 72 are included in image 70, and the user specifies the boundary position between flooded area 71 and non-flooded area 72 in the displayed image 70 using a mouse or the like. In FIG. 7, boundary position 73, which is the position specified by the user, is indicated by a circle. Circles of a similar shape without the reference numeral 73 are also boundary positions 73. In this way, by the user selecting multiple boundary positions 73, flooded area 71 is specified as a polygon.

[0046] FIG. 8 is a diagram illustrating the imaging direction vector and boundary position direction vector of this embodiment. As shown in FIG. 8, an imaging direction vector 81 corresponding to the center of the angle of view of the camera device 14 mounted on the aircraft 1 is the center of a range 82 indicating the angle of view of the camera device 14, and the range 82 corresponding to the image to be captured is determined according to the size and focal length of the image sensor of the camera device 14. In FIG. 8, the range 82 is indicated by a direction (angle), and the actual imaging area on the ground that is captured is the point where each vector within the range 82 intersects with the ground. Each direction within the range 82 corresponds to a coordinate value in the image xy coordinate system of the captured image. It is assumed that the installation orientation of the camera device 14 in the platform coordinate system is predetermined or input by an operator or the like. The boundary position direction vector calculation unit 455 can calculate a boundary position direction vector 83 corresponding to coordinate values ​​in the image xy coordinate system using the image position coordinates output from the intra-image position detection unit 51, the camera device information read from the device information storage unit 454, the focal length information output from the helicopter information separation unit 451, and the shooting direction vector 81 output from the shooting direction vector calculation unit 452. The boundary position direction vector 83 is a line of sight direction vector when the boundary position corresponding to the specified position designated by the user is viewed from the position of the camera device 14.

[0047] Returning to the explanation of FIG. 4, the inundation detection device 4 next identifies boundary position coordinates (step S5). More specifically, the boundary position coordinate identification unit 453 converts the boundary position direction vector into a vector in the Earth-fixed coordinate system using the helicopter position information and the boundary position direction vector list. Then, the boundary position coordinate identification unit 453 uses the elevation data and the converted boundary position direction vector to determine boundary position coordinates, which are coordinate values ​​in the Earth-fixed coordinate system, for each of the multiple boundary positions. In the example shown in FIG. 8, a point 84 where the boundary position direction vector 83 intersects with the ground surface indicated by the elevation data (the ground surface taking the elevation into consideration) is the point on the ground corresponding to the boundary position direction vector 83. In other words, the boundary position is calculated as the intersection point between the direction of incidence of light to the camera device 14 corresponding to the specified position and the ground surface indicated by the elevation data. In this way, the boundary position coordinate identification unit 453 calculates the latitude, longitude, and elevation of the point where the ground surface and the boundary position direction vector intersect, taking the elevation into consideration, as the boundary position coordinates. Since the water surface height (elevation) of the flooded areas is the same, it is sufficient to calculate one elevation (elevation of the water surface) for each continuous flooded area. The boundary position coordinate identification unit 453 outputs a boundary position coordinate list including the boundary position coordinates corresponding to each boundary position vector to the area calculation unit 46 and the flood depth calculation unit 47.

[0048] Returning to the explanation of Figure 5, the flood detection device 4 next calculates the area of ​​the flooded area (step S6). In detail, the area calculation unit 46 calculates the area of ​​the flooded area by regarding a polygon having each boundary position (latitude and longitude) in the boundary position coordinate list as a vertex as the flooded area, and stores the calculated area in the flood information storage unit 49. Figure 9 is a diagram showing an example of a polygon having boundary positions as vertices in this embodiment. Figure 9 shows a polygon 74 having vertices at boundary positions 73 specified by the user based on the flooded area 71 illustrated in Figure 7. Note that the number of boundary positions 73 specified by the user, i.e., the number of vertices of the polygon 74, is not limited to the example shown in Figure 9, and may be three or more. The area S of the polygon 74 can be calculated using the following formula (3): X i ,Y i is the i-th vertex, i.e., the i-th boundary position coordinate, and Σ indicates the sum over all vertices. S=(1 / 2)Σ(Xi Y i+1 -X i+1 Y i ) ···(3)

[0049] Returning to the explanation of Figure 5, the inundation detection device 4 then uses the elevation data to calculate the water depth of the flooded area, i.e., the inundation depth (step S7). More specifically, the inundation depth calculation unit 47 calculates the inundation depth using the boundary position coordinate list and the elevation data, and stores the calculated inundation depth in the inundation information storage unit 49. Figure 10 is a diagram for explaining the method of calculating inundation depth in this embodiment. In the example shown in Figure 10, elevation data corresponding to the range of polygon 74 obtained from the boundary position is shown as a triangular figure with data points 75. Triangles with no reference numerals are also data points 75 in the elevation data. The elevation data is, for example, the elevation for each mesh as described above, and the data points 75 indicate the elevation of each mesh. For example, as shown in Figure 10, the inundation depth calculation unit 47 calculates the inundation depth as the difference 76 between the elevation of the water surface and the elevation of each mesh in the range corresponding to polygon 74. Note that the calculation of flood depth is performed, for example, in units of meshes of elevation data, but flood depth may also be calculated in units of areas larger than meshes, or in units of areas finer than meshes. When calculation is performed in units of areas larger than meshes, for example, the flood depth calculation unit 47 calculates flood depth using the maximum, average, median, etc. of elevation within the area. When flood depth is calculated in units of areas finer than meshes, for example, the flood depth calculation unit 47 calculates the elevation of each area by interpolating the elevation of each mesh, and then calculates flood depth using the calculated elevation.

[0050] Returning to the explanation of Figure 5, the inundation detection device 4 then calculates the water volume (step S8) and terminates the process. In detail, the water volume calculation unit 48 calculates the water volume using the inundation depth calculated by the inundation depth calculation unit 47, and stores the calculated water volume in the inundation information storage unit 49. The water volume calculation unit 48 calculates the water volume as, for example, the sum of the products of the area of ​​a mesh (or the area, which is the unit of calculation described above) and the inundation depth.

[0051] Through the above-described processing, the flood information storage unit 49 stores the area, flood depth, and water volume of the flooded area as flood information. In addition, the area calculation unit 46 or the flood depth calculation unit 47 stores the boundary position coordinate list in the flood information storage unit 49 as flood information. The display data generation unit 52 generates display data using the flood information and outputs it to the output unit 53. The output unit 53 displays the display data. As mentioned above, the output unit 53 may send the display data to a display device (not shown). This allows the flood detection device 4 to provide flood information, which is information regarding the scale of flooding. The output unit 53 may also output the flood information as numerical information, such as in text format.

[0052] The display data generator 52 generates display data for displaying, for example, a map and a polygon representing a flooded area superimposed on it. This allows the flooded area represented by the polygon to be displayed on the map. At least one of the area and water volume of the flooded area may also be displayed together with the polygon.

[0053] Furthermore, the display data generation unit 52 may generate display data for displaying, for example, a map superimposed with the flood depth at each location. As a result, the flood depth is displayed on the map. FIG. 11 is a diagram showing an example of a flood depth display screen according to this embodiment. In the example shown in FIG. 11, the flood depth is shown on the map, and flooded areas for each flood depth are calculated as areas 202-204 to the left of the river 201. For example, the areas 202-204 are displayed color-coded according to the flood depth. These colors are determined, for example, in accordance with the Ministry of Land, Infrastructure, Transport and Tourism's "Manual for Creating Maps of Anticipated Flood Inundation Areas," but are not limited to this example. Furthermore, at least one of the water volume and the area of ​​the flooded area may be superimposed on the diagram shown in FIG. 11. FIG. 11 is an example, and the specific display method is not limited to the example shown in FIG. 11.

[0054] Next, the hardware configuration of the flood detection device 4 of this embodiment will be described. In this embodiment, a program (computer program) describing the processing to be performed by the flood detection device 4 is executed on a computer system, causing the computer system to function as the flood detection device 4. Figure 12 is a diagram showing an example configuration of a computer system that realizes the flood detection device 4 of this embodiment. As shown in Figure 12, this computer system includes a control unit 101, an input unit 102, a memory unit 103, a display unit 104, a communication unit 105, and an output unit 106, which are connected via a system bus 107.

[0055] In FIG. 12 , the control unit 101 is a processor such as a CPU, and executes a program describing the processing of the flood detection device 4 of this embodiment. The input unit 102 is composed of, for example, a keyboard, a mouse, and the like, and is used by the user of the computer system to input various information. The memory unit 103 includes various types of memory, such as RAM (Random Access Memory) and ROM (Read Only Memory), and a storage device, such as a hard disk, and stores the programs to be executed by the control unit 101, necessary data obtained during processing, and the like. The memory unit 103 is also used as a temporary storage area for programs. The display unit 104 is composed of a display, an LCD (Liquid Crystal Display Panel), and the like, and displays various screens to the user of the computer system. The communication unit 105 is a receiver and transmitter that performs communication processing. The output unit 106 is a printer, a speaker, and the like. Note that FIG. 12 is merely an example, and the configuration of the computer system is not limited to the example of FIG. 12 . For example, the computer system may not include the output unit 106.

[0056] Here, an example of the operation of the computer system until the program of this embodiment is ready to be executed will be described. In a computer system having the above configuration, the program is installed in storage unit 103 from, for example, a CD-ROM or DVD-ROM inserted in a CD (Compact Disc)-ROM drive or DVD (Digital Versatile Disc)-ROM drive (not shown). When the program is executed, the program is read from storage unit 103 and stored in the main storage area of ​​storage unit 103. In this state, control unit 101 executes the processing of flood detection device 4 of this embodiment in accordance with the program stored in storage unit 103.

[0057] In the above explanation, a program describing the processing in the flood detection device 4 is provided on a CD-ROM or DVD-ROM as a recording medium, but this is not limited to this, and depending on the configuration of the computer system, the capacity of the program to be provided, etc., it is also possible to use a program provided via a transmission medium such as the Internet via the communication unit 105.

[0058] For example, the program of this embodiment causes a computer system to perform the steps of calculating flood information, which is information regarding the scale of the flooding, using the boundary position of the flooded area determined using camera footage captured by the camera device 14 mounted on the aircraft 1 and elevation data, and outputting the flood information.

[0059] The still image extraction unit 44, boundary calculation unit 45, area calculation unit 46, flood depth calculation unit 47, water volume calculation unit 48, image position detection unit 51, and display data generation unit 52 shown in FIG. 1 are realized by the control unit 101 shown in FIG. 12 executing a program stored in the memory unit 103 shown in FIG. 12. The memory unit 103 shown in FIG. 12 is also used to realize the still image extraction unit 44, boundary calculation unit 45, area calculation unit 46, flood depth calculation unit 47, water volume calculation unit 48, image position detection unit 51, and display data generation unit 52. The video acquisition unit 41 and helicopter information acquisition unit 42 shown in FIG. 1 are realized by the communication unit 105 shown in FIG. 12. The elevation data storage unit 43 and flood information storage unit 49 shown in FIG. 1 are part of the storage unit 103 shown in FIG. 12. The output unit 53 shown in FIG. 1 is realized by at least one of the display unit 104 and communication unit 105 shown in FIG. 12. The input receiving unit 50 shown in Fig. 1 is realized by the input unit 102 shown in Fig. 12. The flood detection device 4 may be realized by multiple computer systems. For example, the flood detection device 4 may be realized by a cloud system.

[0060] <Modification> In the example described above, the boundary position of the flooded area is specified by the user, but this is not limiting and the boundary position of the flooded area may also be extracted automatically. Figure 13 is a diagram showing an example configuration of a flood detection device 4a according to a modified example of this embodiment. The flood detection system according to this modified example is the same as the example shown in Figure 1, except that it includes a flood detection device 4a instead of a flood detection device 4.

[0061] The flood detection device 4a is similar to the flood detection device 4 shown in FIG. 1 except that it includes a flooded area discrimination unit 54 instead of the input receiving unit 50 and the image position detection unit 51. The flooded area discrimination unit 54 discriminates flooded areas through image analysis using still images extracted from camera footage, calculates multiple image position coordinates of the boundaries of the flooded areas, and outputs the coordinates to the boundary calculation unit 45. The flooded area discrimination unit 54 may, for example, discriminate the boundaries between flooded and non-flooded areas through threshold determination based on the RGB values ​​of each pixel in the image, or may discriminate the boundaries between flooded and non-flooded areas through machine learning. For example, the flooded area discrimination unit 54 may generate a trained model through supervised learning using images of known flooded areas and ground truth data indicating flooded areas, and then input still images extracted from camera footage into the trained model to discriminate the boundaries between flooded and non-flooded areas. Note that the machine learning method is not limited to this example.

[0062] The boundary calculation unit 45 uses the multiple image position coordinates calculated by the flooded area determination unit 54 to generate a boundary position coordinate list, similar to the flood detection device 4 shown in Fig. 1. Operations of the flood detection device 4a other than those described above are similar to those of the flood detection device 4 shown in Fig. 1. In this modified example, the boundary position is calculated as the intersection between the direction of light incident on the camera device 14 corresponding to multiple positions indicating the boundary of the flooded area determined by the flooded area determination unit 54 and the ground surface indicated by the elevation data.

[0063] As described above, the flood detection device 4 of this embodiment calculates and outputs the flood depth, which is an example of information indicating the scale of the flooding, using the boundary position of the flooded area determined using camera images acquired by the camera device 14 mounted on the aircraft 1, helicopter information, and altitude data. This makes it possible to provide information on the scale of the flooding.

[0064] Furthermore, when the camera device 14 takes images at an oblique angle, it is possible to capture a wider area than when taking images directly below, and to obtain information in the elevation direction. Furthermore, the inundation detection device 4 can calculate the water volume using the inundation depth, allowing the water volume to be reflected in the formulation of a plan for dispatching pump trucks. Furthermore, when the boundary position is specified by the user, information indicating the scale of the inundation can be calculated with simple processing, and information indicating the scale of the inundation can be provided promptly. Furthermore, by transmitting helicopter information superimposed on the camera image, the inundation detection device 4 can provide highly real-time information without the need for processing such as acquiring and synchronizing information on the position and attitude of the aircraft 1 separately from the camera image.

[0065] Embodiment 2 FIG. 14 is a diagram showing an example of the configuration of a flood detection system according to the second embodiment. The flood detection system 100a of this embodiment comprises a receiving system 2, a helicopter information branching device 3, and a flood detection device 4b. The flood detection system 100a is the same as the flood detection system 100 of the first embodiment, except that it comprises a flood detection device 4b instead of the flood detection device 4. Components having the same functions as those of the first embodiment are given the same reference numerals as those of the first embodiment, and redundant explanations will be omitted. Below, differences from the first embodiment will be mainly explained.

[0066] The flood detection device 4b is the same as the flood detection device 4 of embodiment 1, except for the addition of a flooded area estimation unit 55. The boundary calculation unit 45 calculates a boundary position coordinate list as in embodiment 1, and outputs the boundary position coordinate list to the flooded area estimation unit 55. The flooded area estimation unit 55 uses the water surface height in the boundary position coordinate list calculated by the boundary calculation unit 45 and elevation data to estimate flooded areas including areas that have not been photographed.

[0067] In this embodiment, the flooding information includes at least information indicating estimated flooded areas, including flooded areas in areas not photographed. The flooded area estimation unit 55 is an example of a flooding information calculation unit, and uses the boundary position to calculate the water level of a first flooded area, which is a flooded area within the range of the camera image, and uses the water level and elevation data to estimate a second flooded area, which is a flooded area outside the range of the camera image, and calculates an estimated flooded area that combines the second flooded area and the first flooded area.

[0068] Figure 15 is a diagram for explaining the estimation of flooded areas in this embodiment. In the example shown in Figure 15, part of the flooded area is photographed as a photographed area, and there are also areas of the flooded area that are not photographed. In this embodiment, taking advantage of the fact that the water surface height of the flooded area is common, a boundary position coordinate list is calculated in the same way as in Embodiment 1 using camera footage of the photographed area, and the water surface height in the boundary position coordinate list and altitude data are used to estimate that an area below the altitude corresponding to the water surface height in the boundary position coordinate list is a flooded area.

[0069] Figure 16 is a flowchart showing an example of the flood detection process in the flood detection device 4b of this embodiment. Steps S1 to S5 are the same as in embodiment 1. After step S5, the flood detection device 4b determines the elevation of the water surface in the flooded area (step S11). In detail, the flooded area estimation unit 55 determines the elevation of the water surface by taking the water surface height in the boundary position coordinate list as the elevation of the water surface.

[0070] Next, the inundation detection device 4b estimates the flooded area using the elevation data and the elevation of the water surface (step S12). Specifically, for each mesh of the elevation data, the inundated area estimation unit 55 determines, for example, an area that is a mesh contiguous to the flooded area in the photographed area, indicated by the latitude and longitude in the boundary position coordinate list, and that has an elevation lower than the elevation of the water surface, as the estimated flooded area in the unphotographed area. The inundation detection device 4b then determines the estimated flooded area (estimated flooded area) as the combined flooded area of ​​the photographed area and the estimated flooded area in the unphotographed area, calculates estimated boundary position coordinates that indicate the boundary of the estimated flooded area as information indicating the estimated flooded area, and outputs a list of the calculated estimated boundary position coordinates to the area calculation unit 46 and the flood depth calculation unit 47. Steps S6 to S8 are the same as in the first embodiment. In other words, in this embodiment, the area calculation unit 46 calculates the area of ​​the estimated flooded area using information indicating the estimated flooded area. The flood depth calculation unit 47 also calculates the flood depth of the estimated flooded area using information indicating the estimated flooded area and elevation data.

[0071] Figure 17 is a diagram showing an example of an estimated flooded area according to this embodiment. In the example shown in Figure 17, each grid represents a mesh in the elevation data, and the estimated flooded area is hatched. In the example shown in Figure 17, the elevation of the water surface is calculated from the elevation of the boundary position in the photographed area, and the mesh corresponding to an elevation equal to or lower than this elevation is estimated as the estimated flooded area. In Figure 17, the elevation is compared with the elevation of the water surface for each mesh in the elevation data, but this is not limiting, and the elevation may be compared with the elevation of the water surface for each area smaller than the mesh, or for each area larger than the mesh, as in the case of calculating the flood depth in embodiment 1.

[0072] The flood detection device 4b of this embodiment is realized, for example, by the computer system shown in Fig. 12, similar to the flood detection device 4 described in embodiment 1. The flooded area estimation unit 55 is realized by the control unit 101 shown in Fig. 12.

[0073] In Figure 14, an example is described in which a flooded area estimation unit 55 is added to the flood detection device 4 shown in Figure 1 of embodiment 1, but a flooded area estimation unit 55 may also be added to the modified flood detection device 4a shown in Figure 13 to estimate the flooded area.

[0074] 14 illustrates an example in which the area calculation unit 46, flood depth calculation unit 47, and water volume calculation unit 48 are included, but some or all of the area calculation unit 46, flood depth calculation unit 47, and water volume calculation unit 48 may not be included. In other words, the inundation detection device 4b can simply estimate the flooded area in the unphotographed area using the water surface height of the flooded area in the photographed area and elevation data, and it is not necessary to calculate all or some of the flooded area, flood depth, and water volume. Similarly, even if the flooded area estimation unit 55 is added to the modified inundation detection device 4a shown in FIG. 13, some or all of the area calculation unit 46, flood depth calculation unit 47, and water volume calculation unit 48 may not be included.

[0075] As described above, the flood detection device 4b of this embodiment estimates the flooded areas in unphotographed areas using the water surface height and elevation data of the flooded areas in the photographed area. This makes it possible to provide information indicating the scale of the flooding in the flooded areas, including areas not photographed.

[0076] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0077] Various aspects of the present disclosure are summarized below as appendices.

[0078] (Appendix 1) a flood information calculation unit that calculates flood information, which is information about the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; an output unit that outputs the flood information; A flood detection device comprising: (Appendix 2) a flood depth calculation unit that calculates the flood depth using the boundary position and elevation data; Equipped with The flood detection device described in Appendix 1, characterized in that the flood information includes the flood depth. (Appendix 3) an area calculation unit that calculates the area of ​​the flooded area using the boundary position; Equipped with The flood detection device described in Appendix 2, characterized in that the flood information includes the area. (Appendix 4) a water volume calculation unit that calculates the water volume of the flooded area using the flood depth; Equipped with The flood detection device according to claim 2 or 3, wherein the flood information includes the amount of water. (Appendix 5) The flooding information calculation unit calculates the water level of a first flooded area that is a flooded area within the shooting range of the camera image using the boundary position, estimates a second flooded area that is a flooded area outside the shooting range using the water level and elevation data, and calculates an estimated flooded area that combines the second flooded area and the first flooded area, The flood detection device described in Appendix 1, characterized in that the flood information includes information indicating the estimated flooded area. (Appendix 6) a flood depth calculation unit that calculates the flood depth of the estimated flooded area using information indicating the estimated flooded area and elevation data; Equipped with The flood detection device described in Appendix 5, characterized in that the flood information includes the flood depth. (Appendix 7) an area calculation unit that calculates the area of ​​the estimated flooded area using the information indicating the estimated flooded area; Equipped with The flood detection device according to claim 6, wherein the flood information includes the area. (Appendix 8) a water volume calculation unit that calculates the water volume of the flooded area using the flood depth; Equipped with The flood detection device according to claim 5 or 6, wherein the flood information includes the amount of water. (Appendix 9) A flood detection device as described in any one of appendices 1 to 8, characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to a specified position specified by the user as a position in the displayed camera image and the ground surface indicated by the elevation data. (Appendix 10) a flooded area determination unit that determines a flooded area by image analysis of the camera image; Equipped with A flood detection device as described in any one of Appendices 1 to 8, characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to multiple positions indicating the boundary of the flooded area determined by the flooded area determination unit and the ground surface indicated by the elevation data. (Appendix 11) 11. The flood detection device according to claim 1, wherein the camera device captures an image of a vertically and diagonally downward direction of the aircraft. (Appendix 12) A flood detection device as described in any one of Appendices 1 to 11, characterized in that the boundary position is calculated using aircraft information including information indicating the position and attitude of the aircraft, and the aircraft information is superimposed on the camera image and transmitted from the aircraft. [Explanation of symbols]

[0079] 1 aircraft, 2 receiving system, 3 helicopter information branching device, 4, 4a, 4b flooding detection device, 11 GPS receiver, 12 gyro, 13 helicopter information creation device, 14 camera device, 15 helicopter information superposition device, 16 transmission system, 17 transmission processing device, 18, 21 antenna, 22 receiving processing device, 41 video acquisition unit, 42 helicopter information acquisition unit, 43 elevation data storage unit, 44 still image extraction unit, 45 boundary calculation unit, 46 area calculation unit, 47 flooding depth calculation unit, 48 water volume calculation unit, 49 flooding information storage unit, 50 input reception unit, 51 image position detection unit, 52 display data generation unit, 53 output unit, 54 flooded area discrimination unit, 55 flooded area estimation unit, 100, 100a flooding detection system, 451 helicopter information separation unit, 452 shooting direction vector calculation unit, 453 Boundary position coordinate specifying unit 454, device information storage unit 455, boundary position direction vector calculation unit.

Claims

1. a flood information calculation unit that calculates flood information, which is information about the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; an output unit that outputs the flood information; Equipped with A flood detection device characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to a specified position specified by the user as a position in the displayed camera image and the ground surface indicated by the elevation data.

2. A flood information calculation unit that calculates flood information, which is information about the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; an output unit that outputs the flood information; a flooded area determination unit that determines a flooded area by image analysis of the camera image; Equipped with A flood detection device characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to multiple positions indicating the boundary of the flooded area determined by the flooded area determination unit and the ground surface indicated by the elevation data.

3. a flood depth calculation unit that calculates the flood depth using the boundary position and elevation data; Equipped with The flood detection device according to claim 1 , wherein the flood information includes the flood depth.

4. A flood depth calculation unit that calculates the flood depth using the boundary position and elevation data. Equipped with The flood detection device according to claim 2, wherein the flood information includes the flood depth.

5. an area calculation unit that calculates the area of ​​the flooded area using the boundary position; Equipped with The flood detection device according to claim 3 , wherein the flood information includes the area.

6. An area calculation unit that calculates the area of ​​the flooded area using the boundary position; Equipped with The flood detection device according to claim 4 , wherein the flood information includes the area.

7. a water volume calculation unit that calculates the water volume of the flooded area using the flood depth; Equipped with The flood detection device according to claim 3 , wherein the flood information includes the amount of water.

8. A water volume calculation unit that calculates the water volume in the flooded area using the flood depth. Equipped with The flood detection device according to claim 4 , wherein the flood information includes the amount of water.

9. A flood information calculation unit that calculates flood information, which is information regarding the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; an output unit that outputs the flood information; Equipped with The flooding information calculation unit calculates the water level of a first flooded area, which is a flooded area within the shooting range of the camera image, using the boundary position, estimates a second flooded area, which is a flooded area outside the shooting range, using the water level and elevation data, and calculates an estimated flooded area that combines the second flooded area and the first flooded area, A flood detection device characterized in that the flood information includes information indicating the estimated flooded area.

10. a flood depth calculation unit that calculates the flood depth of the estimated flooded area using information indicating the estimated flooded area and elevation data; Equipped with The flood detection device according to claim 9, wherein the flood information includes the flood depth.

11. an area calculation unit that calculates the area of ​​the estimated flooded area using the information indicating the estimated flooded area; Equipped with The flood detection device according to claim 10, wherein the flood information includes the area.

12. a water volume calculation unit that calculates the water volume of the flooded area using the flood depth; Equipped with The flood detection device according to claim 10, wherein the flood information includes the amount of water.

13. The flood detection device described in Claim 9, characterized in that the flood information calculation unit estimates that the area below an elevation corresponding to the water level height of the first flooded area is the second flooded area.

14. 14. The water inundation detecting device according to claim 1, wherein the camera device captures an image of a vertically downward diagonal view of the aircraft.

15. A flood detection device described in any one of claims 1 to 13, characterized in that the boundary position is calculated using aircraft information including information indicating the position and attitude of the aircraft, and the aircraft information is superimposed on the camera image and transmitted from the aircraft.

16. a camera device mounted on the aircraft; A flood detection device; Equipped with The water immersion grasping device is a flood information calculation unit that calculates flood information, which is information about the scale of the flooding, using the boundary position of the flooded area determined using the camera image captured by the camera device and elevation data; an output unit that outputs the flood information; Equipped with A flood detection system characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to a specified position specified by the user as a position in the displayed camera image and the ground surface indicated by the elevation data.

17. A camera device mounted on an aircraft; A flood detection device; Equipped with The water immersion grasping device is a flood information calculation unit that calculates flood information, which is information about the scale of the flooding, using the boundary position of the flooded area determined using the camera image captured by the camera device and elevation data; an output unit that outputs the flood information; a flooded area determination unit that determines a flooded area by image analysis of the camera image; Equipped with A flood detection system characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to multiple positions indicating the boundary of the flooded area determined by the flooded area determination unit and the ground surface indicated by the elevation data.

18. An aircraft information superimposing device that is mounted on the aircraft and superimposes camera images taken by the camera device onto aircraft information including information indicating the position and attitude of the aircraft; a transmission system mounted on the aircraft and transmitting the camera image on which the aircraft information is superimposed; a receiving system that receives the camera image on which the aircraft information is superimposed as a received signal; an aircraft information branching device that separates the received signal received by the receiving system into the aircraft information and the camera image; Equipped with The flood detection system according to claim 16, wherein the boundary position is calculated using the aircraft information.

19. A method for detecting flooding in a flood detection device, comprising: calculating flood information, which is information relating to the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; outputting the flooding information; Including, A method for detecting flooding, characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to a specified position specified by the user as a position in the displayed camera image and the ground surface indicated by the elevation data.

20. A method for detecting flooding in a flooding detection device, comprising: calculating flood information, which is information relating to the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; A step of determining a flooded area from the camera image by image analysis; outputting the flooding information; Including, A method for detecting flooding, characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to multiple positions indicating the boundary of the flooded area determined by the image analysis and the ground surface indicated by the elevation data.

21. In the computer system, calculating flood information, which is information relating to the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; outputting the flooding information; A program for executing A program characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to a specified position specified by the user as a position in the displayed camera image and the ground surface indicated by the elevation data.

22. A computer system comprising: calculating flood information, which is information relating to the scale of the flooding, using the boundary position of the flooded area determined using camera images taken by a camera device mounted on an aircraft and elevation data; A step of determining a flooded area from the camera image by image analysis; outputting the flooding information; A program for executing A program characterized in that the boundary position is calculated as the intersection between the direction of light incident on the camera device corresponding to multiple positions indicating the boundary of the flooded area determined by the image analysis and the ground surface indicated by the elevation data.

Images