WO2022113243A1

WO2022113243A1 - Visibility information generation device, visibility information generation method, and visibility information generation program

Info

Publication number: WO2022113243A1
Application number: PCT/JP2020/044080
Authority: WO
Inventors: 恵入江
Original assignee: 三菱電機株式会社
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-06-02
Also published as: JP7209913B2; JPWO2022113243A1

Abstract

This visibility information generation device (1) comprises a data acquisition unit (30), a visibility information generation unit (31), and an output processing unit (32). The data acquisition unit (30) acquires three-dimensional point cloud data representing, as a three-dimensional point cloud, an object in the peripheral region of a travel path on which a mobile body travels. On the basis of the three-dimensional point cloud data acquired by the data acquisition unit (30), the visibility information generation unit (31) generates visibility information which is information indicating the visibility state of target equipment in the peripheral region from a viewpoint position distanced from the target equipment. The output processing unit (32) outputs the visibility information generated by the visibility information generation unit (31).

Description

Outlook information generator, outlook information generation method, and outlook information generation program

The present disclosure relates to a line-of-sight information generator, a line-of-sight information generation method, and a line-of-sight information generation program that generate line-of-sight information, which is information indicating the line-of-sight status of the target equipment from a moving body moving on a moving path.

Conventionally, as a railway line facility that is a railway facility installed along a railway line, a special signal light emitter that indicates that a situation that interferes with train operation has occurred is known as a light emitting signal. The special signal light emitter is provided with an emergency stop button, and the special signal light emitter outputs a light emission signal when the emergency stop button is pressed. When the train crew confirms the light emission signal of the special signal light emitter, it is necessary to stop the train. Therefore, the special signal light emission is performed when the train is located at a point in front of the special signal light emitter by a certain distance or more. It is necessary for the train crew to be able to confirm the light emission signal of the aircraft.

Generally, there are constructions, signs, overhead wire pillars, and other railway line equipment and trees along the railway line, but if trees grow or additional railway line equipment is installed, the prospect of a special signal light emitter. The situation may get worse. Therefore, it is necessary to confirm the line-of-sight status of the special signal light-emitting device in advance from a point in front of the special signal light-emitting device by a certain distance or more. This is done by multiple people, and a lot of labor is required.

Therefore, Patent Document 1 proposes a special signal detection device that detects light emission in a special signal light emitter. Such a special signal detection device divides a continuous image captured by an imaging unit into image regions, extracts amplitude data with respect to a luminance frequency from a partial image composed of a plurality of divided frames, and uses a special signal based on the extracted result. Detects the presence or absence of a light emission signal from the light emitter.

Japanese Unexamined Patent Publication No. 2020-59340

However, the technique described in Patent Document 1 is a technique of detecting a light emission signal of a special signal light emitter and notifying the train crew of the technique, which is a moving body moving on a moving path and is in front of a certain distance or more of the target equipment. It is not a technique for providing information showing the outlook status of the target equipment from the above point. With the technique described in Patent Document 1, if the visibility of the target equipment from a point in front of the target equipment by a certain distance or more is poor, it is possible that the target equipment cannot be detected from a point in front of the target equipment by a certain distance or more. There is sex.

The present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a line-of-sight information generator capable of accurately presenting the line-of-sight status of the target equipment from a moving body moving on a moving path.

In order to solve the above-mentioned problems and achieve the object, the outlook information generation device of the present disclosure includes a data acquisition unit, a outlook information generation unit, and an output processing unit. The data acquisition unit acquires three-dimensional point cloud data representing an object in the peripheral region of the moving path on which the moving body moves as a three-dimensional point cloud. The outlook information generation unit generates outlook information, which is information indicating the outlook status of the target equipment from a viewpoint position away from the target equipment in the peripheral area, based on the three-dimensional point cloud data acquired by the data acquisition unit. .. The output processing unit outputs the line-of-sight information generated by the line-of-sight information generation unit.

According to the present disclosure, it is possible to accurately present the line-of-sight status of the target equipment from the moving body moving on the moving path.

The figure which shows an example of the structure of the information provision system including the prospect information generation apparatus which concerns on Embodiment 1. The figure which shows an example of the structure of the outlook information generation apparatus which concerns on Embodiment 1. The figure which shows an example of 3D point cloud data which concerns on Embodiment 1. The figure which shows an example of the reference line data which concerns on Embodiment 1. The figure which shows an example of the plurality of reference points on the reference line shown by the reference line data which concerns on Embodiment 1. The figure which shows an example of the process which determines the position in front of a designated distance from the target equipment position by the viewpoint position determination part which concerns on Embodiment 1. The figure which shows an example of the viewpoint position which is determined when the inclination of the 1st straight line is small by the viewpoint position determination part which concerns on Embodiment 1. The figure which shows an example of the viewpoint position which is determined when the inclination of the 1st straight line is large by the viewpoint position determination part which concerns on Embodiment 1. The figure which shows another example of the process which determines the position in front of a designated distance from the target equipment position by the viewpoint position determination part which concerns on Embodiment 1. The figure which shows another example of the viewpoint position determination method by the viewpoint position determination part which concerns on Embodiment 1. The figure which shows an example of the determination target area determined by the determination area determination part which concerns on Embodiment 1. The figure which shows another example of the determination target area determination method by the determination area determination part which concerns on Embodiment 1. The figure which shows an example of the relationship between the 3D point cloud shown by the 3D point cloud data which concerns on Embodiment 1 and a determination target area. The figure which shows an example of the determination target area seen from the traveling direction of the moving body which concerns on Embodiment 1. The figure which shows an example of the interference substance existing in the determination target area which concerns on Embodiment 1. The figure which shows an example of the 1st 2D image of the determination target area generated by the target area image generation part which concerns on Embodiment 1. The figure which shows the other example of the 1st 2D image of the determination target area generated by the target area image generation part which concerns on Embodiment 1. The figure which shows an example of the 2nd 2D image of the determination target area generated by the target area image generation part which concerns on Embodiment 1. The figure which shows an example of the 1st 2D image of the determination target area which the 3D point included in the determination target area is color-coded according to the position by the target area image generation part which concerns on Embodiment 1. The figure which shows an example of the 2nd two-dimensional image of the determination target area which the 3D point included in the determination target area is color-coded according to the position by the target area image generation part which concerns on Embodiment 1. The figure which shows an example of the interference object image generated by the interference object image generation part which concerns on Embodiment 1. The figure which shows the other example of the interference object image generated by the interference object image generation part which concerns on Embodiment 1. The figure which shows an example of the outlook information which concerns on Embodiment 1. A flowchart showing an example of processing by the processing unit of the line-of-sight information generation device according to the first embodiment. A flowchart showing an example of the viewpoint position determination process by the processing unit of the line-of-sight information generation device according to the first embodiment. A flowchart showing an example of the line-of-sight information generation process by the processing unit of the line-of-sight information generation device according to the first embodiment. The figure which shows an example of the hardware configuration of the prospect information generation apparatus which concerns on Embodiment 1.

The outlook information generation device, the outlook information generation method, and the outlook information generation program according to the embodiment will be described in detail below based on the drawings.

Embodiment 1.
FIG. 1 is a diagram showing an example of a configuration of an information providing system including a line-of-sight information generator according to the first embodiment. As shown in FIG. 1, the information providing system 100 according to the first embodiment is arranged on the line-of-sight information generation device 1 and the moving body 4 moving on the moving path 3, and measures the peripheral area of the moving path 3 in three dimensions. It is provided with a point cloud measuring device 2.

In the example shown in FIG. 1, the moving path 3 is a railroad track, and the moving body 4 is a train traveling on the railroad track. The moving path 3 may be a moving path other than a railroad track such as a road, and the moving body 4 may be a moving body other than a train such as an automobile traveling on a road. In the following, an example in which the three-dimensional point cloud measuring device 2 is arranged on the train will be described.

The three-dimensional point cloud measuring device 2 measures the peripheral area of the moving path 3 while the moving body 4 is moving on the moving path 3, and measures the three-dimensional shape of the object existing in the peripheral area of the moving path 3. Generates 3D point cloud data represented by a 3D point cloud. The three-dimensional point cloud measuring device 2 includes, for example, a laser scanner or an optical cutoff sensor. The laser scanner irradiates an object with a laser beam, measures the time until the laser beam irradiating the object returns, and converts the measured time into a distance to measure the three-dimensional shape of the object. The optical cutting sensor measures the three-dimensional shape of an object by the optical cutting method.

The 3D point cloud data generated by the 3D point cloud measuring device 2 is acquired by the line-of-sight information generation device 1. The line-of-sight information generation device 1 can acquire the three-dimensional point cloud data generated by the three-dimensional point cloud measuring device 2 from the three-dimensional point cloud measuring device 2 by wireless communication or wired communication. Further, the line-of-sight information generation device 1 generates 3D point cloud data generated by the 3D point cloud measurement device 2 from a recording medium on which the 3D point cloud data generated by the 3D point cloud measurement device 2 is recorded. You can also get it.

The line-of-sight information generation device 1 shows the line-of-sight status of the target equipment from a viewpoint position away from the target equipment in the peripheral area of the moving path 3 based on the three-dimensional point cloud data acquired from the three-dimensional point cloud measuring device 2. Generates outlook information, which is information, and outputs the generated outlook information. The target equipment is, for example, a special signal light emitter, but may be equipment along a railway line other than the special signal light emitter, such as a traffic light or a railroad crossing.

The line-of-sight information generated by the line-of-sight information generation device 1 is, for example, a preset area in the field of view from the viewpoint position among a plurality of three-dimensional points constituting the three-dimensional point cloud represented by the three-dimensional point cloud data. Contains information about 3D points in. In the image captured by the image pickup device, it may be difficult to judge the line-of-sight due to the blur of the image depending on the light or the weather, but the line-of-sight information generation device 1 uses the three-dimensional point group data obtained by the three-dimensional measurement. Therefore, as compared with the case of using the image captured by the image pickup apparatus, it is possible to accurately present the line-of-sight status of the target equipment from the moving body 4.

Hereinafter, the outlook information generation device 1 will be described more specifically. FIG. 2 is a diagram showing an example of the configuration of the line-of-sight information generation device according to the first embodiment. As shown in FIG. 2, the line-of-sight information generation device 1 includes a communication unit 10, a storage unit 11, and a processing unit 12.

The communication unit 10 is communicably connected to a network (not shown), and transmits / receives information to / from an external device such as a three-dimensional point cloud measuring device 2 via the network (not shown). The network (not shown) is, for example, a WAN (Wide Area Network) such as the Internet or a LAN (Local Area Network).

The storage unit 11 stores the three-dimensional point cloud data 20 transmitted from the three-dimensional point cloud measuring device 2 and received by the communication unit 10, and the reference line data 21 which is data related to the reference line along the movement path 3. .. The reference line data 21 may be generated by the analysis of the three-dimensional point cloud data 20 by the processing unit 12 and stored in the storage unit 11, and may be transmitted from an external device and received by the communication unit 10 by the processing unit 12. It may be stored in the storage unit 11. For example, the processing unit 12 can detect the movement path 3 from the three-dimensional point cloud shown in the three-dimensional point cloud data 20, and use a line along the detected movement path 3 as a reference line.

FIG. 3 is a diagram showing an example of three-dimensional point cloud data according to the first embodiment. As shown in FIG. 3, the three-dimensional point cloud data 20 includes data of a plurality of three-dimensional points. The three-dimensional point data includes data indicating the coordinates of the three-dimensional point in the three-dimensional Cartesian coordinate system. The three-dimensional point cloud data 20 shown in FIG. 3 includes data having coordinates “X1, Y1, Z1”, data having coordinates “X2, Y2, Z2”, data having coordinates “X3, Y3, Z3”, and the like, respectively. It is included as data of dimension points.

FIG. 4 is a diagram showing an example of reference line data according to the first embodiment. As shown in FIG. 4, the reference line data 21 includes data of a plurality of reference points. The reference point is a three-dimensional point on the reference line. The reference point data includes data indicating the coordinates of the reference point, the roll value, and the order of arrangement.

The coordinates of the reference point are the coordinates of the reference point in the three-dimensional Cartesian coordinate system. The roll value is data indicating the inclination of the moving path 3. Such a roll value can be said to be data indicating the inclination of the moving body 4 when the moving body 4 is on the reference point in the moving path 3. The arrangement order is a value indicating the movement direction of the moving body 4, and the direction from the reference point having a small arrangement order to the reference point having a large arrangement order is the movement direction of the moving body 4.

The reference line data 21 shown in FIG. 4 includes data having coordinates “BX1, BY1, BZ1”, roll value “R1”, and arrangement order “1”, coordinates “BX2, BY2, BZ2”, and roll value “R2”. And the data of the arrangement order "2", the coordinates "BX3, BY3, BZ3", the roll value "R3", the data of the arrangement order "3", and the like are included as the data of the reference points, respectively.

The processing unit 12 shown in FIG. 2 includes a data acquisition unit 30, a line-of-sight information generation unit 31, and an output processing unit 32. The data acquisition unit 30 acquires the 3D point cloud data 20 transmitted from the 3D point cloud measuring device 2 and received by the communication unit 10 from the communication unit 10, and stores the acquired 3D point cloud data 20 in the storage unit 11. Remember. When the line-of-sight information generation timing comes, the data acquisition unit 30 acquires the three-dimensional point cloud data 20 and the reference line data 21 from the storage unit 11, and obtains the acquired three-dimensional point cloud data 20 and the reference line data 21 as the line-of-sight information generation unit. Notify 31.

The line-of-sight information generation unit 31 is information indicating the line-of-sight status of the target equipment from a viewpoint position away from the target equipment in the peripheral area of the movement path 3 based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30. Generate outlook information that is. The line-of-sight information generation unit 31 includes a viewpoint position determination unit 40, a determination area determination unit 41, and a generation processing unit 42.

The viewpoint position determination unit 40 determines the viewpoint position based on the distance from the target equipment and the inclination of the movement path 3. For example, the viewpoint position determination unit 40 determines the viewpoint position based on the distance from the target equipment along the reference line indicated by the reference line data 21. The viewpoint position is, for example, the standard eye position of the driver who drives the moving body 4.

FIG. 5 is a diagram showing an example of a plurality of reference points on the reference line shown by the reference line data according to the first embodiment. As shown in FIG. 5, a plurality of reference points on the reference line Lr shown by the reference line data 21 are arranged in the center between a pair of rails which are the movement paths 3 of the moving body 4.

FIG. 6 is a diagram showing an example of a process of determining a position in front of a designated distance from the target equipment position by the viewpoint position determining unit according to the first embodiment. In FIG. 6, “TP” is the position of the target equipment, and will be referred to as the target equipment position TP below. The target equipment position TP is represented by the coordinates "TX, TY, TZ" in the three-dimensional Cartesian coordinate system.

The viewpoint position determining unit 40 is separated from the position BT by a designated distance Dt, which will be described later, in the first calculation process for calculating the position BT on the reference line Lr corresponding to the target equipment position TP and the distance on the reference line Lr. A second calculation process for calculating the position BE on the reference line Lr and a third calculation process for calculating the viewpoint position EP, which will be described later, are performed.

First, the first calculation process will be described. The viewpoint position determining unit 40 selects the reference point closest to the target equipment position TP and the reference point next to the target equipment position TP as selection reference points. Then, the viewpoint position determining unit 40 calculates the intersection of the plane that is orthogonal to the straight line connecting the two selection reference points and including the target equipment position TP and the straight line connecting the two selection reference points as the position BT. do.

In the example shown in FIG. 6, the reference point closest to the target equipment position TP is the reference point P23, and the reference point next to the target equipment position TP is the reference point P24. The viewpoint position determination unit 40 determines the intersection of a plane that is orthogonal to the straight line connecting the reference point P23 and the reference point P24 and includes the target equipment position TP and a straight line connecting the reference point P23 and the reference point P24. Calculated as position BT.

Next, the second calculation process will be described. The viewpoint position determining unit 40 calculates a point on the reference line Lr in which the length of the straight line passing through the reference point becomes the designated distance Dt in the order from the position BT in ascending order, and determines the position of the calculated point as the position BE. do. As a result, the position in front of the position BT by the designated distance Dt is determined as the position BE.

In the example shown in FIG. 6, the viewpoint position determining unit 40 calculates the distance d1 between the position BT and the reference point P23. The viewpoint position determining unit 40 calculates the distance d2 between the reference point P23 and the reference point P22, and adds the calculated distance d2 and the distance d1 to calculate the integrated distance D. The viewpoint position determining unit 40 calculates the distance d3 between the reference point P22 and the reference point P21, integrates the calculated distance d3 into the integrated distance D, and calculates a new integrated distance D. The viewpoint position determining unit 40 repeats the same process.

The viewpoint position determining unit 40 determines two reference points whose integrated distance D becomes the designated distance Dt or more when integrated, and designates the integrated distance D to the reference point having the larger arrangement order among the determined two reference points. The difference Δd from the distance Dt is calculated. The viewpoint position determination unit 40 determines a position on a straight line connecting the determined two reference points and having a difference Δd in distance from the reference point having the larger arrangement order as the position BE.

In the example shown in FIG. 6, when the integrated distance D is integrated from the distance d1 to the distance d19, the integrated distance D becomes the designated distance Dt or more. Therefore, the viewpoint position determining unit 40 is a position on a straight line connecting the two reference points P5 and P6. Therefore, the position where the distance from the reference point P6 having the larger arrangement order is the difference Δd is determined as the position BE. Although the designated distance Dt is stored in advance in the storage unit 11, it may be received by the communication unit 10, acquired by the data acquisition unit 30 from the communication unit 10, and stored in the storage unit 11.

Next, the third calculation process will be described. The viewpoint position determining unit 40 selects the reference point closest to the position BE and the reference point next to the position BE. Next, the viewpoint position determining unit 40 determines the roll value of the position BE from the roll values of the two selected reference points. The roll value of the reference point is the data included in the above-mentioned reference line data 21.

The viewpoint position determination unit 40 determines, for example, the roll value of the reference point having the largest arrangement order among the two reference points as the roll value of the position BE. Further, the viewpoint position determining unit 40 can also determine the roll value of the reference point having the smaller arrangement order among the two reference points as the roll value of the position BE. Further, the viewpoint position determining unit 40 can also determine the average value of the roll values of the two reference points as the roll value of the position BE.

Next, the viewpoint position determination unit 40 calculates a plane that is orthogonal to the straight line connecting the two selected reference points and includes the position BE, and the roll value of the position BE including the position BE on the calculated plane. A straight line having an inclination is calculated as the first straight line. Then, the viewpoint position determining unit 40 calculates the first position on the first straight line, which is separated from the position BE by the distance L, and is orthogonal to the first straight line and on the second straight line including the first position. In, the second position separated by the distance H is calculated. The viewpoint position determination unit 40 determines the calculated second position as the viewpoint position EP. The viewpoint position EP is represented by the coordinates "EX, EY, EZ" in the three-dimensional Cartesian coordinate system.

FIG. 7 is a diagram showing an example of a viewpoint position determined by the viewpoint position determining unit according to the first embodiment when the inclination of the first straight line is small. FIG. 8 is a diagram showing an example of a viewpoint position determined by the viewpoint position determining unit according to the first embodiment when the inclination of the first straight line is large.

In the example shown in FIGS. 7 and 8, the viewpoint position determining unit 40 is the first position PB1 which is separated from the position BE by the distance L on the first straight line SL1 including the position BE and having the slope of the roll value of the position BE. Is calculated, and the second position PB2 which is orthogonal to the first straight line SL1 and is separated by the distance H on the second straight line SL2 including the first position PB1 is calculated. The second straight line SL2 is a straight line on a plane orthogonal to the first straight line SL1 and including the first position PB1.

The viewpoint position determination unit 40 determines the calculated second position PB2 as the viewpoint position EP. Although the distance L and the distance H are stored in advance in the storage unit 11, they may be received by the communication unit 10, acquired from the communication unit 10 by the data acquisition unit 30, and stored in the storage unit 11.

The reference line data 21 is not limited to the example shown in FIG. 4, and may be data that does not include the roll value of the reference point. When the moving body 4 is a train, the moving body 4 travels on the pair of rails with the pair of rails as the moving paths 3. In this case, the reference line data 21 is the data of the pair of reference lines Lr corresponding to the pair of rails, and includes the coordinates of the plurality of reference points on each reference line Lr and the data of the arrangement order.

The viewpoint position determining unit 40 determines the position BE from a plurality of reference points on one of the reference lines Lr of the pair of reference lines Lr, and selects the reference point closest to the position BE and the reference point next to the position BE. Select as. The viewpoint position determining unit 40 is a straight line intersecting a straight line orthogonal to the straight line connecting the two selected reference points among a plurality of straight lines connecting two reference points of different combinations adjacent to each other on the other reference line Lr. The intersection position of is determined as the position OBP. The viewpoint position determining unit 40 determines the straight line connecting the position BE and the position OBP as the first straight line SL1 described above.

FIG. 9 is a diagram showing another example of the process of determining the position before the designated distance from the target equipment position by the viewpoint position determining unit according to the first embodiment. FIG. 10 is a diagram showing another example of the viewpoint position determining method by the viewpoint position determining unit according to the first embodiment.

In the example shown in FIG. 9, the viewpoint position determining unit 40 selects the reference point P5 closest to the position BE and the reference point P6 closest to the position BE. The viewpoint position determining unit 40 determines the position where the straight line orthogonal to the straight line connecting the two reference points P5 and P6 intersects the straight line connecting the two adjacent reference points P5'and P6' on the other reference line Lr. Determined as position OBP. The viewpoint position determining unit 40 determines the straight line connecting the position BE and the position OBP as the first straight line SL1 described above.

Then, as shown in FIG. 10, the viewpoint position determining unit 40 calculates a first position PB1 on the first straight line SL1 that is separated from the position BE by a distance L, and is orthogonal to the first straight line SL1 and has a second position. The second position PB2 separated by the distance H on the second straight line SL2 including the position PB1 of 1 is calculated. The viewpoint position determination unit 40 determines the calculated second position PB2 as the viewpoint position EP.

Next, the determination area determination unit 41 shown in FIG. 2 will be described. The determination area determination unit 41 determines a preset area around the straight line connecting the target equipment position TP and the viewpoint position EP as the determination target area. FIG. 11 is a diagram showing an example of a determination target region determined by the determination region determination unit according to the first embodiment.

As shown in FIG. 11, the determination area determination unit 41 determines a preset area around the straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the determination target area AR. The determination target region AR shown in FIG. 11 is a columnar region having a radius r having a straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the center line.

The determination target area AR determined by the determination area determination unit 41 is not limited to the example shown in FIG. For example, the determination area determination unit 41 may determine the polygonal columnar region as the determination target region AR instead of the columnar region, or may determine the elliptical columnar region as the determination target region AR.

FIG. 12 is a diagram showing another example of a method for determining a determination target area by the determination area determination unit according to the first embodiment. In the example shown in FIG. 12, the determination target region AR determined by the determination region determination unit 41 is a square columnar region having a straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the center line, and is the first. It is a region surrounded by two surfaces AS1 and AS2 parallel to the straight line SL1 and two surfaces AS3 and AS4 parallel to the second straight line SL2.

FIG. 13 is a diagram showing an example of the relationship between the three-dimensional point cloud shown in the three-dimensional point cloud data according to the first embodiment and the determination target area, and FIG. 14 is a diagram showing an example of the relationship between the three-dimensional point cloud and the determination target area, and FIG. 14 is a diagram of the moving body according to the first embodiment. It is a figure which shows an example of the determination target area seen from the traveling direction.

The example shown in FIG. 13 shows a state in which the three-dimensional point cloud and the determination target area AR are viewed from above. Further, the example shown in FIG. 14 shows a state in which the determination target area AR is viewed from the vicinity of the viewpoint position EP, and in FIG. 14, the determination target area AR is an area surrounded by a broken line. In this way, in the line-of-sight information generation device 1, a preset area around the straight line connecting the target equipment position TP and the viewpoint position EP is determined as the determination target area AR.

Next, the generation processing unit 42 shown in FIG. 2 will be described. The generation processing unit 42 generates outlook information based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30 and the determination target area AR determined by the determination area determination unit 41. The line-of-sight information is included in the determination target area AR when, for example, there is a three-dimensional point included in the determination target area AR among a plurality of three-dimensional points constituting the three-dimensional point group indicated by the three-dimensional point group data 20. Includes information according to 3D points.

As shown in FIG. 2, the generation processing unit 42 includes a target area image generation unit 50, a line-of-sight determination unit 51, and an interfering object image generation unit 52. The target area image generation unit 50 is a two-dimensional image of the determination target area AR obtained by projecting the three-dimensional points included in the determination target area AR among the three-dimensional point groups shown in the three-dimensional point group data 20 onto the reference plane. Generate information including the above as outlook information.

FIG. 15 is a diagram showing an example of an interfering substance existing in the determination target region according to the first embodiment. In the example shown in FIG. 15, the interference substance I1 and the interference substance I2 are partially included in the determination target region AR. The interfering material I1 is an overhead wire pillar, and the interfering material I2 is a tree. Therefore, in the example shown in FIG. 15, the determination target region AR includes a part of the three-dimensional point cloud representing the interfering object I1 and a part of the three-dimensional point cloud representing the interfering material I2.

The target area image generation unit 50 arranges the three-dimensional points included in the determination target area AR in the straight line SL3 shown in FIG. 11 in the size of PL1 [mm ² ] among the three-dimensional point groups shown in the three-dimensional point group data 20. A two-dimensional image of the determination target area AR is generated by projecting onto a vertical surface. Further, the target area image generation unit 50 projects the three-dimensional points included in the determination target area AR among the three-dimensional point groups shown in the three-dimensional point group data 20 onto a horizontal plane with a size of PL1 [mm ² ]. A two-dimensional image of the determination target area AR is generated. Although PL1 is stored in advance in the storage unit 11, it may be received by the communication unit 10, acquired from the communication unit 10 by the data acquisition unit 30, and stored in the storage unit 11.

FIG. 16 is a diagram showing an example of a first two-dimensional image of a determination target area generated by the target area image generation unit according to the first embodiment. The first two-dimensional image 60 shown in FIG. 16 is a two-dimensional image of the determination target region AR obtained by projecting the three-dimensional points included in the determination target region AR onto a plane perpendicular to the straight line SL3 shown in FIG. ..

The first two-dimensional image 60 includes a three-dimensional point included in the determination target area AR and projected as a two-dimensional point on the reference plane, a viewpoint position EP, and a circular frame having a radius r1 centered on the viewpoint position EP. A line, a circular frame line having a radius r2 centered on the viewpoint position EP, and a circular frame line having a radius r centered on the viewpoint position EP are included. The circular frame line having a radius r1 indicates the outer edge of the determination target area AR. The radius r1 is shorter than the radius r and the radius r2, and the radius r2 is shorter than the radius r. The radius r1 is, for example, 1/3 of the radius r, and the radius r2 is, for example, 2/3 of the radius r.

The first two-dimensional image 60 interferes with a position far away from the position of the target equipment when the crew member of the moving body 4 looks at the target equipment in a state where the moving body 4 is located in front of the designated distance Dt. It is an image showing whether there is an object. As shown in FIG. 16, in the first two-dimensional image 60, the three-dimensional points included in the determination target region AR are arranged as two-dimensional points in a circle having a radius r centered on the viewpoint position EP. The two-dimensional image 60 of 1 can accurately represent the line-of-sight status of the target equipment from the viewpoint position EP.

The first two-dimensional image 60 described above is an example when the determination target area AR is a columnar region, but when the determination target region AR is a square columnar region, the target region image generation unit is also used. The first two-dimensional image 60 is generated by 50. FIG. 17 is a diagram showing another example of the first two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment.

The first two-dimensional image 60 shown in FIG. 17 includes a three-dimensional point included in the determination target region AR, which is a square columnar region, and projected as a two-dimensional point on the reference plane, a viewpoint position EP, and a viewpoint position EP. Includes square borders of different sizes centered around. In the first two-dimensional image 60 shown in FIG. 17, since the central region of the determination target region AR can be set near the line of sight of both eyes of the driver, it is possible to accurately represent the line-of-sight situation in a situation closer to reality. can.

FIG. 18 is a diagram showing an example of a second two-dimensional image of the determination target area generated by the target area image generation unit according to the first embodiment. The second two-dimensional image 61 shown in FIG. 18 is a two-dimensional image obtained by projecting a three-dimensional point included in the determination target region AR from the three-dimensional point group shown in the three-dimensional point group data 20 onto a horizontal plane. be.

The second two-dimensional image 61 includes a three-dimensional point included in the determination target area AR and projected as a two-dimensional point on the reference plane, a rectangular frame, a viewpoint position EP, a target equipment position TP, and a viewpoint position. The designated distance Dt, which is the distance between the EP and the target equipment position TP, is included. The second two-dimensional image 61 is a two-dimensional image of the determination target region AR viewed from above, and the second two-dimensional image 61 can indicate how far the interference is from the viewpoint position EP. can.

Further, the target area image generation unit 50 displays a two-dimensional image obtained by projecting a three-dimensional point included in the determination target area AR on a reference plane by color-coding the three-dimensional points according to the distance from the straight line SL3 as the first two-dimensional image. It can also be generated as 60 and a second 2D image 61. FIG. 19 is a diagram showing an example of a first two-dimensional image of a determination target area in which three-dimensional points included in the determination target area are color-coded according to positions by the target area image generation unit according to the first embodiment. ..

Similar to the first two-dimensional image 60 shown in FIG. 16, the first two-dimensional image 60 shown in FIG. 19 includes a three-dimensional point included in the determination target area AR and projected as a two-dimensional point on the reference plane. , The viewpoint position EP, a circle with a radius r1, a circle with a radius r2, and a circle with a radius r are included. Further, in the first two-dimensional image 60 shown in FIG. 19, the three-dimensional points included in the determination target area AR are color-coded according to the distance from the straight line SL3 including the viewpoint position EP. In FIG. 19, the difference in color is represented by the difference in the filled state in the circle of the three-dimensional points. In the example shown in FIG. 19, a three-dimensional point in a region inside a circle having a radius r1, a three-dimensional point outside a circle having a radius r1 and a region inside a circle having a radius r2, and a radius outside a circle having a radius r2. The three-dimensional points in the region within the circle of r are represented by different colors.

FIG. 20 is a diagram showing an example of a second two-dimensional image of the determination target area in which the three-dimensional points included in the determination target area are color-coded according to the positions by the target area image generation unit according to the first embodiment. .. Similar to the second two-dimensional image 61 shown in FIG. 18, the second two-dimensional image 61 shown in FIG. 20 includes a three-dimensional point included in the determination target area AR and projected as a two-dimensional point on the reference plane. , A rectangular frame, a viewpoint position EP, a target equipment position TP, and a designated distance Dt are included.

In the second two-dimensional image 61 shown in FIG. 20, similarly to the second two-dimensional image 61 shown in FIG. 18, a three-dimensional point included in the determination target area AR and projected as a two-dimensional point on the reference plane is a viewpoint. It is color-coded according to the distance from the straight line SL3 including the position EP.

Although not shown, even when the determination target region AR is a polygonal columnar region, the target region image generation unit 50 similarly includes a three-dimensional point included in the determination target region AR and projected as a two-dimensional point on the reference plane. The first two-dimensional image 60 and the second two-dimensional image 61 of the determination target area AR are color-coded according to the distance from the straight line SL3.

Next, the outlook determination unit 51 of the generation processing unit 42 will be described. The line-of-sight determination unit 51 determines the degree of line-of-sight based on the distribution of three-dimensional points included in the determination target area AR. The degree of visibility indicates how much the target equipment can be seen from the viewpoint position EP. Information indicating the degree of line-of-sight determined by the line-of-sight determination unit 51 is added to the line-of-sight information by the target area image generation unit 50.

The line-of-sight determination unit 51 projects, for example, a three-dimensional point included in the determination target area AR of the three-dimensional point group shown in the three-dimensional point group data 20 onto a horizontal plane with a size of PL2 [mm ² ] to make a determination target. Generate a two-dimensional image of the region AR. The PL2 is stored in advance in the storage unit 11, but may be received by the communication unit 10, acquired from the communication unit 10 by the data acquisition unit 30, and stored in the storage unit 11.

The line-of-sight determination unit 51 calculates the total value of the areas of each three-dimensional point included in the two-dimensional image of the determination target area AR as the total area, and calculates the area ratio Sr, which is the ratio of the total area to the area of the determination target area AR. calculate. The outlook determination unit 51 determines the outlook situation according to the size of the area ratio Sr. For example, the line-of-sight determination unit 51 determines that the line-of-sight is in a good state when 0 ≦ Sr <Sth1, and determines that the line-of-sight is in a state where there is some interference but can be seen when Sth1 ≦ Sr <Sth2. , Sth2 ≦ Sr, it is determined that the line-of-sight is poor. Sth1 and Sth2 are threshold values.

Further, the line-of-sight determination unit 51 can also weight and determine the line-of-sight status according to the distance from the straight line SL3 connecting the target equipment position TP and the viewpoint position EP. For example, the region at the distance from the straight line SL3 to the radius r1 is defined as the first region, the region excluding the first region from the region at the distance from the straight line SL3 to the radius r2 is defined as the second region, and the region from the straight line SL3 is used. The region excluding the first region and the second region from the region at a distance to the radius r is defined as the third region. Hereinafter, for convenience of explanation, the first region will be referred to as a first region AR1, the second region will be referred to as a second region AR2, and the third region will be referred to as a third region AR3.

The line-of-sight determination unit 51 calculates the first area value by multiplying the total area of the three-dimensional points included in the first area AR1 of the two-dimensional images of the determination target area AR by the coefficient k1 and calculates the determination target area AR. The second area value is calculated by multiplying the total area of the three-dimensional points included in the second area AR2 of the two-dimensional image of the above by the coefficient k2. Further, the line-of-sight determination unit 51 calculates the third area value by multiplying the total area of the three-dimensional points included in the third area AR3 of the two-dimensional image of the determination target area AR by the coefficient k3.

The outlook determination unit 51 can express the value obtained by summing the first area value, the second area value, and the third area value as the above-mentioned area ratio Sr. The coefficients k1, k2, and k3 have a relationship of k1> k2> k3 and are stored in advance in the storage unit 11, but are received by the communication unit 10 and acquired from the communication unit 10 by the data acquisition unit 30 and stored in the storage unit 11. It may be stored in 11.

Further, the line-of-sight determination unit 51 projects, for example, a three-dimensional point included in the first region AR1 onto a horizontal plane with a size of PL2 × k4 [mm ² ], and projects the three-dimensional point included in the second region AR2. It is projected onto the horizontal plane with a size of PL2 × k5 [mm ² ], and the three-dimensional points included in the third region AR3 are projected onto the horizontal plane with a size of PL2 × k6 [mm ² ]. k4, k5, and k6 are coefficients, and there is a relationship of k4>k5> k6.

The outlook determination unit 51 calculates the total value of the areas of each three-dimensional point included in the determination target area AR as the total area, and calculates the area ratio Sr, which is the ratio of the total area to the area of the determination target area AR. Then, the line-of-sight determination unit 51 determines the line-of-sight status according to the size of the area ratio Sr by the same method as the above-mentioned determination method.

In this way, the line-of-sight determination unit 51 determines that an interfering object closer to the line of sight of the crew member who is looking at the target equipment is an element that makes the line-of-sight condition worse by weighting as the distance from the straight line SL3 increases. Therefore, it is possible to make a more accurate determination.

In the above-mentioned example, the line-of-sight determination unit 51 divides the determination target area AR projected on the horizontal plane into three regions and determines the line-of-sight status, but the determination target region AR projected on the horizontal plane is divided into two regions or four or more regions. It is also possible to judge the outlook situation by dividing it into the areas of.

Next, the interfering object image generation unit 52 of the generation processing unit 42 will be described. The interfering object image generation unit 52 generates an image of the three-dimensional point group as an interfering object image in a state where the three-dimensional points included in the determination target area AR of the three-dimensional point group shown in the three-dimensional point group data 20 are colored. do. The interfering object image generated by the interfering object image generation unit 52 is added to the line-of-sight information by the target area image generation unit 50.

The method of coloring the three-dimensional points by the interfering object image generation unit 52 is the same as the method of coloring the three-dimensional points by the target area image generation unit 50, and the interfering object image generation unit 52 is included in the determination target area AR. The points are color-coded according to the distance from the straight line SL3.

For example, the interfering object image generation unit 52 has a three-dimensional point in a region inside a circle with a radius r1, a three-dimensional point outside a circle with a radius r1 and a region inside a circle with a radius r2, and a circle outside the radius r2. There are different colors for the three-dimensional points in the area within the circle with radius r.

FIG. 21 is a diagram showing an example of an interfering object image generated by the interfering object image generation unit according to the first embodiment, and FIG. 22 is a diagram showing an interference generated by the interfering object image generation unit according to the first embodiment. It is a figure which shows the other example of an object image. As shown in FIGS. 21 and 22, the interfering object image generation unit 52 generates images of a group of three-dimensional points including the three-dimensional points of the interfering object from a position close to the interfering object as interfering

object images

70 and 71. ..

The interfering object image 70 shown in FIG. 21 includes an image of a three-dimensional point group representing the interfering object I1, and is a determination target area among a plurality of three-dimensional points constituting the three-dimensional point group representing the interfering object I1. The three-dimensional points included in the AR are colored. The interfering object image 70 can indicate in what state the interfering object I1 interferes with the determination target region AR.

Further, the interfering object image 71 shown in FIG. 22 includes an image of a three-dimensional point group representing the interfering object I2, and is determined among a plurality of three-dimensional points constituting the three-dimensional point group representing the interfering object I2. The three-dimensional points included in the target area AR are colored. The interfering object image 71 can indicate in what state the interfering object I2 interferes with the determination target region AR.

In the examples shown in FIGS. 21 and 22, for convenience of explanation, the three-dimensional points included in the determination target area AR are displayed in large size, and the three-dimensional points are colored. In FIGS. 21 and 22, the difference in color is represented by the difference in the filled state in the circle of the three-dimensional points.

The output processing unit 32 shown in FIG. 2 outputs the line-of-sight information generated by the line-of-sight information generation unit 31. The output processing unit 32 outputs the line-of-sight information by, for example, transmitting the line-of-sight information generated by the line-of-sight information generation unit 31 to an external device via a network (not shown) to the communication unit 10. Further, the output processing unit 32 can also output the line-of-sight information by displaying the line-of-sight information generated by the line-of-sight information generation unit 31 on the display device 5, for example.

The line-of-sight information generated by the line-of-sight information generation unit 31 includes the first two-dimensional image 60 and the second two-dimensional image 61 generated by the target area image generation unit 50, and the line-of-sight status determined by the line-of-sight determination unit 51. And at least one of the interfering

object images

70, 71 generated by the interfering object image generation unit 52.

For example, the output processing unit 32 generates a first two-dimensional image 60 and a second two-dimensional image 61 generated by the target area image generation unit 50, a line-of-sight situation determined by the line-of-sight determination unit 51, and an interfering object image generation. It is possible to output line-of-sight information including the interfering

object images

70 and 71 generated by the unit 52.

FIG. 23 is a diagram showing an example of outlook information according to the first embodiment. The line-of-sight information 80 shown in FIG. 23 includes a first two-dimensional image 60, a second two-dimensional image 61, an interfering object image 70, an interfering object image 71, a confirmation point 82, and a determination result 83 of the line-of-sight state. And include. The confirmation point 82 is a designated distance Dt, and indicates the distance along the movement path 3 between the viewpoint position EP and the target equipment position TP. The outlook situation determination result 83 is information indicating the degree of outlook determined by the outlook determination unit 51.

In the line-of-sight information 80, position information indicating the position of the three-dimensional point included in the determination target area AR among the three-dimensional points of the interfering object I1 is arranged at the position associated with the interfering object image 70. Similarly, in the line-of-sight information 80, position information indicating the position of the three-dimensional point included in the determination target region AR among the three-dimensional points of the interfering object I2 is arranged at the position associated with the interfering object image 71. .. Such location information is information detected by the line-of-sight information generation unit 31.

As described above, the line-of-sight information 80 includes the first two-dimensional image 60, the second two-dimensional image 61, the interfering object image 70, the interfering object image 71, and the line-of-sight status determination result 83. The worker who confirms the outlook information 80 can accurately grasp the outlook situation.

Next, the processing by the processing unit 12 of the line-of-sight information generation device 1 will be described using a flowchart. FIG. 24 is a flowchart showing an example of processing by the processing unit of the line-of-sight information generation device according to the first embodiment.

As shown in FIG. 24, the processing unit 12 of the line-of-sight information generation device 1 acquires the three-dimensional point cloud data 20 from the storage unit 11 or the communication unit 10 (step S10). Next, the processing unit 12 performs a viewpoint position determining process for determining the viewpoint position EP (step S11). The process of step S11 is the process of steps S20 to S22 shown in FIG. 25, which will be described in detail later.

Next, the processing unit 12 determines the determination target area based on the viewpoint position EP determined in step S11 (step S12). Then, the processing unit 12 performs a line-of-sight information generation process for generating the line-of-sight information 80 based on the three-dimensional point cloud data 20 acquired in step S10 and the determination target area determined in step S12 (step S13). The process of step S13 is the process of steps S30 to S34 shown in FIG. 26, which will be described in detail later. Next, the processing unit 12 outputs the line-of-sight information generated in step S13 (step S14), and ends the processing shown in FIG. 24.

FIG. 25 is a flowchart showing an example of the viewpoint position determination process by the processing unit of the line-of-sight information generation device according to the first embodiment. As shown in FIG. 25, the processing unit 12 calculates the position BT on the reference line Lr corresponding to the target equipment position TP (step S20).

Next, the processing unit 12 calculates the position BE on the reference line Lr separated from the position BT by the designated distance Dt on the reference line Lr (step S21), and calculates the viewpoint position EP based on the calculated position BE. Then (step S22), the process shown in FIG. 25 is terminated.

FIG. 26 is a flowchart showing an example of the line-of-sight information generation process by the processing unit of the line-of-sight information generation device according to the first embodiment. As shown in FIG. 26, the processing unit 12 projects a three-dimensional point included in the determination target area AR onto a reference plane (step S30). Then, the processing unit 12 color-codes each three-dimensional point projected on the reference plane according to the distance from the straight line SL3 to generate a two-dimensional image of the determination target area AR (step S31).

Next, the processing unit 12 determines the degree of line-of-sight based on the distribution of the three-dimensional points included in the determination target area AR (step S32). Further, the processing unit 12 generates images of the three-dimensional point cloud as interfering

object images

70 and 71 in a state where the three-dimensional points included in the determination target area AR are colored (step S33). Then, the processing unit 12 outputs the line-of-sight information 80 (step S34), and ends the processing of FIG. 26.

FIG. 27 is a diagram showing an example of the hardware configuration of the line-of-sight information generation device according to the first embodiment. As shown in FIG. 27, the line-of-sight information generation device 1 includes a computer including a processor 101, a memory 102, and a communication device 103.

The processor 101, the memory 102, and the communication device 103 can send and receive information to and from each other by, for example, the bus 104. The storage unit 11 is realized by the memory 102. The communication unit 10 is realized by the communication device 103. The processor 101 executes functions such as a data acquisition unit 30, a line-of-sight information generation unit 31, and an output processing unit 32 by reading and executing a program stored in the memory 102. The processor 101 is, for example, an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). include. Further, the memory 102 includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of non-volatile or volatile semiconductor memories, magnetic disks, flexible memories, optical discs, compact disks, and DVDs (Digital Versatile Discs). The line-of-sight information generation device 1 may include integrated circuits such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

As described above, the line-of-sight information generation device 1 according to the first embodiment includes a data acquisition unit 30, a line-of-sight information generation unit 31, and an output processing unit 32. The data acquisition unit 30 acquires three-dimensional point cloud data 20 that represents an object in the peripheral region of the movement path 3 to which the moving body 4 moves as a three-dimensional point cloud. The outlook information generation unit 31 is information indicating the outlook status of the target equipment from the viewpoint position EP away from the target equipment in the peripheral region based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30. Generate information 80. The output processing unit 32 outputs the line-of-sight information 80 generated by the line-of-sight information generation unit 31. As a result, the line-of-sight information generation device 1 can accurately present the line-of-sight status of the target equipment from the moving body 4 moving on the moving path 3.

Further, the data acquisition unit 30 acquires the reference line data 21 which is the data of the reference line Lr along the movement path 3. The line-of-sight information generation unit 31 includes a viewpoint position determination unit 40 that determines the viewpoint position EP based on the distance from the target equipment along the reference line Lr indicated by the reference line data 21. As a result, the line-of-sight information generator 1 can automatically set, for example, a position separated from the target equipment by a specified distance Dt as the viewpoint position EP, and the line-of-sight status of the target equipment from a point a certain distance before the target equipment. Can be presented accurately.

Further, the reference line data 21 includes data indicating the inclination of the moving path 3 or data for calculating the inclination of the moving path 3. The viewpoint position determination unit 40 determines the viewpoint position EP based on the distance from the target equipment and the inclination of the movement path 3. As a result, the line-of-sight information generation device 1 can accurately present the line-of-sight status of the target equipment from the viewpoint of the crew of the moving body 4, for example.

Further, the line-of-sight information generation unit 31 includes a determination area determination unit 41 and a generation processing unit 42. The determination area determination unit 41 determines a preset area around the straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the determination target area AR. The generation processing unit 42 generates the line-of-sight information 80 based on the three-dimensional point cloud data 20 and the determination target area AR. Thereby, the line-of-sight information generation device 1 can accurately present, for example, the line-of-sight status of the target equipment in a preset area around the straight line SL3 connecting the target equipment position TP and the viewpoint position EP.

Further, the generation processing unit 42 includes a target area image generation unit 50. The target area image generation unit 50 is obtained by projecting a three-dimensional point included in the determination target area AR out of a plurality of three-dimensional points constituting the three-dimensional point group represented by the three-dimensional point group data 20 onto a reference plane. Generates information including a two-dimensional image of the determination target area AR. As a result, the line-of-sight information generation device 1 can present the line-of-sight status of the target equipment as a two-dimensional image.

Further, the reference plane includes a plane perpendicular to the straight line SL3. As a result, the line-of-sight information generation device 1 can present the line-of-sight status of the target equipment from the viewpoint position EP as a two-dimensional image.

Also, the reference plane includes a horizontal plane. As a result, the line-of-sight information generation device 1 can present a two-dimensional image capable of grasping the distance from the three-dimensional viewpoint position EP in which the determination target area AR exists.

Further, the target area image generation unit 50 generates a two-dimensional image in which the three-dimensional points included in the determination target area AR are color-coded according to the distance from the straight line SL3 as the two-dimensional image of the determination target area AR. As a result, the line-of-sight information generation device 1 can present a two-dimensional image capable of grasping the line-of-sight status of the target equipment from the viewpoint position EP by the colors of the three-dimensional points included in the two-dimensional image.

Further, the generation processing unit 42 includes a prospect determination unit 51. The line-of-sight determination unit 51 determines the degree of line-of-sight based on the distribution of three-dimensional points included in the determination target area AR. The outlook information 80 further includes information indicating the degree of outlook determined by the outlook determination unit 51. As a result, the line-of-sight information generation device 1 can present information indicating the degree of line-of-sight.

Further, the generation processing unit 42 includes an interfering object image generation unit 52. The interfering object image generation unit 52 generates an image of the three-dimensional point group as the interfering

object images

70 and 71 in a state where the three-dimensional points included in the determination target area AR are colored. The line-of-sight information 80 further includes the interfering

object images

70 and 71 generated by the interfering material image generation unit 52. As a result, the line-of-sight information generation device 1 can present the interfering

object images

70 and 71, which are images of the three-dimensional point cloud, in a state where the three-dimensional points included in the determination target area AR are colored.

Further, the determination area determination unit 41 determines a columnar area centered on the straight line SL3 as the determination target area AR. As a result, the line-of-sight information generation device 1 can easily and easily set the determination target area AR.

Further, the determination area determination unit 41 determines a square columnar area centered on the straight line SL3 as the determination target area AR. As a result, the line-of-sight information generation device 1 can set the central area of the determination target area AR near the eyes of both eyes of the driver, so that the line-of-sight situation can be accurately represented in a situation closer to reality.

The configuration shown in the above embodiment is an example, and can be combined with another known technique, or a part of the configuration may be omitted or changed without departing from the gist. It is possible.

1 line-of-sight information generation device, 2 3D point group measurement device, 3 movement path, 4 moving body, 5 display device, 10 communication unit, 11 storage unit, 12 processing unit, 20 3D point group data, 21 reference line data, 30 data acquisition unit, 31 outlook information generation unit, 32 output processing unit, 40 viewpoint position determination unit, 41 judgment area determination unit, 42 generation processing unit, 50 target area image generation unit, 51 outlook determination unit, 52 interfering object image generation Department, 60 1st 2D image, 61 2nd 2D image, 70,71 Interfering object image, 80 line-of-sight information, 82 confirmation points, 83 line-of-sight status judgment results, 100 information provision system, 101 processor, 102 Memory, 103 communication device, 104 bus, AR judgment target area, AR1 first area, AR2 second area, AR3 third area, AS1, AS2, AS3, AS4 surface, BT position, D integrated distance, Dt designation Distance, EP viewpoint position, H distance, I1, I2 interfering object, L distance, Lr reference line, P5, P5', P6, P6', P21, P22, P23, P24 reference point, PB1 first position, PB2 first 2 position, SL1 1st straight line, SL2 2nd straight line, Sr area ratio, TP target equipment position, d1, d2, d3, d19 distance, k1, k2, k3, k4, k5, k6 coefficient, r, r1 , R2 radius.

Claims

A data acquisition unit that acquires 3D point cloud data that represents an object in the peripheral area of the movement path where the moving object moves as a 3D point cloud.
Based on the three-dimensional point cloud data acquired by the data acquisition unit, outlook information for generating outlook information, which is information indicating the outlook status of the target equipment from a viewpoint position away from the target equipment in the peripheral area. The generator and
A line-of-sight information generation device including an output processing unit that outputs the line-of-sight information generated by the line-of-sight information generation unit.
The data acquisition unit
The reference line data, which is the reference line data along the movement path, is acquired, and the reference line data is acquired.
The outlook information generation unit
The line-of-sight information generation device according to claim 1, further comprising a viewpoint position determining unit that determines the viewpoint position based on the distance from the target equipment along the reference line indicated by the reference line data. ..
The reference line data is
Includes data indicating the slope of the travel path or data for calculating the slope of the travel path.
The viewpoint position determining unit is
The line-of-sight information generation device according to claim 2, wherein the viewpoint position is determined based on the distance from the target equipment and the inclination of the moving path.
The outlook information generation unit
A determination area determination unit that determines a preset area around a straight line connecting the position of the target equipment and the viewpoint position as the determination target area.
The line-of-sight information generation according to any one of claims 1 to 3, further comprising a generation processing unit that generates the line-of-sight information based on the three-dimensional point cloud data and the determination target area. Device.
The generation processing unit
The two dimensions of the determination target area obtained by projecting the three-dimensional points included in the determination target area among the plurality of three-dimensional points constituting the three-dimensional point group indicated by the three-dimensional point group data onto the reference plane. The line-of-sight information generation device according to claim 4, further comprising a target area image generation unit for generating information including an image.
The reference plane is
The line-of-sight information generation device according to claim 5, further comprising a plane perpendicular to the straight line.
The reference plane is
The line-of-sight information generator according to claim 5 or 6, which comprises a horizontal plane.
The generation processing unit
One of claims 4 to 7, wherein a two-dimensional image in which three-dimensional points included in the determination target area are color-coded according to the distance from the straight line is generated as a two-dimensional image of the determination target area. The line-of-sight information generator described in 1.
The generation processing unit
A line-of-sight determination unit for determining the degree of line-of-sight of the target equipment from the viewpoint position based on the distribution of three-dimensional points included in the determination target area is provided.
The outlook information is
The line-of-sight information generation device according to any one of claims 4 to 8, further comprising information indicating the degree of the line-of-sight determined by the line-of-sight determination unit.
The generation processing unit
It is provided with an interferometer image generation unit that generates an image of the three-dimensional point group as an interferometer image in a state where the three-dimensional points included in the determination target region are colored.
The outlook information is
The line-of-sight information generation device according to any one of claims 4 to 9, further comprising the interference image generated by the interference image generation unit.
The determination area determination unit
The line-of-sight information generation device according to any one of claims 4 to 10, wherein a columnar region having the straight line as a center line is determined as the determination target region.
The determination area determination unit
The line-of-sight information generation device according to any one of claims 4 to 11, wherein a square columnar region having the straight line as a center line is determined as the determination target region.
It ’s a computer-executed method of generating outlook information.
The first step of acquiring 3D point cloud data representing an object in the peripheral area of the moving path in which the moving body moves is represented by a 3D point cloud.
Based on the three-dimensional point cloud data acquired in the first step, the first line-of-sight information, which is information indicating the line-of-sight status of the target equipment from a viewpoint position away from the target equipment in the peripheral area, is generated. 2 steps and
A line-of-sight information generation method comprising the third step of outputting the line-of-sight information generated by the second step.
The first step of acquiring 3D point cloud data representing an object in the peripheral area of the moving path in which the moving body moves is represented by a 3D point cloud.
Based on the three-dimensional point cloud data acquired in the first step, the first line-of-sight information, which is information indicating the line-of-sight status of the target equipment from a viewpoint position away from the target equipment in the peripheral area, is generated. 2 steps and
A line-of-sight information generation program comprising causing a computer to execute a third step of outputting the line-of-sight information generated by the second step.