Information processing equipment, systems, and programs

Abstract

To improve efficiency of a handling operation in a case where a natural disaster, in which a land form may change, occurs.SOLUTION: An information processing apparatus comprises: an acquisition unit that acquires first three-dimensional point group data generated in a first period and second three-dimensional point group data generated in a second period which is later than the first period; a matching unit that matches a relative positional relation between the first three-dimensional point group data and the second three-dimensional point group data; and a calculation unit that calculates a volume of a part which changes between a land form in the first period and a land form in the second period on the basis of the matched result.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an information processing device, a system, and a program. [Background Art]

[0002] In recent years, techniques for estimating the occurrence of traffic obstacles have been proposed.

[0003] For example, Patent Document 1 discloses a system that detects topographical changes based on three-dimensional point cloud data acquired from aerial photographs and estimates the occurrence of traffic obstacles from said topographical changes. [Prior Art Literature] [Patent Literature]

[0004] [Patent Document 1] Japanese Unexamined Patent Publication No. 2017-174032 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] There is a demand for improving the efficiency of response work when a natural disaster that causes topographical changes occurs. [Means for Solving the Problem]

[0006] An information processing device according to one aspect of the present invention comprises: an acquisition unit that acquires first three-dimensional point cloud data generated at a first time period, and second three-dimensional point cloud data generated at a second time period after the first time period; a matching unit that matches a relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data; and a calculation unit that calculates a volume of a changed portion between the topography at the first time period and the topography at the second time period based on a result of said matching. [Brief Description of the Drawings]

[0007] [Figure 1]Figure 1 shows an example of a system according to an embodiment. [Figure 2] Figure 2 shows an example of the process for acquiring three-dimensional point cloud data. [Figure 3] Figure 3 shows an example of the configuration of a terminal device according to this embodiment. [Figure 4] Figure 4 shows an example of the configuration of an information processing device according to the present invention. [Figure 5] Figure 5 shows a specific example of the logic for calculating soil volume. [Figure 6] Figure 6 shows an example of the configuration of a display control device according to the embodiment. [Figure 7] Figure 7 shows an example of a display control screen. [Figure 8] Figure 8 shows an example of the content displayed after a landslide. [Figure 9] Figure 9 is a flowchart (1) showing the operating procedure of the information processing device. [Figure 10] Figure 10 is a flowchart (2) showing the operating procedure of the information processing device. [Figure 11] Figure 11 is a sequence diagram showing an example of the flow in which a 3D map, which is map data, is provided to the user within the system. [Figure 12] Figure 12 is a sequence diagram showing an example of how information about landslides is provided to users in system Sy. [Figure 13] Figure 13 is a hardware configuration diagram showing an example of a computer that implements the functions of the device according to this embodiment. [Modes for carrying out the invention]

[0008] Embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0009] One or more embodiments (including examples, modifications, and applications) described below can each be implemented independently. On the other hand, at least part of the plurality of embodiments described below may be implemented by appropriately combining with at least part of other embodiments. These plurality of embodiments may include novel features different from each other. Accordingly, these plurality of embodiments can contribute to solving mutually different objects or problems and can produce mutually different effects.

[0010] Furthermore, in the following embodiments, the event targeted by the proposed technology of the present invention will be described as a natural disaster that causes topographical changes, particularly sediment disaster (landslide), but the proposed technology of the present invention can be applied to various events regardless of natural disasters.

[0011] <Embodiment> [1. Introduction] There is a demand for detecting sediment disasters in real time, rescuing affected residents, and promptly guiding evacuation to residents in risk areas by issuing sediment disaster warnings. In addition, conventionally, since the estimation of the amount of sediment caused by a sediment disaster is performed by visual estimation, the type and number of equipment (e.g., dump trucks) required for sediment removal cannot be accurately estimated, and it has been recognized as a problem that the estimation takes time.

[0012] Accordingly, the inventors of the present invention considered that the volume of collapsed sediment can be calculated quickly and accurately by using information obtained by photographing a disaster site with an aircraft such as a drone.

[0013] That is, the information processing according to the proposed technology of the present invention (hereinafter referred to as "information processing according to an embodiment") is a method of applying a predetermined sediment volume calculation algorithm to point cloud data acquired from an aircraft to calculate the sediment volume quickly and accurately.

[0014] [2. System Configuration] A system for implementing information processing according to an embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing an example of the system according to the embodiment. As shown in FIG. 1, the system Sy according to the embodiment may include an aircraft FO, a reference station 20, and a distribution device 30. The system Sy may also include an information processing device 300, an instruction device 400, and an aircraft control device 500. Furthermore, the system Sy may include weather information DA1, sediment disaster special area information DA2, a wearable terminal WT, and a front-end system 200.

[0015] The aircraft FO may be, for example, a drone. The aircraft FO may be used by a user.

[0016] The aircraft FO may be equipped with a positioning module having an RTK (Real Time Kinematic) positioning function. That is, the aircraft FO may acquire corrected position information indicating the position of the own aircraft through RTK calculation using correction information. Note that the RTK calculation may be performed by a conventionally known method.

[0017] The aircraft FO and the positioning module may be separate devices. That is, a user may cause the aircraft FO to perform positioning of its own airframe by retrofitting the positioning module to an off-the-shelf aircraft FO. On the other hand, the aircraft FO and the positioning module may be an integrated device. That is, the user may cause the aircraft FO, which has a function similar to that of the positioning module as one of its functions, to perform positioning of its own airframe.

[0018] Furthermore, the aircraft FO may be equipped with a point cloud data generation module having a LiDAR (Light Detection and Ranging) function. That is, the aircraft FO may use the positioning data obtained by the RTK positioning function (positioning module) described above when specifying its own position in generating point cloud data (three-dimensional point cloud data).

[0019] The aircraft FO and the point cloud data generation module may be separate devices. That is, the user may have the aircraft FO generate point cloud data by retrofitting the point cloud data generation module to a commercially available aircraft FO. On the other hand, the aircraft FO and the point cloud data generation module may be an integrated device. That is, the user may have the aircraft FO, which has the same function as the point cloud data generation module as one of its functions, generate point cloud data.

[0020] Here, Figure 1 shows an example in which the aircraft FO consists of the aircraft body BD and a terminal device 10. The terminal device 10 includes a positioning module that performs RTK positioning and a point cloud data generation module that generates three-dimensional point cloud data. According to the above example, the terminal device 10 may be retrofitted to the aircraft body BD, or it may be incorporated into the aircraft body BD from the manufacturing stage as an RTK positioning function and LiDAR function.

[0021] Figure 1 shows an example in which the terminal device 10 includes both a positioning module that performs RTK positioning and a point cloud data generation module that generates three-dimensional point cloud data, but the modules may be distributed among multiple devices. For example, the aircraft FO may be equipped with terminal device 10-1 (not shown) corresponding to the positioning module and terminal device 10-2 (not shown) corresponding to the point cloud data generation module.

[0022] Here, we will also explain the RTK positioning function of the terminal device 10. For example, the terminal device 10 may receive satellite signals. Specifically, the terminal device 10 may receive GNSS signals from a GNSS (Global Navigation Satellite System) satellite SA (Figure 2). That is, the terminal device 10 may be equipped with, for example, a GNSS module (positioning module) and antenna that are compatible with an RTK-compatible GNSS receiver. The terminal device 10 may also be equipped with a communication module for communicating with the distribution device 30 and the management device 40.

[0023] The terminal device 10 may perform positioning based on correction information. Specifically, first, the terminal device 10 may acquire its own location information based on the GNSS signal. Then, the terminal device 10 may receive correction information distributed from the distribution device 30, which will be described later. The terminal device 10 may correct its own location information based on the correction information. More specifically, the terminal device 10 may correct its own location information by RTK calculation using the correction information. That is, the terminal device 10 may acquire corrected location information by RTK calculation using the correction information. For this reason, the terminal device 10 may be equipped with a program capable of performing RTK calculations. Note that the RTK calculation may be performed by conventionally known methods.

[0024] Reference station 20 may function as a reference station in RTK calculations. That is, reference station 20 may have known coordinates that indicate its own position. Furthermore, if there are multiple reference stations 20, each of the multiple reference stations 20 may have known coordinates defined for it.

[0025] The reference station 20 may receive satellite signals. Specifically, the reference station 20 may receive GNSS signals from a GNSS satellite. For example, the reference station 20 may transmit information about known coordinates and information based on GNSS signals to the distribution device 30. The information based on GNSS signals may include information indicating the satellite that received the GNSS signal, information indicating the phase of the carrier wave, and so on.

[0026] Specifically, the reference station 20 may transmit various information to the distribution device 30 based on, for example, the standards of the RTCM (Radio Technical Commission For Maritime Services). In addition, the reference station 20 may transmit, for example, ephemeris to the distribution device 30.

[0027] The distribution device 30 may be, for example, a server device. The distribution device 30 may receive from the base station 20 information regarding the known coordinates of the base station 20 and information regarding the GNSS signal received by the base station 20. Based on the information regarding the known coordinates and the GNSS signal of the base station 20 to be processed, the distribution device 30 may generate correction information to correct the positioning error by the terminal device 10. The correction information may include, for example, information regarding the known coordinates of the base station 20 and information regarding the phase of the carrier wave from the GNSS satellite.

[0028] The distribution device 30 may transmit the generated correction information to the terminal device 10. The information included in the correction information is not limited to the example above. The correction information may arbitrarily include information necessary for RTK calculation by the terminal device 10.

[0029] Here, we will explain positioning using RTK calculation with correction information. First, the terminal device 10 may acquire approximate location information (approximate location information) of its own device by positioning based on GNSS signals. The distribution device 30 may generate correction information that includes information on the known coordinates of the base station 20 and information based on GNSS signals. The distribution device 30 may transmit the correction information to the terminal device 10. The terminal device 10 may correct the approximate location information by RTK calculation using the correction information. That is, the terminal device 10 may calculate information corrected by the correction information (corrected location information) by RTK calculation.

[0030] Furthermore, as mentioned above, since the terminal device 10 is mounted on the aircraft FO, in the following embodiments, the processes described as being performed by the terminal device 10 (for example, RTK positioning and generation of three-dimensional point cloud data) will be described as being performed by the aircraft FO.

[0031] Furthermore, a computer consisting of a backend system 100 that handles backend processing and a frontend system 200 that handles frontend processing corresponds to an information processing apparatus according to the embodiment.

[0032] The backend system 100 may consist of, for example, one or more server devices, but in this embodiment, it will be described as a single server device. Therefore, in the following, the backend system 100 will be referred to as the information processing device 100.

[0033] The information processing device 100 executes backend processing among the information processing according to the embodiment. The main backend processing may include the process of generating a three-dimensional map from three-dimensional point cloud data generated by the aircraft FO, and the process of calculating the volume of sediment when the occurrence of a sediment disaster is detected based on the three-dimensional point cloud data. The information processing device 100 can acquire three-dimensional point cloud data via the aircraft control device 500.

[0034] Furthermore, if the information processing device 100 detects the occurrence of a landslide, it may notify the front-end system 200 or the instruction device 400 of an alert indicating the occurrence of a landslide. The alert information may include at least information indicating the occurrence of a landslide and information about the area where the landslide occurred.

[0035] Weather information DA1 may include local weather information provided by the Japan Meteorological Agency. The weather information may also include rainfall data measured by rainfall sensors. Weather information DA1 may be provided to the front-end system 200 from an external device belonging to the Japan Meteorological Agency via an API connection over the internet.

[0036] Sediment-related disaster special zone information DA2 is information indicating areas of land where there is a risk of harm to the lives or bodies of residents in the event of a sediment-related disaster, and may be provided by local governments. Sediment-related disaster special zone information DA2 may be provided to the front-end system 200 from external devices belonging to each local government via API linkage over the internet.

[0037] Furthermore, although not shown in Figure 1, information on restricted areas in various locations (for example, information on restricted areas in special landslide disaster zones) may also be uploaded to the front-end system 200.

[0038] The wearable terminal WT is an information processing terminal worn by workers at a work site and may be equipped with sensors capable of detecting the worker's vital information. Furthermore, the wearable terminal WT may provide the worker's vital information to the front-end system 200 via API communication through wireless communication networks such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation).

[0039] The front-end system 200 may consist of, for example, one or more server devices, but in this embodiment, it will be described as a single server device. Therefore, in the following, the front-end system 200 will be referred to as the display control device 200.

[0040] The display control device 200 performs front-end processing among the information processing according to the embodiment. The main front-end processing may be providing information to the user using a predetermined screen. For example, the display control device 200 may display on the user's instruction device 400 information indicating the occurrence of a landslide, information about the area where the landslide occurred, and vital information of high urgency / importance if there are workers in or near the area where the landslide occurred.

[0041] The users of this embodiment may be organizations U (specifically, the personnel of an organization) that monitor for the occurrence of landslides or are requested to respond when a landslide occurs, and examples include the police, fire department, and administrative agencies (local governments). In addition, the users may also include management companies M that are responsible for the construction and management of the system Sy.

[0042] The instruction device 400 is an information processing terminal used to give flight instructions to the aircraft FO in accordance with weather information, or to instruct the aircraft FO before or during flight on the location of the target for which point cloud data should be acquired. The instruction device 400 may be, for example, a smartphone, a tablet terminal, a notebook PC (Personal Computer), a desktop PC, a mobile phone, or a PDA (Personal Digital Assistant).

[0043] The instruction device 400 inputs instruction information received from the user to the aircraft control device 500. Here, the user who gives flight instructions to the aircraft FO or instructs the location of the target for which point cloud data should be acquired may be the aforementioned organization U or management company M. Figure 1 shows instruction device 400-1 as an example of instruction device 400 used by organization U, and instruction device 400-2 as an example of instruction device 400 used by management company M.

[0044] The aircraft control device 500 may be, for example, a server device. The aircraft control device 500 controls the flight of the aircraft FO according to the input instruction device. For example, the aircraft control device 500 may control the aircraft FO to fly along a flight path defined by instruction information. Since the aircraft FO is equipped with a positioning module, it may fly while comparing its own position obtained by RTK calculation with the flight path information.

[0045] Furthermore, the aircraft control device 500 controls the aircraft FO to generate point cloud data at the location of the target defined by the instruction information. Since the aircraft FO is equipped with a point cloud data generation module, it generates three-dimensional point cloud data at the location of the target defined by the instruction information based on its own position obtained by RTK calculation. For example, the aircraft FO can generate first three-dimensional point cloud data for the first period (e.g., before the landslide occurs) and second three-dimensional point cloud data for the second period (e.g., after the landslide occurs).

[0046] Furthermore, the aircraft control device 500 may acquire three-dimensional point cloud data from the aircraft FO and transmit the acquired three-dimensional point cloud data to the information processing device 100.

[0047] [3. Acquisition of location information] The information processing device 100 acquires three-dimensional point cloud data generated by the flying object FO (terminal device 10) in order to calculate the volume of soil. Specifically, the information processing device 100 acquires three-dimensional point cloud data based on corrected position information corrected by RTK calculation. Therefore, the acquisition of three-dimensional point cloud data will be explained using Figure 2. Figure 2 is a diagram showing an example of the three-dimensional point cloud data acquisition process.

[0048] Figure 2 shows a scenario in which three-dimensional point cloud data representing the topography of a mountain slope is acquired when an aircraft FO is flying over a mountain slope in area AR (not shown), which is included in the special landslide disaster warning zone. A reference station 20 is also installed in area AR.

[0049] The aircraft FO (terminal device 10) may calculate position information indicating its own position by GNSS positioning based on GNSS signals received from the GNSS satellite SA. This position information may be approximate position information (approximate position information) that can indicate a position within a range of several meters around the actual position of the aircraft. The aircraft FO may transmit the approximate position information along with the received GNSS signal information to the distribution device 30 (step S21).

[0050] The distribution device 30 may select a reference station 20 to be processed from among the reference stations 20 based on the approximate position information received from the aircraft FO. For example, the distribution device 30 may select a reference station 20 located in the area corresponding to the position indicated by the approximate position information as the reference station 20 to be processed.

[0051] In the above example, the aircraft FO calculates its approximate position information by GNSS positioning, but the distribution device 30 may calculate the approximate position information of the aircraft FO. In this case, in step S21, the aircraft FO only needs to transmit a GNSS signal, and the distribution device 30 may calculate the approximate position information of the aircraft FO by GNSS positioning based on the GNSS signal received from the aircraft FO.

[0052] Next, the distribution device 30 may send a distribution request to the selected reference station 20 requesting the distribution of GNSS signals (step S22). The reference station 20 may continuously receive GNSS signals from the GNSS satellite SA. That is, when the reference station 20 to be processed receives a distribution request, it may send information based on the GNSS signals received from the GNSS satellite SA to the distribution device 30 (step S23).

[0053] Furthermore, the reference station 20 to be processed may continue to transmit GNSS signals to the distribution device 30 after receiving a distribution request. Alternatively, the reference station 20 may continuously push GNSS signals to the distribution device 30. In other words, the reference station 20 may transmit GNSS signals to the distribution device 30 even without receiving a distribution request from the distribution device 30. In this case, the distribution device 30 may store the received GNSS signals.

[0054] The distribution device 30 may generate correction information based on the GNSS signal received from the reference station 20 to be processed (step S24). For example, the distribution device 30 may calculate the position coordinates of the reference station 20 by GNSS positioning based on the GNSS signal received from the reference station 20 to be processed, and generate correction information by finding the difference between the calculated position coordinates and the known coordinates of the reference station 20 (for example, those stored in the distribution device 30 in advance). The correction information will be used to perform real-time corrections on the approximate position information of the aircraft FO.

[0055] In the above example, the distribution device 30 calculates the position coordinates by GNSS positioning, but the reference station 20 to be processed may calculate its own position coordinates. In this case, in step S23, the reference station 20 to be processed may transmit information indicating its own position coordinates along with information based on the GNSS signal to the distribution device 30.

[0056] The distribution device 30 may transmit the generated correction information to the aircraft FO that transmitted the approximate position information (step S25).

[0057] The aircraft FO may perform a correction calculation to correct the approximate position information based on the correction information received from the distribution device 30 (step S26). Specifically, the aircraft FO may calculate corrected position information by correcting the approximate position information using an RTK calculation with the correction information.

[0058] The aircraft FO may generate three-dimensional point cloud data based on the corrected position information (step S27).

[0059] The aircraft FO may transmit three-dimensional point cloud data to the aircraft control device 500 (step S28). When the aircraft control device 500 receives three-dimensional point cloud data from the aircraft FO, it may transmit the received three-dimensional point cloud data to the information processing device 100 (step S29). As a result, the information processing device 100 can acquire the three-dimensional point cloud data generated by the aircraft FO via the aircraft control device 500.

[0060] [4. Sensor device configuration] The terminal device 10 according to the embodiment will be described using Figure 3. Figure 3 is a diagram showing an example of the configuration of the terminal device 10 according to the embodiment. As shown in Figure 3, the terminal device 10 may have a communication unit 11, a GNSS module M, a storage unit 12, and a control unit 13.

[0061] (Regarding the communications unit 11 and the GNSS module M) The communication unit 11 may be implemented by, for example, a NIC (Network Interface Card). The communication unit 11 may be connected to the network by wire or wireless. The communication unit 11 may send and receive information to and from the distribution device 30, the information processing device 100, and the aircraft control device 500 via the network. The GNSS module M can receive GNSS signals. That is, the GNSS module M may be composed of any components for receiving GNSS signals.

[0062] (Regarding memory unit 12) The storage unit 12 may be implemented by, for example, a semiconductor memory element such as RAM (Random Access Memory) or flash memory, or a storage device such as a hard disk or optical disc. The storage unit 12 may store, for example, approximate position information calculated by the approximate position calculation unit 13b, correction information received from the distribution device 30, and corrected position information calculated by RTK calculation using the correction information.

[0063] (Regarding the control unit 13) The control unit 13 may be implemented by a CPU (Central Processing Unit), GPU (Graphics Processing Unit), MPU (Micro Processing Unit), etc., which executes various programs stored in the memory device inside the terminal device 10 using RAM as the working area. Alternatively, the control unit 13 may be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0064] (Regarding the first receiving unit 13a) The first receiving unit 13a is compatible with RTK-compatible GNSS receivers and antennas and may receive GNSS signals. The first receiving unit 13a may also output the received GNSS signals to the approximate position calculation unit 13b.

[0065] (Regarding the approximate position calculation unit 13b) The approximate position calculation unit 13b may calculate position information indicating the position of its own device by GNSS positioning based on the GNSS signal received by the first receiving unit 13a. In other words, the approximate position calculation unit 13b may calculate approximate position information by GNSS positioning based on the GNSS signal. The approximate position calculation unit 13b may also store the approximate position information in the storage unit 12.

[0066] (Regarding the first transmitting section 13c) The first transmission unit 13c may transmit the approximate position information calculated by the approximate position calculation unit 13b to the distribution device 30.

[0067] (Regarding the second receiving unit 13d) The second receiving unit 13d may receive correction information transmitted from the distribution device 30. The second receiving unit 13d may also store the correction information in the storage unit 12.

[0068] (Regarding the correction unit 13e) The correction unit 13e may perform a correction calculation to correct the approximate position information calculated by the approximate position calculation unit 13b based on the correction information received by the second receiving unit 13d. That is, the correction unit 13e may correct the approximate position information by RTK calculation using the correction information. The correction unit 13e may also store the corrected position information (corrected position information) obtained by the correction calculation in the storage unit 12.

[0069] (Regarding the generation unit 13f) The generation unit 13f may generate three-dimensional point cloud data showing the topography of the scanned area based on the corrected position information.

[0070] Furthermore, the generation unit 13f may transmit the three-dimensional point cloud data. For example, the generation unit 13f may transmit the three-dimensional point cloud data to the aircraft control device 500. Alternatively, the generation unit 13f may directly transmit the three-dimensional point cloud data to the information processing device 100.

[0071] [5. Configuration of the Information Processing Device] An information processing device 100 according to an embodiment will be described using Figure 4. Figure 4 is a diagram showing an example configuration of the information processing device 100 according to an embodiment. As shown in Figure 4, the information processing device 100 may have a communication unit 110, a storage unit 120, and a control unit 130.

[0072] (Regarding Communications Unit 110) The communication unit 110 is implemented, for example, by a NIC. For example, the communication unit 110 is connected to the network by wire or wireless and transmits and receives information with the terminal device 10, the display control device 200, the instruction device 400, and the aircraft control device 500.

[0073] (Regarding memory unit 120) The storage unit 120 may be implemented by, for example, a semiconductor memory element such as RAM or flash memory, or a storage device such as a hard disk or optical disc. The storage unit 120 may store, for example, information necessary for calculating the volume of sediment, or information necessary for generating alert information indicating the occurrence of a sediment disaster. The storage unit 120 may also store a program that causes the information processing device 100 to execute the information processing according to the embodiment.

[0074] (Regarding the control unit 130) The control unit 130 may be implemented by a CPU, GPU, MPU, etc., which executes various programs stored in the memory device inside the information processing device 100 using RAM as the working area. Alternatively, the control unit 130 may be implemented by an integrated circuit such as an ASIC or FPGA.

[0075] The control unit 130 may include an acquisition unit 131, a matching unit 132, a calculation unit 133, a determination unit 134, a specific unit 135, an estimation unit 136, and a notification unit 137. The internal configuration of the control unit 130 is not limited to the configuration shown in Figure 4; other configurations are also acceptable as long as they perform the information processing described later. Furthermore, the connection relationships between the various processing units of the control unit 130 are not limited to the connection relationships shown in Figure 4; other connection relationships are also acceptable.

[0076] (Regarding acquisition unit 131) The acquisition unit 131 may acquire three-dimensional point cloud data. For example, the acquisition unit 131 may acquire first three-dimensional point cloud data generated by the aircraft FO in a first period and second three-dimensional point cloud data generated by the aircraft FO in a second period that is later than the first period.

[0077] The acquisition unit 131 may acquire a first three-dimensional point cloud data set and a second three-dimensional point cloud data set that show the terrain included in a predetermined area (hereinafter sometimes referred to as the "measurement area"). Here, the measurement area may be a range defined by the user on a three-dimensional map generated based on the three-dimensional point cloud data, or it may be a range dynamically detected by the backend system 100 based on this three-dimensional map. For example, if the backend system 100 can identify the location where a landslide has occurred by analyzing the three-dimensional map, it may detect a range that includes that location as the measurement area.

[0078] Furthermore, users can specify a measurement area on the area map provided by the display control device 200, for example. The area map may be an aerial image taken by an aircraft FO, or a three-dimensional map obtained based on three-dimensional point cloud data generated by the aircraft FO.

[0079] (Regarding matching section 132) The matching unit 132 may match the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data. For example, the matching unit 132 may perform matching using the ICP (Iterative Closest Point) algorithm. According to the ICP algorithm, the matching unit 132 can obtain a matching result by associating a first point constituting the first three-dimensional point cloud data with a second point constituting the second three-dimensional point cloud data that is the closest neighbor to the first point, and performing a calculation to shorten the distance between the first point and the second point.

[0080] (Regarding calculation unit 133) The calculation unit 133 may calculate the volume of the portion that has changed between the topography in the first period and the topography in the second period, based on the matching results. For example, the calculation unit 133 may calculate the volume of the portion that has changed between the topography in the first period and the topography in the second period that is included in a predetermined area. If the first period is before the occurrence of the sediment disaster and the second period is after the occurrence of the sediment disaster, the portion that has changed between the topography in the first period and the topography in the second period can be understood as the portion of sediment that has collapsed due to the sediment disaster. In other words, the calculation unit 133 may calculate the volume of sediment.

[0081] (Regarding the determination unit 134) The determination unit 134 may detect the occurrence of an event. For example, the determination unit 134 may detect the occurrence of a landslide. For example, the determination unit 134 may determine that a landslide has occurred if the volume of the portion that has changed between the topography in the first period and the topography in the second period, i.e., the volume of sediment, is greater than a predetermined threshold.

[0082] (Regarding Section 135) The identification unit 135 may identify the geographical area newly covered by sediment due to a landslide. For example, if the first period is before the landslide and the second period is after the landslide, the identification unit 135 may identify the geographical area newly covered by sediment due to a landslide based on the first three-dimensional point cloud data generated in the first period and the second three-dimensional point cloud data generated in the second period. For example, the identification unit 135 may identify the geographical area by comparing a three-dimensional map generated from the first three-dimensional point cloud data with a three-dimensional map generated from the second three-dimensional point cloud data.

[0083] (Regarding Estimation Section 136) The estimation unit 136 may estimate the type and number of equipment required for removal. Specifically, the estimation unit 136 may estimate the type and number of equipment required for removing soil covering a geographical area based on the volume (sediment volume) calculated by the calculation unit 133 and the geographical area specified by the identification unit 135.

[0084] For example, the estimation unit 136 may estimate the type and number of equipment required for soil removal in a rule-based manner. Specifically, if the type and number of equipment required for soil removal are defined as estimation rules for each pair of volume and geographical area, the estimation unit 136 may estimate the type and number of equipment required for soil removal by comparing the current pair of volume and geographical area with the estimation rules.

[0085] As another example, the estimation unit 136 may estimate the type and number of equipment required for soil removal based on the volume and geographical range pair and a machine learning model. In this case, the machine learning model may be trained to output the type and number of equipment required for soil removal when the volume and geographical range pair is input.

[0086] (Regarding Notification Section 137) The notification unit 137 may notify information about the event that has occurred when it is determined that an event has occurred. For example, if the notification unit 137 determines that a landslide has occurred, it may notify one or more devices not included in the backend system 100 of alert information that includes at least information indicating the occurrence of a landslide and information about the area where the landslide occurred. For example, the notification unit 137 may output the alert information to the display control device 200 so that it is notified to the user. Alternatively, the notification unit 137 may notify the instruction device 400 of the alert information.

[0087] Furthermore, the notification unit 137 may output to the display control device 200 information on the volume of sediment, information on the geographical area newly covered by sediment due to the sediment disaster (sediment disaster area), and information on the type and number of equipment necessary for sediment removal to the user. In addition, if the geographical area newly covered by sediment due to the sediment disaster (sediment disaster area) includes areas where people live (for example, roads or buildings), the notification unit 137 may notify the user responsible for that geographical area (for example, the police, fire department, or administrative agency) that there is a possibility of damage caused by the sediment disaster that occurred in that geographical area.

[0088] [6. Soil volume calculation logic] Next, we will explain the logic of the soil volume calculation process executed by the information processing device 100. Figure 5 shows a specific example of the soil volume calculation logic.

[0089] Figure 5 shows a scenario in which, in the event of a landslide, the volume of sediment is calculated for the measurement area AR1 specified by the user, based on a three-dimensional map 3DMP generated from information scanned by the aircraft FO from above.

[0090] For example, the acquisition unit 131 acquires first three-dimensional point cloud data generated before a landslide occurs (an example of the first period). The first three-dimensional point cloud data may be generated by the aircraft FO or provided by an external organization. The external organization may be a local government, and some local governments are working to make three-dimensional point cloud data open data.

[0091] Thus, in the soil volume calculation process, the point cloud data generated by the aircraft FO is not necessarily required to be used as the first three-dimensional point cloud data; point cloud data provided by the local government may also be used. Figure 5 shows an example in which three-dimensional point cloud data provided by the local government is used, but the information processing is the same as when three-dimensional point cloud data generated by the aircraft FO is used.

[0092] In this state, the matching unit 132 may match the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data. For example, the matching unit 132 may perform matching using the ICP algorithm. According to matching using the ICP algorithm, the matching unit 132 performs a matching process in which it searches for the nearest point among the points included in the second three-dimensional point cloud data and associates each point included in the first three-dimensional point cloud data.

[0093] Figure 5 shows an example in which the matching unit 132 associates point PT1 in the first three-dimensional point cloud data with point PT1' in the second three-dimensional point cloud data. It also shows an example in which the matching unit 132 associates point PT2 in the first three-dimensional point cloud data with point PT2' in the second three-dimensional point cloud data. Furthermore, it shows an example in which the matching unit 132 associates point PT3 in the first three-dimensional point cloud data with point PT3' in the second three-dimensional point cloud data.

[0094] Furthermore, Figure 5 shows an example in which the matching unit 132 associates point PT4 included in the first three-dimensional point cloud data with point PT4' included in the second three-dimensional point cloud data, and associates point PT5 included in the first three-dimensional point cloud data with point PT5' included in the second three-dimensional point cloud data.

[0095] Next, the calculation unit 133 may, based on the above correspondence, i.e., matching results, detect the portion of the sediment ES that has collapsed due to the sediment disaster as the portion that has changed between the topography in the first period and the topography in the second period, and may calculate the sediment volume, which is the volume of the detected sediment portion ES. For example, the calculation unit 133 may calculate the sediment volume corresponding to the sediment portion ES based on the three-dimensional point cloud data corresponding to the sediment portion ES. Figure 5 shows the calculation unit 133 calculating the sediment volume corresponding to the sediment portion ES, which is 31,752 m³. 3 An example of how "" was calculated is shown.

[0096] Furthermore, the identification unit 135 may, for example, compare a three-dimensional map generated from the first three-dimensional point cloud data with the second three-dimensional point cloud data corresponding to the sedimentary portion ES to identify the geographical area covered by the sedimentary portion ES.

[0097] In the example shown in Figure 5, the first three-dimensional point cloud data is provided by an external organization such as a local government, while the second three-dimensional point cloud data is generated by the aircraft FO. In this example, the point cloud density of the first three-dimensional point cloud data and the second three-dimensional point cloud data may differ. For example, the point cloud density of the first three-dimensional point cloud data is "16 points / m²".2 The point cloud density of the second three-dimensional point cloud data is "200 points / m²". 2 As shown above, point cloud densities may differ.

[0098] However, the aforementioned landslide disaster calculation process uses the ICP algorithm, which has the advantage of being able to match relative positional relationships with high accuracy even when the point cloud density is different.

[0099] [7. Display Control Device Configuration] The display control device 200 according to the embodiment will be described with reference to Figure 6. Figure 6 is a diagram showing an example of the configuration of the display control device 200 according to the embodiment. As shown in Figure 6, the display control device 200 may have a communication unit 210, a storage unit 220, and a control unit 230.

[0100] (Regarding Communications Unit 210) The communication unit 210 is implemented, for example, by a NIC. For example, the communication unit 210 is connected to the network by wire or wireless and transmits and receives information between the information processing device 100, the instruction device 400, and the wearable terminal WT.

[0101] (Regarding memory unit 220) The storage unit 220 may be implemented by, for example, a semiconductor memory element such as RAM or flash memory, or a storage device such as a hard disk or optical disc. The storage unit 220 may store, for example, information necessary for generating alert information indicating the occurrence of a landslide, or information on the geographical area (landslide area) newly covered by sediment due to a landslide. The storage unit 120 may also store a program that causes the information processing device 100 to execute the information processing according to the embodiment.

[0102] (Regarding the control unit 230) The control unit 230 may be implemented by a CPU, GPU, MPU, etc., which executes various programs stored in the internal memory of the display control device 200 using RAM as the working area. Alternatively, the control unit 230 may be implemented by an integrated circuit such as an ASIC or FPGA.

[0103] The control unit 230 may include a first receiving unit 231, a second receiving unit 232, and a display control unit 233. The internal configuration of the control unit 230 is not limited to the configuration shown in Figure 6; other configurations are also acceptable as long as they perform the information processing described later. Furthermore, the connection relationships between the processing units of the control unit 230 are not limited to the connection relationships shown in Figure 6; other connection relationships are also acceptable.

[0104] (Regarding the first receiving unit 231) The first receiving unit 231 may receive event information and information about the area where the event occurred from the information processing device 100. For example, the first receiving unit 231 may receive information indicating the occurrence of a landslide and information about the area where the landslide occurred from the information processing device 100. The first receiving unit 231 may also receive information about the volume of sediment, information about the landslide area, and information about the type and number of equipment necessary for sediment removal from the information processing device 100.

[0105] Furthermore, the first receiving unit 231 may also receive information on landslide areas and three-dimensional maps generated based on three-dimensional point cloud data from the information processing device 100. In addition, the first receiving unit 231 may receive vital information of workers from the wearable terminal WT.

[0106] (Regarding the second receiving unit 232) The second receiving unit 232 may receive open data information, etc. For example, the second receiving unit 232 may receive weather information DA1, which includes rainfall data measured by a rainfall sensor, and landslide disaster special zone information DA2, from an external device. The second receiving unit 232 may also receive information on no-entry zones located in various places.

[0107] (Regarding the display control unit 233) The display control unit 233 may notify (provide / transmit) the information received by the first receiving unit 231 and the second receiving unit 232 to the user. Specifically, the display control unit 233 may control the display so that the information received by the first receiving unit 231 and the second receiving unit 232 is displayed on the user's instruction device 400. For example, the display control unit 233 may display the information received by the first receiving unit 231 and the second receiving unit 232 together with map data.

[0108] The map data may be aerial footage taken by an aircraft FO, or a three-dimensional map obtained based on three-dimensional point cloud data generated by an aircraft FO.

[0109] [8. Display Control Screen] The display control unit 233 may display the information received by the first receiving unit 231 and the second receiving unit 232 on the instruction device 400 via the screen G1 shown in Figure 7. The display control unit 233 may display the screen G1 shown in Figure 7 in a state where the information received by the first receiving unit 231 and the second receiving unit 232 is embedded in the display frame included in the screen G1.

[0110] Figure 7 shows an example of a display control screen. According to the example in Figure 7, screen G1 may have multiple display frames. For example, screen G1 may have six display frames, namely display frames G11 to G16.

[0111] According to the example in Figure 7, the name of the area specified by the user may be displayed in display frame G11. Weather information for the area specified by the user may be displayed in display frame G12. Map data for the area specified by the user may be displayed in display frame G13. The area referred to here may be, for example, a designated area specified by the user from among the areas AR included in the special landslide disaster warning zone, and the user may further specify a measurement area AR1 within the designated area.

[0112] Display frame G14 may display the vital information of a worker if the worker is in the area specified by the user. Display frame G15 may display the location information of a worker (location information of the wearable terminal WT worn by the worker) if the worker is in the area specified by the user. Display frame 16 may display event information, such as various information related to the occurrence of a landslide.

[0113] Here, screen G1 may display information appropriate to both before and after the event. For example, screen G1 may display information appropriate to the situation before a landslide occurs when no landslide has occurred, and information appropriate to the situation after a landslide occurs when a landslide has occurred. Below, we will explain an example of the content displayed after a landslide occurs.

[0114] Figure 8 shows an example of the display content after a landslide. Figure 8 shows an example of the display content after a landslide occurs when the user selects the area "Takao Calculation Area #1" from the area AR assigned to the map data.

[0115] In this case, the display frame G11 may display "Takaosan Area #1" as the area name. Additionally, the display frame G12 may display the current weather information (after the landslide) for "Takaosan Area #1," which includes measurement area AR1. Figure 8 shows an example where "Rain" is displayed. The display frame G12 may also display the current rainfall data for "Takaosan Area #1."

[0116] Display frame G13 may display current (after the landslide) map data for measurement area AR1 "Takao Mountain Area #1". For example, if the aircraft FO is currently flying over "Takao Mountain Area #1", the aerial image captured by the aircraft FO may be displayed as map data. Alternatively, if the aircraft FO is currently flying over "Takao Mountain Area #1", a three-dimensional map obtained from the three-dimensional point cloud data generated by the aircraft FO may be displayed as map data.

[0117] Furthermore, as shown in Figure 8, the map data in display frame G13 may display information on the portion of soil ES (detected by the calculation unit 133) that has collapsed due to a landslide. In addition, the map data may display information on areas newly covered with soil due to a landslide that occurred in the "Takao Mountain Area #1" as restricted areas.

[0118] Display frame G14 may display the current vital information of a worker in the "Takao Mountain Area #1," and Figure 8 shows an example where "Vital signs normal" is displayed. However, if, for example, a worker is caught in a landslide and experiences some kind of physical abnormality (for example, a drop in blood pressure due to bleeding), "Vital signs abnormal" will be displayed in display frame G14. In this case, the user can use the instruction device 400 to request the dispatch of, for example, a rescue team or an ambulance.

[0119] Display frame G15 may display the current location information of the worker in "Takao Mountain Area #1" (location information of the wearable terminal WT worn by the worker). In addition, if there is a restricted area near the worker's current location, display frame G15 may also display information about the restricted area, as shown in Figure 8.

[0120] Display frame 16 may display alert information indicating the occurrence of a landslide. For example, display frame 16 may display alert information including information indicating the occurrence of a landslide and information about the area where the landslide occurred. Display frame 16 may also further display information about the volume of sediment, information about the landslide area newly covered by sediment, and the type and number of equipment required for sediment removal.

[0121] [9. Operating Procedure of Information Processing Device] From here, we will explain the operating procedure of the information processing device 100 in the soil volume calculation process. Figure 9 is a flowchart (1) showing the operating procedure of the information processing device 100.

[0122] The control unit 130 may determine whether or not measurement area AR1 has been specified (step S901). If measurement area AR1 has not been specified (step S901; No), the control unit 130 may wait until measurement area AR1 is specified.

[0123] If the measurement area AR1 is specified (step S901; Yes), the acquisition unit 131 may acquire the first three-dimensional point cloud data generated in the first period (step S902). The acquisition unit 131 may also acquire the point cloud data from the first three-dimensional point cloud data that corresponds to the measurement area AR1 (step S903).

[0124] The acquisition unit 131 may acquire second three-dimensional point cloud data generated at the present time, which is later than the first time (step S904). The acquisition unit 131 may also acquire point cloud data from the second three-dimensional point cloud data that corresponds to the measurement area AR1 (step S905).

[0125] The matching unit 132 may match the relative positions between the first three-dimensional point cloud data corresponding to the measurement area AR1 and the second three-dimensional point cloud data corresponding to the measurement area AR1 (step S906).

[0126] The calculation unit 133 may calculate the difference between the terrain in the measurement area AR at the first time and the terrain in the measurement area at the second time, based on the matching results (step S907).

[0127] Furthermore, the calculation unit 133 may detect the portion corresponding to the difference calculated in step S907 (i.e., the portion that has changed between the topography in the first period and the topography in the second period) as the sediment portion ES (step S908).

[0128] The calculation unit 133 may then calculate the volume of soil corresponding to the soil portion ES based on the three-dimensional point cloud data corresponding to the soil portion ES (step S909).

[0129] The determination unit 134 may determine whether the volume of soil calculated in step S909 exceeds a threshold (step S910). If the volume of soil does not exceed the threshold (step S910; No), the process may return to step S904.

[0130] The determination unit 134 may detect that a landslide has occurred if the volume of soil calculated in step S909 exceeds a threshold (step S910; Yes).

[0131] From here, we will explain the operating procedure of the information processing device 100 for information notification. Figure 10 is a flowchart (2) showing the operating procedure of the information processing device 100.

[0132] If the identification unit 135 detects that a landslide has occurred through the sediment volume calculation process shown in Figure 9, it may identify the geographical area newly covered by sediment due to the landslide based on the point cloud data (step S1001). For example, the identification unit 135 may identify the geographical area by comparing a three-dimensional map generated from the first three-dimensional point cloud data with a three-dimensional map generated from the second three-dimensional point cloud data.

[0133] The estimation unit 136 may estimate the type and number of equipment necessary to remove the sediment covering the geographical area based on the volume of the sediment portion ES and the geographical area (step S1002).

[0134] The notification unit 137 may be controlled to ensure that information based on the estimation results is notified to the user (step S1003).

[0135] [10. Processing Procedures in the System] Next, we will explain the operating procedure in System Sy. Figure 11 is a sequence diagram showing an example of the flow in which a 3D map, which is map data, is provided to the user in System Sy. Figure 11 shows a scene in which a 3D map based on 3D point cloud data of a location according to the user's instructions is provided.

[0136] The instruction device 400 may transmit a dispatch request for the aircraft FO to the aircraft control device 500 in accordance with the instructions entered by the user (step S1101). The instructions may include, for example, flight instructions indicating the flight path of the aircraft FO, and acquisition instructions indicating the location to be scanned for the acquisition of three-dimensional point cloud data.

[0137] When the aircraft control device 500 receives a dispatch request (step S1102), it may control the aircraft FO to operate according to the instructions entered by the user (step S1103).

[0138] In this case, the aircraft FO may fly along a flight path in accordance with the control of the aircraft control device 500 and perform a scan of the location to be scanned from above. The aircraft FO may then generate three-dimensional point cloud data of the location to be scanned and transmit the generated three-dimensional point cloud data to the aircraft control device 500 (step S1104).

[0139] When the aircraft control device 500 receives three-dimensional point cloud data, it may transmit the received three-dimensional point cloud data to the information processing device 100 (step S1105).

[0140] The information processing device 100 may receive three-dimensional point cloud data (step S1106). The information processing device 100 may then generate a three-dimensional map from the received three-dimensional point cloud data and transmit the generated three-dimensional map to the display control device 200 (step S1107).

[0141] The display control device 200 may receive the three-dimensional map (step S1108). The display control device 200 may also transmit the three-dimensional map to the instruction device 400 (step S1109). For example, the display control device 200 may transmit the screen G1 inserted into the display frame G13 to the instruction device 400.

[0142] When the indicator device 400 receives a three-dimensional map, it may display the received three-dimensional map on its own display screen (step S1110).

[0143] Figure 12 is a sequence diagram showing an example of how information about landslides is provided to the user in system Sy. For example, the user may specify measurement area AR1 for the three-dimensional map displayed in step S1110. For example, if a landslide is predicted to have occurred in any of the areas AR, the user may specify measurement area AR1 for the three-dimensional map corresponding to that area AR.

[0144] To prepare for such a situation, the aircraft FO generates three-dimensional point cloud data of the scan target location in response to a user's dispatch request, and transmits the generated three-dimensional point cloud data to the information processing device 100 (step S1201).

[0145] The information processing device 100 may receive three-dimensional point cloud data (step S1202). The information processing device 100 may perform a soil volume calculation process based on the received three-dimensional point cloud data (step S1203). A specific example of the soil volume calculation process has been explained in Figure 9 and other documents, so it is omitted here.

[0146] Furthermore, the information processing device 100 may perform a sediment disaster detection process to determine whether or not a sediment disaster has actually occurred based on the results of the sediment volume calculation process (step S1204).

[0147] If the information processing device 100 detects the occurrence of a landslide, it may transmit alert information indicating the occurrence of a landslide to the display control device 200 (step S1205). The display control device 200 may receive the alert information indicating the occurrence of a landslide (step S1206).

[0148] The display control device 200 may transmit alert information to the instruction device 400 (step S1207). The instruction device 400 may receive the alert information (step S1208).

[0149] At this point, a user who has seen the alert information from the instruction device 400 may want to check the details of the landslide site. For example, the user may want to check the details of the landslide site via the alert screen and operate the instruction device 400.

[0150] In this case, the instruction device 400 may send a request to view the alert screen to the display control device 200 (step S1209).

[0151] The display control device 200 may receive a request to view the alert screen (step S1210), and upon receiving the request to view the alert screen, it may perform the process of generating the alert screen.

[0152] The alert screen generated when a landslide occurs may be screen G1 as described in Figure 8. Therefore, the display control device 200 may acquire sediment information (step S1211). Specifically, the display control device 200 may acquire from the information processing device 100 the sediment volume information calculated in the sediment volume calculation process of step S1204, the geographical area newly covered by sediment due to the landslide (landslide area), and the type and number of equipment necessary for sediment removal.

[0153] Furthermore, the display control device 200 may acquire vital information from the wearable terminal WT (step S1212). For example, if there is a worker in the area where a landslide has occurred, the display control device 200 may acquire the worker's current vital information from the wearable terminal WT.

[0154] Furthermore, the display control device 200 may acquire weather information from the weather information DA1 (step S1213). For example, the display control device 200 may acquire current weather information for the area where a landslide has occurred.

[0155] The display control device 200 may generate an alert screen that displays the alert information acquired in step S1206, the sediment information acquired in step S1211, the vital information acquired in step S1212, the weather information acquired in step S1213, etc., and transmit the generated alert screen to the instruction device 400 (step S1214).

[0156] The instruction device 400 may receive an alert screen and display the received alert screen on its own display screen (step S1215).

[0157] [11. Hardware Configuration] The apparatus according to the embodiment (for example, an information processing device 100 or a display control device) may be realized by a computer 1000 having a configuration such as that shown in Figure 13. Figure 13 is a hardware configuration diagram showing an example of a computer that realizes the functions of the apparatus according to the embodiment. The computer 1000 has a CPU 1100, RAM 1200, ROM 1300, HDD 1400, communication interface (I / F) 1500, input / output interface (I / F) 1600, and media interface (I / F) 1700.

[0158] The CPU 1100 operates based on programs stored in the ROM 1300 or HDD 1400, controlling various components. The ROM 1300 stores boot programs executed by the CPU 1100 when the computer 1000 starts up, as well as programs that depend on the computer 1000's hardware.

[0159] The HDD1400 stores programs executed by the CPU1100, as well as data used by such programs. The communication interface1500 receives data from other devices via a predetermined communication network and sends it to the CPU1100, and transmits data generated by the CPU1100 to other devices via the predetermined communication network.

[0160] The CPU 1100 controls output devices such as displays and input devices such as keyboards via the input / output interface 1600. The CPU 1100 acquires data from input devices via the input / output interface 1600. The CPU 1100 also outputs the generated data to output devices via the input / output interface 1600.

[0161] The media interface 1700 reads a program or data stored in the recording medium 1800 and provides it to the CPU 1100 via the RAM 1200. The CPU 1100 loads the program from the recording medium 1800 onto the RAM 1200 via the media interface 1700 and executes the loaded program. The recording medium 1800 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or PD (Phase Change Rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0162] For example, when the computer 1000 functions as an information processing device 100 according to the embodiment, the CPU 1100 of the computer 1000 realizes the functions of the control unit 130 by executing a program loaded on the RAM 1200. The CPU 1100 of the computer 1000 reads and executes these programs from the recording medium 1800, but as another example, these programs may be obtained from other devices via a predetermined communication network.

[0163] [12. Other] Furthermore, among the processes described in each of the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically by known methods. In addition, the processing procedures, specific names, and information including various data and parameters shown in the above document and drawings can be changed at will unless otherwise specified. For example, the various information shown in each figure is not limited to the information shown.

[0164] Furthermore, the components of each illustrated device are functionally conceptual and do not necessarily need to be physically configured as shown. In other words, the specific forms of distribution and integration of each device are not limited to those shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads and usage conditions.

[0165] Furthermore, the above embodiments can be combined as appropriate, provided that the processing content is not contradictory.

[0166] Although some embodiments of the present invention have been described in detail above with reference to the drawings, these are illustrative examples, and the present invention can be implemented in various other forms with modifications and improvements based on the knowledge of those skilled in the art, including the embodiments described in the section on the present invention. [Explanation of Symbols]

[0167] 10 Terminal devices 20 Reference station 30 Distribution device 100 Information Processing Devices 131 Acquisition Department 132 Matching Department 133 Calculation Section 134 Judgment section 135 Specific part 136 Estimation Department 137 Notification Department 200 Display control device 231 First receiving unit 232 Second receiving unit 233 Display Control Unit 400 Indicating device 500 Flight Control Devices FO flying object Sy System

Claims

1. A reception unit that receives requests from users to specify measurement areas to be measured for terrain analysis, via ground image data obtained through observations by an aircraft, An acquisition unit that acquires the first three-dimensional point cloud data in the measurement area from the first three-dimensional point cloud data generated in the first period, and the second three-dimensional point cloud data in the measurement area from the second three-dimensional point cloud data generated in the second period which is later than the first period. A matching unit that matches the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, Based on the matching results, a calculation unit calculates the volume of the portion that has changed between the topography of the measurement area at the first time and the topography of the measurement area at the second time. An information processing device equipped with the following features.

2. An acquisition unit that acquires first three-dimensional point cloud data generated in a first period and second three-dimensional point cloud data generated in a second period later than the first period, A matching unit that matches the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, A calculation unit that calculates the volume of the portion that has changed between the topography in the first period and the topography in the second period, based on the matching results, A landslide determination unit determines that a landslide has occurred if the volume of the portion that has changed between the topography at the first time and the topography at the second time is greater than a predetermined threshold, A landslide damage identification unit identifies the geographical area newly covered by sediment due to the aforementioned landslide, A notification unit that, when a road or building is included in the aforementioned geographical area covered by soil and landslide, notifies the police, fire department, or administrative agency having jurisdiction over the said geographical area that there is a possibility of damage caused by a landslide in the said geographical area, An information processing device equipped with the following features.

3. Based on the determination result of the landslide determination unit, and the volume calculated by the calculation unit and the geographical area identified by the landslide damage identification unit, an estimation unit is generated to estimate the type and number of equipment necessary for removal. To prepare further, The information processing apparatus according to claim 2.

4. The calculation unit calculates the difference between the topography at the first time period and the topography at the second time period based on the matching results, and calculates the volume of the portion that has changed between the topography at the first time period and the topography at the second time period based on the difference. The information processing apparatus according to claim 1 or 2.

5. The acquisition unit acquires the first three-dimensional point cloud data in a predetermined area, and also acquires the second three-dimensional point cloud data in the predetermined area. The calculation unit calculates the volume of the portion that has changed between the topography of the predetermined area at the first time period and the topography of the predetermined area at the second time period. The predetermined area is either a range manually defined based on the second three-dimensional point cloud data, or a range dynamically detected based on the second three-dimensional point cloud data. The information processing apparatus according to claim 2.

6. A landslide determination unit determines that a landslide has occurred if the volume of the portion that has changed between the topography at the first time and the topography at the second time is greater than a predetermined threshold, A landslide damage identification unit identifies the geographical area newly covered by sediment due to the aforementioned landslide, Based on the determination result of the landslide determination unit, and the volume calculated by the calculation unit and the geographical area identified by the landslide damage identification unit, an estimation unit estimates the type and number of equipment necessary for removal. This also includes, The information processing apparatus according to claim 1.

7. If the aforementioned geographical area covered by soil and landslide includes roads or buildings, it further includes a notification section that notifies the police, fire department, or administrative agency having jurisdiction over the said geographical area that there is a possibility of damage caused by a landslide in said geographical area. The information processing apparatus according to claim 6.

8. The second three-dimensional point cloud data is input to the information processing device by an aircraft equipped with a real-time kinematic positioning function and a LiDAR (Light Detection and Ranging) function. The aforementioned flying object uses the positioning data obtained by the real-time kinematic positioning function to determine its own position when acquiring the second three-dimensional point cloud data. The information processing apparatus according to claim 1 or 2.

9. The matching unit associates a first point constituting the first three-dimensional point cloud data with a second point constituting the second three-dimensional point cloud data that is the nearest neighbor to the first point, and obtains the matching result by performing a calculation to shorten the distance between the first point and the second point. The information processing apparatus according to claim 1 or 2.

10. The first three-dimensional point cloud data is data generated by LiDAR based on position information calculated by real-time kinematic positioning. The information processing apparatus according to claim 8.

11. An information processing apparatus according to claim 1 or 2, A flight instruction system that provides flight instructions to an aircraft according to weather information, An acquisition instruction device that indicates the position of the target for which point cloud data should be acquired to an aircraft before or during flight, A system that includes this.

12. A reception step in which the user specifies the measurement area to be measured for terrain measurement via ground image data obtained from observations by an aircraft, An acquisition step of acquiring the first three-dimensional point cloud data in the measurement area from the first three-dimensional point cloud data generated in the first period, and the second three-dimensional point cloud data in the measurement area from the second three-dimensional point cloud data generated in the second period which is later than the first period, A matching step for matching the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, A calculation step to calculate the volume of the portion that has changed between the topography of the measurement area at the first time period and the topography of the measurement area at the second time period, based on the matching results, A program that causes a computer to execute something.

13. An acquisition step of acquiring first three-dimensional point cloud data generated in a first period and second three-dimensional point cloud data generated in a second period later than the first period, A matching step for matching the relative positional relationship between the first three-dimensional point cloud data and the second three-dimensional point cloud data, A calculation step to calculate the volume of the portion that has changed between the topography in the first period and the topography in the second period, based on the matching results, A landslide determination step in which a landslide is determined to have occurred if the volume of the portion that has changed between the topography at the first time and the topography at the second time is greater than a predetermined threshold, A landslide damage identification step to identify the geographical area newly covered by sediment due to the aforementioned landslide, If the aforementioned geographical area covered by soil and debris includes roads or buildings, a notification step is made to notify the police, fire department, or administrative agency having jurisdiction over the said geographical area that there is a possibility of damage caused by a landslide in the said geographical area. A program that causes a computer to execute something.

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