JP6293593B2 - Volume calculation device, volume calculation method, and volume calculation program - Google Patents

Description

  The present invention relates to a volume calculation device, a volume calculation method, and a volume calculation program for calculating a volume.

  It is generally known that the depth and undulation of an object captured by combining two or more images with known shooting positions and shooting directions and overlapping between the images can be obtained by stereo viewing. As an application of stereo vision, undulation of the ground surface called DSM (Digital Surface Model) and altitude of each point are obtained from aerial photographs and satellite images. Since the obtained DSM is 3D data, it is used for 3D computer graphics, GIS (Geographic Information System), CAD (Computer Aided Design) and other processes that require 3D.

  As an application example of DSM in the disaster field, there is Patent Document 1, and in order to identify a damaged part after a disaster occurs, an elevation difference at the same point on the DSM before and after the disaster occurs is obtained.

  By the way, there are minerals stocked in piles in steelworks and coal-fired power plants in the industrial field, and it is necessary to grasp the volume from the viewpoint of management. Moreover, since the target mineral is generally transported by a dedicated heavy machine, there is a tendency to become a specific shape and size. Therefore, the volume can be obtained with a certain degree of accuracy by applying the width and height necessary for obtaining the volume of the shape. However, since all minerals cannot be moved by heavy machinery, some of them take a shape that is different from a specific shape. In that case, it is difficult to obtain a volume by the above-described method. In Patent Document 2, the volume of the shape is calculated from the travel position of the heavy machine and the turning position of the arm tip.

  There are Patent Document 3 and Patent Document 4 as technologies that use a device and a boom for specifying the position of the surface of the raw material pile. As a technique using a three-dimensional scanner, there is Patent Document 5.

Japanese Patent Application No. 2005-214971 Japanese Patent No. 4512046 JP 2011-157187 A JP 2012-193030 A JP 2012-082033 A

  However, in Patent Document 2 described above, there is a problem that the volume of the raw material pile cannot be calculated when the travel position of the heavy machinery and the turning position of the arm tip cannot be obtained. Moreover, in patent document 3 and patent document 4, since the position of the surface of a raw material peak cannot be specified outside the reach range of a boom, the problem that the volume of a raw material peak cannot be calculated | required outside the reach range of a boom. is there. In Patent Document 5, it is necessary to acquire various information such as the height of the raw material pile, the travel position of the stacker, the turning angle and elevation angle of the boom, the angle of repose unique to the raw material mountain, and the like. When calculating, there is a problem that there are many work man-hours at the site.

  An object of the present invention is to facilitate volume calculation.

  The volume calculation device, the volume calculation method, and the volume calculation program that are one aspect of the invention disclosed in the present application are inputs that receive input of a first line segment for image data of a region that includes a plurality of volume calculation objects. Processing, extraction processing for extracting a second line segment connecting two points intersecting the outer periphery of the region out of the first line segments input by the input processing, and elevation data indicating the undulation of the region Determination processing for determining whether elevation data at the position of the second line segment extracted by the extraction processing corresponds to elevation data indicating the plurality of calculation objects, and the determination processing If it is determined that the above-mentioned altitude data indicating any calculation object does not correspond to the above, the generation processing for generating a divided region by dividing the region based on the second line segment, A calculation process for calculating the volume of the calculation object included in the divided area using the elevation data indicating the undulation of the divided area generated by the generation process among the elevation data indicating the undulation of the area; It is characterized by doing.

  According to a typical embodiment of the present invention, volume calculation can be facilitated. Problems, configurations, and effects other than those described above will become apparent from the description of the following embodiments.

It is explanatory drawing which shows an example of a storage yard. It is explanatory drawing which shows the example of data which visualized DSM contained in ortho process data. It is explanatory drawing which shows the data structure example of DSM. It is explanatory drawing which shows an example of DSM obtained from the aerial image of the storage yard. It is explanatory drawing which shows the example of data which visualized the ortho image. It is explanatory drawing which shows the example of a data structure of an ortho image. It is explanatory drawing which shows the example of the memory content of outline DB. It is a block diagram which shows the hardware structural example of a volume calculation apparatus. It is a block diagram which shows the functional structural example of a volume calculation apparatus. It is explanatory drawing which shows Example 1 of an ortho image when a temporary scan line is input. It is explanatory drawing which shows the example 1 of the ortho image at the time of a scan line decision. It is explanatory drawing which shows the example 1 of the content of the determination process by a determination part. It is explanatory drawing which shows the example of the memory content of scanline DB. It is explanatory drawing which shows the example 2 of an ortho image when a temporary scan line is input. It is explanatory drawing which shows the example 2 of the determination process content by a determination part. It is explanatory drawing which shows the example 3 of an ortho image when a temporary scan line is input. It is explanatory drawing which shows the example 3 of the content of the determination process by a determination part. It is explanatory drawing which shows an example of a segment. It is explanatory drawing which shows the example of the memory content of segment DB. It is a flowchart which shows the example of a volume calculation process sequence by a volume calculation apparatus. FIG. 21 is a flowchart illustrating a detailed processing procedure example of a scan line determination process (step S2001) illustrated in FIG. 20. FIG.

  In this embodiment, an example of calculating the volume of a mountain (hereinafter referred to as a raw material mountain) on which raw materials such as coal, limestone, and mineral are loaded will be described. However, the calculation target is not limited to the raw material mountain, but scrap, garbage, etc. It may be a mountain piled with waste or soil.

<Example of storage yard>
FIG. 1 is an explanatory diagram illustrating an example of a storage yard. (A) is a top view of the storage yard 100, (B) is a side view. A plurality of rails R (four as an example in FIG. 1) are provided in the storage yard 100, and the raw material pile M is placed between the rails R. On the rail R, a yard facility E such as a stacker or a reclaimer is provided and can move on the rail R. The stacker is a cargo handling machine used to continuously load raw materials in the storage yard 100. The stacker has a boom B and can turn. Further, the boom B can be raised and lowered. Raw materials are stacked in the raw material yard via boom B to form a raw material pile.

  The reclaimer is a machine for continuously discharging the raw material from the raw material pile stacked in the storage yard 100 and sending it to the next process. The reclaimer has a boom B and can turn. Further, the boom B can be raised and lowered. The raw material is discharged from the raw material yard via the boom B. In addition, fences F are arranged on both sides of each rail R. The fence F prevents the raw material from flowing into the rail R.

<Example of ortho-processed data>
The ortho process data is data including an ortho image and a DSM. The ortho image is an image obtained by correcting the aerial image of the storage yard 100 to some extent so as to overlap the map. DSM is elevation data corresponding to each coordinate on the ortho image. The aerial image of the storage yard 100 is an image taken from a moving object such as an aircraft, artificial satellite, or radio control. The aerial image, the GPS log that is the position information of the camera at the time of shooting the aerial image, and the shooting angle log of the camera at the time of shooting are called shooting data. The photographing data is input to the ortho processing terminal. The ortho processing terminal executes ortho correction and DSM generation processing to generate ortho processing data.

  FIG. 2 is an explanatory diagram showing an example of data obtained by visualizing the DSM included in the ortho process data. In FIG. 2, for the sake of simplicity, the data structure of the DSM is handled in the same way as an image for convenience. In the following figures, in order to distinguish from the reference numerals in FIG. 1, in the case of data, the upper case alphabet letters shown in FIG. 1 are expressed by lower case alphabet letters. For example, the image data of the raw material mountain M in FIG.

  The DSM has an xdsm, ydsm image coordinate system having an origin Odsm and an xmap, ymap map coordinate system having an origin Omap, and the image coordinate system and the map coordinate system are associated with each other using affine transformation. The affine transformation coefficients can be embedded in the image format. For example, GeoTIFF, which is an extended format of TIFF (Tagged Image File Format), is applicable. Each pixel stores an elevation value. The elevation value may be zero on the sea level or a value obtained by offsetting the reference elevation. In FIG. 2, the altitude value is shown in shades. The darker the color, the lower the elevation.

  FIG. 3 is an explanatory diagram showing an example of the data structure of the DSM. The DSM is a data string in which elevation values stored in pixels are continuously enumerated. Each value of the altitude 302 is associated with an index 301 represented by (pixel width × ydsm) + xdsm. Note that the index 301 is a representation for convenience and is not stored as data. In addition, a considerable value is defined in a portion where there is no altitude value. For example, for the sake of convenience, a value such as “−10000” that is not actually possible is used. By paying attention to the scale coefficient among the coefficients of the affine transformation representing the relationship between the map coordinate system and the image coordinate system, the actual area per pixel can be calculated.

  FIG. 4 is an explanatory diagram illustrating an example of a DSM obtained from an aerial image of the storage yard 100. The dotted rectangles are outlines OL1 to OL3 (hereinafter collectively referred to as OL). The outline OL represents an area where the raw material m is formed, and is composed of one or more figures (which may be polygons or circles). The outline OL is expressed in a map coordinate system. The DSM and outline OL are superimposed in the map coordinate system.

  FIG. 5 is an explanatory diagram illustrating an example of data obtained by visualizing an ortho image. The ortho image 500 has an xortho, yortho image coordinate system having an origin of Ortho and an xmap and ymap map coordinate system having an origin of Omap, and the image coordinate system and the map coordinate system are associated with each other using affine transformation. Similar to DSM, affine transformation coefficients can be embedded in an image format. The map coordinate system is common to the DSM and the ortho image 500, and the values at the same point can be referred to.

  FIG. 6 is an explanatory diagram showing an example of the data structure of the ortho image 500. This is a data string in which the values of Red, Green, and Blue stored in pixels are continuously arranged. Each value of the Red field 602, the Green field 603, and the Blue field 604 is associated with an index 601 represented by (pixel width × yotho) + xortho. The index 601 is an expression for convenience and is not stored as data. By paying attention to the scale coefficient among the coefficients of the affine transformation representing the relationship between the map coordinate system and the image coordinate system, the actual area per pixel can be calculated.

  FIG. 7 is an explanatory diagram of an example of the contents stored in the outline DB. The outline DB 700 stores an outline OL. The outline OL is an area where the raw material m is formed and is set in advance by a user operation input. The outline OL is specified by an outline ID field 701 and a geometry field 702. The outline ID field 701 is an area for storing an outline ID. The outline ID is identification information that uniquely identifies the outline OL. The geometry field 702 is an area for storing geometry. The geometry is outline graphic information. The geometry may be any format as long as it can represent a figure. In FIG. 7, for example, the geometry is represented by a polygon in the WKT (Well Known Text) format.

<Hardware configuration example>
FIG. 8 is a block diagram illustrating a hardware configuration example of the volume calculation device. The volume calculation apparatus 800 includes a processor 801, a storage device 802, an input device 803, an output device 804, and a communication interface (communication IF 805). The processor 801, the storage device 802, the input device 803, the output device 804, and the communication IF 805 are connected by a bus. The processor 801 controls the volume calculation device 800. The storage device 802 serves as a work area for the processor 801. The storage device 802 is a non-temporary or temporary recording medium that stores various programs and data. Examples of the storage device 802 include a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and a flash memory. The input device 803 inputs data. Examples of the input device 803 include a keyboard, a mouse, a touch panel, a numeric keypad, and a scanner. The output device 804 outputs data. Examples of the output device 804 include a display and a printer. The communication IF 805 is connected to a network and transmits / receives data.

<Functional configuration example>
FIG. 9 is a block diagram illustrating a functional configuration example of the volume calculation device 800. The volume calculation device 800 includes a storage unit 901, a coordinate conversion unit 902, an editing unit 903, and a volume calculation unit 904. Specifically, the storage unit 901 realizes its function by, for example, the storage device 802 shown in FIG. Specifically, the editing unit 903, the coordinate conversion unit 902, and the volume calculation unit 904 implement their functions by causing the processor 801 to execute a program stored in the storage device 802 shown in FIG.

  The volume calculation device 800 is connected to the ortho processing terminal 850. The ortho processing terminal 850 captures shooting data (aerial image 861 in the storage yard 100, GPS log 862 that is the position information of the camera at the time of shooting the aerial image 861, and the shooting angle log 863 of the camera at the time of shooting) 860. The ortho processing terminal 850 generates ortho processing data (ortho images 500 and DSM) by executing ortho correction and DSM generation processing using the captured data. The ortho processing terminal 850 transmits the generated ortho processing data to the volume calculation device 800. The volume calculation device 800 receives the ortho process data from the ortho process terminal 850 and stores it in the storage unit 901.

  The storage unit 901 stores an outline DB 700, a scan line DB 911, and a segment DB 912 in addition to the ortho process data. The scan line DB 911 is a database that stores scan lines. The scan line is a line segment that defines a segment that is a unit of volume calculation together with the outline. The segment DB 912 is a database that stores segments. A segment is an area serving as a unit of volume calculation defined by an outline and a scan line.

  The ortho image 500, the outline OL, and the scan line (including a temporary scan line described later) are expressed in a map coordinate system. Information that can be converted to a map coordinate system is converted to a display coordinate system on the screen when a general GIS package is used, and a general scale change display operation and a parallel movement display operation are possible. . The display coordinate system and the map coordinate system can convert and reverse the coordinates by using affine coefficients.

  The coordinate conversion unit 902 performs conversion or inverse conversion of information (ortho image 500, DSM, outline OL, scan line) expressed in the image coordinate system, the map coordinate system, and the display coordinate system. For example, since the ortho image 500 has an xortho, yortho image coordinate system with the origin O ortho and an x map, y map map coordinate system with the origin O map, the coordinate conversion unit 902 converts the ortho image 500 in the image coordinate system to the ortho of the map coordinate system. Convert to image 500. Then, the coordinate conversion unit 902 converts the ortho image 500 converted to the map coordinate system into the ortho image 500 of the display coordinate system. The ortho image 500 converted to the display coordinate system is displayed on the display as an output device by the display unit 931.

  When the ortho image 500 displayed on the display by the display unit 931 is stored in the storage unit 901, the coordinate conversion unit 902 converts the ortho image 500 in the display coordinate system into the ortho image 500 in the map coordinate system. Then, the coordinate conversion unit 902 converts the ortho image 500 converted to the map coordinate system into the ortho image 500 of the image coordinate system and stores it in the storage unit 901.

  The editing unit 903 edits the ortho image 500. The editing unit 903 includes a display unit 931, an input unit 932, and a determination unit 933. The display unit 931 displays the ortho image 500 converted into the display coordinate system by the coordinate conversion unit 902 on the display which is the output device 804. The display unit 931 reads out the outline OL from the outline DB 700 and superimposes and displays the outline OL converted into the display coordinate system by the coordinate conversion unit 902 on the ortho image 500.

  The input unit 932 inputs a scan line on the ortho image 500 displayed on the display that is the output device 804. A scan line that is input by the input unit 932 and is in an indeterminate state is referred to as a temporary scan line. For example, the user operates the input device 803 to input the start point and end point of the temporary scan line. When the input device 803 is a mouse, the image coordinates when the left click button of the mouse is pressed are set as start point coordinates, and the image coordinates when the left click button is released are set as end point coordinates. In this case, the display unit 931 may display the temporary scan line as a rubber band while dragging.

  FIG. 10 is an explanatory diagram illustrating Example 1 of the ortho image 500 when a temporary scan line is input. The temporary scan line tSC1 is an arrow segment connecting the start point ps and the end point pe.

  FIG. 11 is an explanatory diagram illustrating Example 1 of the ortho image 500 when the scan line is determined. The intersection of the start point ps of the temporary scan line tSC1 and the edge that is the outer periphery of the outline OL1 shown in FIG. 10 becomes the start point Ps of the scan line SC1, and the end point pe of the temporary scan line tSC1 and the edge that is the outer periphery of the outline OL1. The intersection is the end point Pe of the scan line SC1. When the temporary scan line tSC1 intersects the outer periphery of the plurality of outlines OL, two intersection points with the outer periphery of the same outline OL become the start point Ps and the end point Pe of the scan line tSC1. When there are a plurality of sets of two intersections with the outer periphery of the same outline OL, the set of outlines OL closest to the start point ps (may be the end point pe) of the temporary scan line tSC1 is adopted.

  Returning to FIG. 9, the determination unit 933 determines the validity of the scan line on the ortho image 500 using the DSM. Specifically, for example, the determination unit 933 determines whether or not the scan line is drawn in a valley between raw material peaks.

  FIG. 12 is an explanatory diagram illustrating Example 1 of determination processing contents by the determination unit 933. FIG. 12 shows an example in which the temporary scan line tSC1 shown in FIG. 10 is input and the scan line SC1 shown in FIG. 11 is confirmed.

  In the graph of FIG. 12A (also in FIG. 15A and FIG. 17A), the horizontal axis indicates the position of the storage yard 100 on the temporary scan line tSC1, and the vertical axis indicates the altitude. Show. A dotted waveform W1a is an altitude at a position obtained by subtracting the temporary scan line tSC1 obtained from the DSM. T1 is a threshold value and is an upper limit elevation that defines a valley between the raw material peaks m. H1 is an elevation difference (maximum elevation difference) between the maximum elevation and the minimum elevation of the dotted waveform W1a. That is, when the maximum elevation difference H1 in the dotted waveform W1a is lower than T1, the determination unit 933 determines that the scan line SC1 indicated by the dotted waveform W1a is drawn in the valley between the source peaks m. In the graph of (A), since H1 <T1, the scan line SC1 is determined to be valid.

  In the graph (B) (the same applies to FIGS. 15B and 17B), the horizontal axis indicates the position of the storage yard 100 on the temporary scan line tSC1, and the vertical axis indicates the gradient. The dotted waveform W1b is a waveform of the absolute value of the elevation difference between adjacent pixels at the position where the temporary scan line tSC1 obtained from the DSM is subtracted. h1 is the absolute value of the maximum value in the dotted waveform W1b. T2 is a threshold value. An object such as the yard facility e or a building becomes steeper as the altitude is higher. The height of the fence f is lower than that of the yard facility e or the building, and the gradient is small. Further, since the raw material m is deposited at a specific angle of repose, the slope is smaller than that of an object such as a yard facility or a building. Therefore, the threshold value T2 is a threshold value for distinguishing an object such as the yard facility e or a building from the fence f or the raw material mountain m, and the slope of the raw material mountain m based on the angle of repose of the raw material mountain m. The value is higher than the gradient.

  That is, when the maximum value h1 in the dotted waveform W1b is lower than T2, the determination unit 933 determines that the scan line SC1 indicated by the dotted waveform W1b does not overlap with objects such as the yard facility e and the building. Overlap means that elevation data at a position on the scan line corresponds to elevation data indicating an object such as a yard facility e or a building. In the graph of (B), since h1 <T2, the scan line SC1 is determined to be valid.

  In the example of FIG. 12, the determination unit 933 stores, in the scan line DB 911, the scan line SC1 that is determined to be valid in both the graphs (A) and (B). Note that the determination unit 933 does not store the scan line SC1 in the scan line DB 911 when it is determined that it is not appropriate in either of the graphs of (A) and (B).

  FIG. 13 is an explanatory diagram of an example of the contents stored in the scan line DB 911. The scan line DB 911 includes a scan line ID field 1301, an outline ID field 1302, an average altitude field 1303, and a geometry field 1304, and specifies a scan line for each entry. A scan line ID field 1301 is an area for storing a scan line ID. The scan line ID is identification information that uniquely identifies a scan line. The outline ID field 1302 is an area for storing an outline ID. The outline ID is identification information for uniquely specifying the outline OL where the end points (start point Ps, end point Pe) of the scan line specified by the scan line ID are located.

  The average altitude field 1303 is an area for storing the average altitude. The average altitude is an average value of the altitude (for example, dotted waveform W1a in FIG. 12) of the scan line SC specified by the scan line ID. The geometry field 1304 is an area for storing geometry. The geometry is graphic information indicating a scan line and may be in any format that can represent the graphic. In FIG. 13, a scan line is represented by a line segment (start point coordinate value and end point coordinate value) of the scan line in the WKT format.

  FIG. 14 is an explanatory diagram illustrating Example 2 of the ortho image 500 when a temporary scan line is input. The temporary scan line tSC2 is input so as to intersect the raw material m.

  FIG. 15 is an explanatory diagram of a second example of determination processing content performed by the determination unit 933. FIG. 15 shows an example where the temporary scan line tSC2 shown in FIG. 14 is input and the scan line SC2 is confirmed.

  In the graph of FIG. 15A, a dotted waveform W2a is an altitude at a position obtained by subtracting the temporary scan line tSC2 obtained from the DSM. H2 is an elevation difference (maximum elevation difference) between the maximum elevation and the minimum elevation of the dotted waveform W2a. That is, when the maximum elevation difference H2 in the dotted line waveform W2a is lower than T1, the determination unit 933 determines that the scan line indicated by the dotted line waveform W2a is drawn in the valley between the raw material peaks m. In the graph of (A), since H2 <T1, it is determined that the scan line SC2 is not valid.

  In the graph of (B), a dotted waveform W2b is a waveform of an absolute value of an elevation difference between adjacent pixels at a position obtained by subtracting a temporary scan line obtained from DSM. h2 is the maximum value in the dotted waveform W2b. That is, when the maximum value h2 in the dotted waveform W2b is lower than T2, the determination unit 933 determines that the scan line SC2 indicated by the dotted waveform W2b does not overlap with objects such as the yard facility e and the building. In the graph of (B), since h2 <T2, the scan line SC2 is determined to be valid.

  Since the determination unit 933 determines that it is not valid in FIG. 15A, the determination unit 933 does not store the scan line SC2 in the scan line DB 911. In addition, the determination part 933 does not need to perform the determination process of (B), when it determines with it not being appropriate in (A) of FIG.

  FIG. 16 is an explanatory diagram illustrating Example 3 of the ortho image 500 when a temporary scan line is input. The temporary scan line tSC3 is input so as to intersect with the yard facility e.

  FIG. 17 is an explanatory diagram of a third example of determination processing content performed by the determination unit 933. FIG. 17 shows an example in which the temporary scan line tSC3 shown in FIG. 16 is input and the scan line SC3 is confirmed.

  In the graph of FIG. 17A, the dotted line waveform W3a is the elevation at the position obtained by subtracting the temporary scan line tSC3 obtained from the DSM. H3 is an elevation difference (maximum elevation difference) between the maximum elevation and the minimum elevation of the dotted waveform W3a. That is, when the maximum elevation difference H3 in the dotted line waveform W3a is lower than T1, the determining unit 933 determines that the scan line SC3 indicated by the dotted line waveform W3a is drawn in the valley between the source mountains. In the graph of (A), since H3 <T1, the scan line SC3 is determined to be valid.

  In the graph of (B), a dotted waveform W3b is a waveform of an absolute value of an elevation difference between adjacent pixels at a position where the temporary scan line tSC3 obtained from the DSM is subtracted. h3 is the maximum value in the dotted waveform W3b. That is, when the maximum value h3 in the dotted waveform W3b is lower than T2, the determination unit 933 determines that the scan line SC3 indicated by the dotted waveform W3b does not overlap with objects such as the yard facility e and the building. In the graph of (B), since h3 <T2 is not satisfied, it is determined that the scan line SC3 is not valid.

  Note that, in the determination processes of FIGS. 12, 15, and 17, when it is determined that either (A) or (B) is not valid, the determination unit 933 outputs warning display information to the screen. Even when the warning display information is output to the screen, if the user confirms the scan line by the operation input, the warning display information is stored in the scan line DB 911.

  Returning to FIG. 9, the volume calculation unit 904 includes a generation unit 941 and a calculation unit 942. The generation unit 941 generates a segment. Specifically, for example, a segment is specified from the ortho image 500 in which the scan line is determined, and the specified segment is stored in the segment DB 912.

  FIG. 18 is an explanatory diagram illustrating an example of a segment. In FIG. 18, the segment SG is a rectangle, and two opposite sides are sides of the scan line SC or outline OL. The source SG m is included in the segment SG. The generation unit 941 identifies the sides of the scan line SC and the outline OL constituting the segment SG, and stores them in the segment DB 912.

  FIG. 19 is an explanatory diagram of an example of the contents stored in the segment DB 912. The segment DB 912 includes a segment ID field 1901, a first scan line ID field 1902, a second scan line ID field 1903, a base elevation field 1904, a volume field 1905, a geometry field 1906, an outline ID field 1907, And a segment SG is specified for each entry.

  The segment ID field 1901 is an area for storing a segment ID. The segment ID is identification information that uniquely identifies the segment SG. The first scan line ID field 1902 is an area for storing the first scan line ID. The first scan line ID is identification information for uniquely specifying one scan line SC of the two scan lines SC constituting the segment SG. The second scan line ID field 1903 is an area for storing the second scan line ID. The second scan line ID is identification information for uniquely specifying the other scan line SC among the two scan lines SC constituting the segment SG. The scan line SC can be identified from the scan line DB 911 by using the first scan line ID and the second scan line ID as keys.

  The base altitude field 1904 is an area for storing the base altitude. The base altitude is the lowest altitude in the segment SG specified by the segment ID. The generation unit 941 refers to the DSM, identifies the elevation of each point in the segment SG, and stores the lowest elevation in the elevation as the base elevation.

  The volume field 1905 is an area for storing a volume. The volume is the volume of the raw material mountain m in the segment SG. The volume value is calculated by the calculation unit 942. The geometry field 1906 is an area for storing geometry. The geometry is graphic information of the segment SG, and any format can be used as long as the graphic can be expressed. In FIG. 19, a polygon is expressed in the WKT format. The outline ID is identification information that uniquely identifies the outline OL that constitutes the segment SG.

  Returning to FIG. 9, the calculation unit 942 calculates, for each segment SG, the sum of the differences between the altitude of each pixel in the segment SG and the base altitude. Then, the calculation unit 942 calculates the volume of each segment SG by multiplying the calculated sum by the area per pixel, and stores it in the volume field 1905 of the segment DB 912. The area per pixel is obtained by referring to the scale element of the affine coefficient that relates the DSM and the map coordinate system.

<Volume calculation processing procedure example>
FIG. 20 is a flowchart illustrating an example of a volume calculation processing procedure performed by the volume calculation apparatus 800. First, the volume calculation device 800 executes a scan line determination process (step S2001). The scan line determination process (step S2001) is a process for determining a scan line SC necessary for generating the segment SG based on a temporary scan line input from the user. Details of the scan line determination process (step S2001) will be described later.

  Next, in the volume calculation device 800, the generation unit 941 generates the segment SG by dividing the outline OL by all the scan lines SC, assigns the segment ID of the generated segment SG, and generates an entry in the segment DB 912. . Then, the volume calculation device 800 uses the generation unit 941 to store the vertex coordinate value of the segment SG in the WKT format in the geometry field of the generated entry, and stores the outline ID constituting the segment SG in the outline ID field ( Step S2002).

  Next, the volume calculation device 800 uses the generation unit 941 to identify the scan line ID of the scan line SC that is in contact with the outline OL specified by the outline ID stored in the outline ID field 1907 from the scan line DB 911 and specify 2 The scan line IDs are stored in the first scan line ID field 1902 and the second scan line ID field 1903 (step S2003).

Next, the volume calculation apparatus 800 uses the calculation unit 942 to obtain the minimum altitude hmin1 of the scan line SC of the first scan line ID with reference to the DSM for each entry of the segment DB 912, and similarly, the second scan line ID The minimum altitude hmin2 of the scan line SC is obtained with reference to the DSM. Then, the volume calculation device 800 uses the calculation unit 942 to calculate the base altitude using the obtained minimum altitudes hmin1 and hmin2, and stores the base altitude in the base altitude field 1904 (step S2004). The base altitude is, for example, an average value of the average altitudes hmin1 and hmin2.

  Thereafter, the volume calculation apparatus 800 uses the calculation unit 942 to specify the elevation value of each pixel in the segment SG from the DSM for each entry in the segment DB 912. Then, the volume calculation device 800 calculates the volume of the segment SG by calculating the sum of values obtained by subtracting the base elevation from the elevation value of each pixel, and multiplying the sum by the area per pixel. The volume calculation device 800 causes the calculation unit 942 to store the calculated volume of the segment SG in the volume field 1905 of the segment DB 912 (step S2005). Thereby, the volume calculation processing procedure is completed.

  FIG. 21 is a flowchart showing a detailed processing procedure example of the scan line determination processing (step S2001) shown in FIG. First, the volume calculation device 800 acquires initial data from the display unit 931 (step S2101). Specifically, the volume calculation device 800 acquires the ortho image 500, the outline OL, and the scan line SC by the display unit 931. Next, the volume calculation device 800 causes the display unit 931 to superimpose and display the acquired initial data on the screen (step S2101).

  Then, the volume calculation apparatus 800 waits for an input of a temporary scan line from the input unit 932 (step S2103: No). When a temporary scan line is input (step S2103: Yes), the volume calculation apparatus 800 extracts a scan line from the temporary scan line by the input unit 932 (step S2104). Then, the volume calculation apparatus 800 uses the determination unit 933 to calculate the maximum elevation difference H on the scan line (step S2105).

  Then, the volume calculation apparatus 800 uses the determination unit 933 to determine whether H <T1 is satisfied (step S2106). When H <T1 is not satisfied (step S2106: No), the maximum elevation difference H is equal to or greater than the threshold value T1, and thus the scan line SC is superimposed on the material peak m. In this case, the volume calculation device 800 displays a warning on the screen (step S2109), and proceeds to step S2110.

  On the other hand, if H <T1 (step S2106: Yes), the volume calculation device 800 calculates the maximum value h of the absolute value of the elevation difference between adjacent pixels on the scan line SC (step S2107).

  Then, the volume calculation device 800 determines whether h <T2 by the determination unit 933 (step S2108). When h <T2 is not satisfied (step S2108: No), the maximum value h is equal to or greater than the threshold value T2, and thus the scan line SC is superimposed on an object such as the yard facility e. In this case, the volume calculation device 800 displays a warning on the screen (step S2109), and proceeds to step S2110.

  On the other hand, if h <T2 (step S2108: YES), the volume calculation apparatus 800 determines whether or not the scan line generated in step S2104 has been confirmed (step S2110). Specifically, for example, the volume calculation device 800 waits for a confirmation input from the user. If not confirmed (step S2110: No), for example, if there is an input to regenerate the scan line, the process returns to step S2103.

  On the other hand, when it is determined (step S2110: Yes), the volume calculation device 800 causes the determination unit 933 to store the scan line SC in the scan line DB 911 (step S2111). Then, the volume calculation apparatus 800 waits for an end input (step S2112). If the end does not end (step S2112: No), for example, if there is a continuous input for generating the scan line SC, the process returns to step S2103. On the other hand, if there is an end input (step S2112: Yes), the scan line determination process (step S2001) is ended, and the process proceeds to step S2002.

  Thus, according to the present embodiment, since the scan line is extracted from the temporary scan line input by the user operation, the user can divide the outline without specifying the position on the edge of the outline. The scan line can be generated. Therefore, it is possible to easily generate a segment including individual raw material peaks for calculating the volume.

  In addition, the maximum slope of the undulation on the scan line is obtained from the DSM by the maximum absolute value of the difference in elevation between adjacent pixels, so that the scan line overlaps with a non-calculated object such as the yard facility e. Can be detected. Since non-calculated objects cause noise in the volume calculation of the raw material m, when the scan line overlaps with the non-calculated object, a warning is displayed to prompt the user to re-enter the temporary scan line. Can do.

  Further, the threshold value T2 is set based on the gradient of the raw material peak obtained from the natural angle of repose of the raw material mountain m, thereby distinguishing the raw material mountain m from non-calculated objects such as the yard facility e. Can be determined.

  In addition, an object that is not the raw material m such as the fence f but does not affect the volume calculation does not correspond to a non-calculated object by making a determination based on the gradient, so the scan line extends over the fence f. Even the volume of the raw material mountain m in the segment SG can be calculated. Thus, according to the present embodiment, the volume calculation can be facilitated.

  The present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the configurations described. A part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, you may add the structure of another Example to the structure of a certain Example. In addition, for a part of the configuration of each embodiment, another configuration may be added, deleted, or replaced.

  In addition, each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them, for example, with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

  Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, and an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, and a DVD.

  Further, the control lines and the information lines are those that are considered necessary for the explanation, and not all the control lines and the information lines that are necessary for the mounting are shown. In practice, it can be considered that almost all the components are connected to each other.

500 Ortho image 800 Volume calculation device 901 Storage unit 902 Coordinate conversion unit 903 Editing unit 904 Volume calculation unit 931 Display unit 932 Input unit 933 Determination unit 941 Generation unit 942 Calculation unit

Claims (12)

A volume calculation apparatus having a processor for executing a program and a storage device for storing the program,
The processor is
An input process for receiving an input of a first line segment for image data of a region including a plurality of volume calculation objects;
An extraction process for extracting a second line segment connecting two points intersecting the outer periphery of the region out of the first line segments input by the input process;
Based on the altitude data indicating the undulation of the region, it is determined whether the altitude data at the position of the second line segment extracted by the extraction process corresponds to the altitude data indicating the plurality of calculation objects A determination process to
When it is determined by the determination process that the image does not correspond to the altitude data indicating any calculation object, a generation process for generating a divided area by dividing the area based on the second line segment;
A calculation process for calculating the volume of the calculation object included in the divided area using the elevation data indicating the undulation of the divided area generated by the generation process among the elevation data indicating the undulation of the area;
The volume calculation apparatus characterized by performing. In the determination process, the processor further includes elevation data at a position of the second line segment based on a slope of the elevation data at the position of the second line segment, among the elevation data indicating the undulation of the region. Is determined to correspond to elevation data indicating a non-calculated object existing in the region,
In the generation process, if the processor determines that the determination process does not correspond to elevation data indicating any of the calculation objects and does not correspond to elevation data indicating the non-calculation object, The volume calculation apparatus according to claim 1, wherein the divided region is generated by dividing the region based on a second line segment.   In the determination process, the processor determines whether the slope of the elevation data at the position of the second line segment is equal to or greater than a threshold value based on the angle of repose of the calculation object. The volume calculation apparatus according to claim 2.   2. The calculation process according to claim 1, wherein in the calculation process, the processor calculates a volume of the calculation object included in the divided area based on a minimum altitude among altitude data indicating undulations of the divided area. The volume calculation apparatus described. A processor that executes a program stored in a storage device;
An input process for receiving an input of a first line segment for image data of a region including a plurality of volume calculation objects;
An extraction process for extracting a second line segment connecting two points intersecting the outer periphery of the region out of the first line segments input by the input process;
Based on the altitude data indicating the undulation of the region, it is determined whether the altitude data at the position of the second line segment extracted by the extraction process corresponds to the altitude data indicating the plurality of calculation objects A determination process to
When it is determined by the determination process that the image does not correspond to the altitude data indicating any calculation object, a generation process for generating a divided area by dividing the area based on the second line segment;
A calculation process for calculating the volume of the calculation object included in the divided area using the elevation data indicating the undulation of the divided area generated by the generation process among the elevation data indicating the undulation of the area;
The volume calculation method characterized by performing. In the determination process, the processor further includes elevation data at a position of the second line segment based on a slope of the elevation data at the position of the second line segment, among the elevation data indicating the undulation of the region. Is determined to correspond to elevation data indicating a non-calculated object existing in the region,
In the generation process, if the processor determines that the determination process does not correspond to elevation data indicating any of the calculation objects and does not correspond to elevation data indicating the non-calculation object, The volume calculation method according to claim 5, wherein the divided region is generated by dividing the region based on a second line segment.   In the determination process, the processor determines whether the slope of the elevation data at the position of the second line segment is equal to or greater than a threshold value based on the angle of repose of the calculation object. The volume calculation method according to claim 6.   The said calculation process WHEREIN: The said processor calculates the volume of the said calculation target object contained in the said division area based on the minimum elevation among the elevation data which show the undulation of the said division area. The volume calculation method as described. A processor that executes a program stored in a storage device;
An input process for receiving an input of a first line segment for image data of a region including a plurality of volume calculation objects;
An extraction process for extracting a second line segment connecting two points intersecting the outer periphery of the region out of the first line segments input by the input process;
Based on the altitude data indicating the undulation of the region, it is determined whether the altitude data at the position of the second line segment extracted by the extraction process corresponds to the altitude data indicating the plurality of calculation objects A determination process to
When it is determined by the determination process that the image does not correspond to the altitude data indicating any calculation object, a generation process for generating a divided area by dividing the area based on the second line segment;
A calculation process for calculating the volume of the calculation object included in the divided area using the elevation data indicating the undulation of the divided area generated by the generation process among the elevation data indicating the undulation of the area;
The volume calculation program characterized by performing this. In the determination process, the altitude data at the position of the second line segment is further based on the slope of the altitude data at the position of the second line segment among the altitude data indicating the undulation of the region. Is determined to correspond to elevation data indicating non-calculated objects existing in the region,
In the generation process, if the processor determines that the determination process does not correspond to elevation data indicating any of the calculation objects and does not correspond to elevation data indicating the non-calculation object, The volume calculation program according to claim 9, wherein the divided region is generated by dividing the region based on a second line segment.   In the determination process, the processor is configured to determine whether or not the slope of the elevation data at the position of the second line segment is equal to or greater than a threshold value based on the angle of repose of the calculation object. The volume calculation program according to claim 10.   10. The calculation process according to claim 9, wherein in the calculation process, the processor is configured to calculate a volume of the calculation object included in the divided area based on a minimum altitude among altitude data indicating undulations of the divided area. The volume calculation program described.

Images