Device for assisting in setting installation position of three-dimensional scanner, method for assisting in setting installation position of three-dimensional scanner, and program for assisting in setting installation position of three-dimensional scanner

Abstract

To heighten the accuracy of measurement by a three-dimensional scanner with greater efficiency.SOLUTION: A device 30 for assisting in setting the position of installation comprises: a candidate region acquisition unit 31 for acquiring information representing a candidate region 310 associated with past results of measurement for a measurement object space by a three-dimensional scanner 40 and being a candidate for a next position at which the three-dimensional scanner 40 is installed; a prediction unit 32 for predicting, for each of a plurality of positions, a region 320 where measurement by the three-dimensional scanner 40 is impossible due to obstacles, when the three-dimensional scanner 40 is installed at one of the plurality of positions included in the candidate region 310; an identification unit 33 for identifying, from among the plurality of positions, a position at which the size of the region 320 predicted to be impossible to make measurement satisfies a criterion 330; and a presentation unit 34 for presenting the identified position to the user.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an installation position setting support device for a three-dimensional scanner, a three-dimensional scanner installation position setting support method, and a three-dimensional scanner installation position setting support program. [Background technology]

[0002] Three-dimensional laser scanners (hereinafter referred to as three-dimensional scanners in this application) are used to measure the presence of objects in a space to be measured, the shape of the space to be measured, etc. Technology for performing such measurements with high accuracy is desired.

[0003] In relation to the above-mentioned technology, Patent Document 1 discloses a scanning method using a three-dimensional scanner to scan a location within an outer measurement object where an inner measurement object exists with a gap between the outer measurement object and the inner measurement object. In this method, the measurement object is scanned using the installation position of the three-dimensional scanner as the origin, and three-dimensional coordinates are collected for each of multiple reflection points. In this method, a portion of the surface of the outer measurement object where the inter-point distance between one of the multiple reflection points and its adjacent reflection points falls outside the numerical range of the inter-point distances between adjacent reflection points is determined to be a boundary portion between the outer measurement object and the inner measurement object. In this method, the area between the adjacent boundary portions is identified as a data-uncollected portion of the outer measurement object that is shaded by the inner measurement object, and the next installation position of the three-dimensional scanner is set to a position closer to the data-uncollected portion than the inner measurement object that casts the shadow. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5204955 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when scanning is performed while the floor to be measured is in use, the work being performed on the floor must be temporarily stopped or scanning must be performed between workers, which often limits the time and number of scans that can be performed. The scanning method using a three-dimensional scanner shown in Patent Document 1 above improves measurement accuracy by performing comprehensive scans of areas where data cannot be collected due to the presence of obstacles, etc., but this may require a long measurement time. Therefore, a challenge is to improve the accuracy of measurements using three-dimensional scanners more efficiently.

[0006] A primary object of the present invention is to improve the accuracy of measurements made by a three-dimensional scanner more efficiently. [Means for solving the problem]

[0007] A three-dimensional scanner installation position setting support device according to one embodiment of the present invention comprises a candidate area acquisition means for acquiring information representing a candidate area that is related to past measurement results of the space to be measured by the three-dimensional scanner and is a candidate for the next location for installing the three-dimensional scanner; a prediction means for predicting, for each of a plurality of positions included in the candidate area, areas that cannot be measured by the three-dimensional scanner due to obstacles when the three-dimensional scanner is installed at one of the plurality of positions; an identification means for identifying from the plurality of positions a position where the size of the predicted unmeasurable area meets a standard; and a presentation means for presenting the identified position to a user.

[0008] In another aspect of achieving the above object, a method for supporting the setting of the installation position of a three-dimensional scanner according to one embodiment of the present invention uses an information processing device to obtain information representing candidate areas that are candidates for the next location for installing the three-dimensional scanner, which are associated with past measurement results of the space to be measured by the three-dimensional scanner, and when the three-dimensional scanner is installed at one of multiple locations included in the candidate areas, predicts areas that cannot be measured by the three-dimensional scanner due to obstacles for each of the multiple locations, identifies a location from among the multiple locations where the size of the predicted unmeasurable area meets a criterion, and presents the identified location to the user.

[0009] Furthermore, in a further aspect of achieving the above-mentioned object, a three-dimensional scanner installation position setting support program according to one embodiment of the present invention causes a computer to execute the following steps: a candidate area acquisition process that acquires information representing a candidate area that is related to past measurement results of the space to be measured by the three-dimensional scanner and is a candidate for the next location for installing the three-dimensional scanner; a prediction process that predicts, for each of a plurality of positions included in the candidate area, areas that cannot be measured by the three-dimensional scanner due to obstacles when the three-dimensional scanner is installed at one of the plurality of positions included in the candidate area; an identification process that identifies a position from among the plurality of positions where the size of the predicted unmeasurable area meets a criterion; and a presentation process that presents the identified position to a user.

[0010] Furthermore, the present invention can also be realized by a computer-readable, non-volatile recording medium storing such a three-dimensional scanner installation position setting support program (computer program). [Effects of the Invention]

[0011] The present invention can more efficiently improve the accuracy of measurements made by a three-dimensional scanner. [Brief explanation of the drawings]

[0012] [Figure 1]1 is a block diagram showing a configuration of an installation position setting assistance device 10 according to the present disclosure. [Figure 2] 10 is a diagram illustrating a prediction procedure 163 used by the installation position setting assistance device 10 according to the present disclosure. FIG. [Figure 3] 1 is a diagram illustrating a candidate area 162 according to the present disclosure and a plurality of installation positions 166 included in the candidate area 162. FIG. [Figure 4] 10 is a diagram illustrating a specific criterion 165 used by the installation position setting assistance device 10 according to the present disclosure. FIG. [Figure 5] 4 is a flowchart showing the operation of the installation position setting assistance device 10 according to the present disclosure. [Figure 6] FIG. 10 is a diagram illustrating a case where planes set radially in the measurement target space are used as planes for arranging candidates for installation positions 166 set inside a candidate area 162. [Figure 7] 1 is a block diagram showing a configuration of an installation position setting assistance device 30 according to the present disclosure. [Figure 8] 4 is a flowchart showing the operation of the installation position setting assistance device 30 according to the present disclosure. [Figure 9] FIG. 9 is a block diagram showing a configuration of an information processing device 900 that can realize an installation position setting assistance device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0014] First Embodiment 1 is a block diagram showing the configuration of a three-dimensional scanner installation position setting support device 10 according to the present disclosure. The installation position setting support device 10 is a device that supports a worker in setting the installation position of a three-dimensional scanner 20 that measures three-dimensional data of a space to be measured. The installation position setting support device 10 is connected to the three-dimensional scanner 20 so that it can communicate with the three-dimensional scanner 20.

[0015] The installation position setting support device 10 is also communicably connected to a terminal device 21. The terminal device 21 is an information processing device such as a personal computer, smartphone, or tablet terminal that is used by a user (worker) of the installation position setting support device 10 in the measurement work of three-dimensional data. The terminal device 21 has a user interface that accepts input operations by the user of information to be input to the installation position setting support device 10. The terminal device 21 also has a display screen 210 that displays information output from the installation position setting support device 10.

[0016] The installation position setting support device 10 is an information processing device such as a server. At least a part of the installation position setting support device 10 may be constructed using cloud computing. Alternatively, the installation position setting support device 10 may be incorporated into the three-dimensional scanner 20.

[0017] The installation position setting support device 10 includes a measurement result acquisition unit 11, a candidate area acquisition unit 12, a prediction unit 13, an identification unit 14, a presentation unit 15, and a memory unit 16. The measurement result acquisition unit 11, the candidate area acquisition unit 12, the prediction unit 13, the identification unit 14, and the presentation unit 15 are examples of a measurement result acquisition means, a candidate area acquisition means, a prediction means, an identification means, and a presentation means, respectively.

[0018] The storage unit 16 is, for example, a storage device such as a RAM (Random Access Memory) 903 or a hard disk 904, which will be described later with reference to Fig. 9. The storage unit 16 stores measurement results 161, candidate areas 162, prediction procedures 163, unmeasurable areas 164, identification criteria 165, and installation positions 166. The above-mentioned information stored in the storage unit 16 will be described in detail later.

[0019] The measurement result acquisition unit 11 acquires measurement results 161 of the measurement target space obtained by the three-dimensional scanner 20, and stores the acquired measurement results 161 in the memory unit 16. The measurement results 161 represent the shape of the measurement target space obtained by measurement by the three-dimensional scanner 20, the presence status of objects present in the measurement target space, etc. Measurements using the three-dimensional scanner 20 are usually performed multiple times while changing the installation location, so the measurement result acquisition unit 11 stores the measurement results 161 in the memory unit 16 in a manner that makes each measurement result 161 identifiable, for example, by associating the measurement results 161 with the time at which the measurement result 161 was acquired or a value indicating the number of measurements.

[0020] The candidate area acquisition unit 12 acquires information representing a candidate area 162 that is a candidate for the position where the three-dimensional scanner 20 is to be installed when the three-dimensional scanner 20 measures the space to be measured, and stores the acquired information representing the candidate area 162 in the storage unit 16. The candidate area 162 represents an area of ​​a predetermined size that is a candidate for the position where the three-dimensional scanner 20 is to be installed in the next measurement after a measurement is performed by the three-dimensional scanner 20.

[0021] The candidate area acquisition unit 12 acquires, for example, information representing a candidate area 162 input via an input operation by a user on the terminal device 21 from the terminal device 21. At this time, the presentation unit 15 displays a measurement result 161 from the previous measurement by the three-dimensional scanner 20 on the display screen 210 of the terminal device 21, for example, as an image representing the shape of the measurement target space and the shape of an object existing in the measurement target space. The presentation unit 15 may display at least the measurement result 161 from the previous measurement on the display screen 210. The presentation unit 15 may also display the measurement results 161 from multiple measurements up to the previous time on the display screen 210. In this case, the presentation unit 15 may display an image in which the measurement results 161 from these multiple measurements are synthesized (merged) on the display screen 210. Note that in this case, it is desirable that the process of generating an image in which the measurement results 161 from the multiple measurements by the presentation unit 15 are synthesized within the time it takes for the user to move to the next installation position of the three-dimensional scanner 20.

[0022] The candidate region 162 input by the user is a region of a predetermined shape determined by the user based on the measurement result 161 displayed on the display screen 210 and his / her own knowledge. The shape of the candidate region 162 may be, for example, a cylinder, a rectangular prism, or a sphere. If the shape of the candidate region 162 is a cylinder, the user may input, for example, information representing the position (coordinates) of the center of the cylinder, the radius or diameter of the base of the cylinder, and the height of the cylinder as the candidate region 162. If the shape of the candidate region 162 is a sphere, the user may input, for example, information representing the position of the center of the sphere and the radius or diameter of the sphere as the candidate region 162. Furthermore, the information input by the user is limited to the position of the center of the candidate region 162, and other information representing the shape of the candidate region 162 may be automatically set, for example, by preset values ​​being set.

[0023] When the three-dimensional scanner 20 is installed at any of a plurality of positions included in the candidate area 162, the prediction unit 13 predicts (performs a simulation) an area 164 that cannot be measured by the three-dimensional scanner 20 due to an obstacle (an area shaded by the obstacle) for each of the plurality of positions based on a prediction procedure 163. The prediction unit 13 stores the predicted unmeasurable area 164 in the memory unit 16. The unmeasurable area 164 stored in the memory unit 16 includes, for example, its size. The prediction procedure 163 may be provided in advance by, for example, an administrator of the installation position setting support device 10, or may be acquired by the installation position setting support device 10 from an external device.

[0024] FIG. 2 is a diagram illustrating a prediction procedure 163 used by the installation position setting assistance device 10 according to the present disclosure when predicting an area 164 that cannot be measured by the three-dimensional scanner 20. In FIG.

[0025] The upper diagram in Fig. 2 represents the measurement target space projected onto a wall surface parallel to the XY plane by looking down on the measurement target space in the negative direction of the Z axis in a three-dimensional space defined by the X, Y, and Z axes. The lower diagram in Fig. 2 represents the measurement target space projected onto a wall surface parallel to the ZX plane by looking down on the measurement target space in the positive direction of the Y axis in a three-dimensional space defined by the X, Y, and Z axes. However, in the example shown in Fig. 2, the floor surface in the measurement target space is parallel to the XY plane, and the Z axis is formed in the vertical direction from the floor surface to the ceiling. In this disclosure, the terms "parallel" and "vertical" also include "approximately parallel" and "approximately vertical," respectively.

[0026] The sizes of the wall surfaces parallel to the XY plane, YZ plane, and ZX plane that make up the space to be measured may be provided to the installation position setting support device 10 by the user, or may be detected by the installation position setting support device 10 from the measurement result 161. For example, when the installation position setting support device 10 detects from the newly acquired measurement result 161 that a wall surface is larger than the information representing the wall surface obtained from the previous measurement result 161, it only needs to update the information representing the size of that wall surface.

[0027] 2, a first measurement of the measurement target space is being performed by three-dimensional scanner 20 installed at installation position 166-1. In this case, measurement result acquisition unit 11 acquires measurement result 161 by three-dimensional scanner 20 installed at installation position 166-1, and presentation unit 15 displays acquired measurement result 161 on display screen 210.

[0028] Measurement result 161 of the first measurement includes an unmeasurable area 164 by the three-dimensional scanner 20 installed at installation position 166-1, which is represented by an arrow line in the diagram (XY plane view) at the top of the page in Fig. 2. Fig. 2 shows the unmeasurable area 164 that occurs when obstacles A and C prevent the laser emitted from the three-dimensional scanner 20 from reaching a wall surface parallel to the XY plane in the space to be measured. Note that, due to space limitations, the unmeasurable area 164 shown in Fig. 2 represents only a portion of the unmeasurable area 164 included in measurement result 161, and measurement result 161 also includes unmeasurable areas 164 that are not illustrated in Fig. 2.

[0029] The user checks the measurement result 161 displayed on the display screen 210 and inputs information representing a candidate area 162 for the installation position of the three-dimensional scanner 20 for the second measurement by the three-dimensional scanner 20, via an input operation to the terminal device 21. In the example shown in Fig. 2, the candidate area 162 is defined as a cylinder having a bottom surface parallel to the XY plane.

[0030] FIG. 3 is a diagram illustrating a candidate area 162 according to the present disclosure and a plurality of candidates for the installation position 166 of the three-dimensional scanner 20 for the next measurement, which are included in the candidate area 162 set by the prediction unit 13.

[0031] In the example shown in FIG. 3 , the prediction unit 13 sets, based on the prediction procedure 163, 25 candidate installation positions 166 arranged at equal intervals in a grid pattern in a ZX plane including the center of the candidate area 162. The prediction unit 13 sets, based on the prediction procedure 163, 25 candidate installation positions 166 arranged at equal intervals in a grid pattern in a YZ plane including the center of the candidate area 162. The prediction unit 13 sets, based on the prediction procedure 163, 21 candidate installation positions 166 arranged at equal intervals in a grid pattern in an XY plane including the center of the candidate area 162. Note that the 21 candidate installation positions 166 arranged in the XY plane include some installation positions 166 that are not strictly included in the candidate area 162, but the prediction unit 13 according to the present disclosure sets 21 candidate installation positions 166 excluding the four corners of the XY plane. Note that the number and arrangement of candidates for installation positions 166 in the candidate area 162 illustrated in FIG. 3 are just an example, and the prediction unit 13 may set the number and arrangement of candidates for installation positions 166 differently from those in FIG. 3.

[0032] As illustrated in Fig. 2, when the three-dimensional scanner 20 is installed at installation positions 166-21 and 166-22, the prediction unit 13 predicts an unmeasurable area 164 caused by an obstacle by the three-dimensional scanner 20. The unmeasurable area 164 predicted by the prediction unit 13 is represented by an arrowed line in the upper diagram (XY plane view) of Fig. 2, and is represented as an area shaded with vertical and horizontal lines in the lower diagram (ZX plane view) of Fig. 2. Note that the unmeasurable area 164 for installation positions 166-21 and 166-22 illustrated in Fig. 2 represents the area included in the unmeasurable area 164 for installation position 166-1 in the first measurement. In other words, it is not a problem if parts of the measurement target space for which data was obtained in the first measurement cannot be measured in the second measurement, so the unmeasurable area 164 in the second measurement should be only the parts included in the unmeasurable area 164 in the first measurement (i.e., the parts for which data could not be obtained in both the first and second measurements).

[0033] 2, the size of the unmeasurable area 164 caused by obstacle B is larger when the three-dimensional scanner 20 is installed at installation position 166-21 than when it is installed at installation position 166-22. In contrast, the size of the unmeasurable area 164 caused by obstacle C is larger when the three-dimensional scanner 20 is installed at installation position 166-22 than when it is installed at installation position 166-21. In this way, depending on the positional relationship between each obstacle and each installation position 166, the size of the unmeasurable area 164 caused by each obstacle will be different between the multiple installation positions 166.

[0034] The prediction unit 13 predicts an unmeasurable area 164 for a plurality of candidates for the installation position 166 of the three-dimensional scanner 20 for the next measurement, as exemplified in Fig. 3, based on the prediction procedure 163 exemplified in Fig. 2 described above. The example shown in Fig. 2 represents the unmeasurable area 164 projected onto a wall surface parallel to the ZX plane included in the space to be measured, as predicted by the prediction unit 13, but the prediction unit 13 also predicts the unmeasurable area 164 projected onto a wall surface parallel to the XY plane and a wall surface parallel to the YZ plane included in the space to be measured, in the same manner as described above, based on the prediction procedure 163 described above.

[0035] Furthermore, since directions in which the angle of incidence of the laser light on an obstacle changes significantly contribute more to an increase or decrease in the unmeasurable area 164, the prediction unit 13 may predict the unmeasurable area 164 by specializing in such directions. Furthermore, when an obstacle is close to the three-dimensional scanner 20, although the contribution to an increase or decrease in the unmeasurable area 164 increases, it is not appropriate to install the three-dimensional scanner 20 in such a location. In this case, the installation position setting support device 10 may display on the display screen 210 of the terminal device 21 that the installation position 166 of the three-dimensional scanner 20 is inappropriate.

[0036] The identifying unit 14 identifies an installation position 166 from among a plurality of candidate installation positions 166 illustrated in Fig. 3, where the size of the unmeasurable area 164 predicted by the predicting unit 13 satisfies an identifying criterion 165. The identifying unit 14 stores the identified installation position 166 in the storage unit 16. Note that the identifying criterion 165 may be provided in advance by, for example, an administrator of the installation position setting support device 10, or may be acquired by the installation position setting support device 10 from an external device.

[0037] The identification unit 14 identifies the coordinates (X1, Z1) of the installation position 166 located on the ZX plane and included in the candidate area 162 when the size of the unmeasurable area 164 projected onto a wall surface parallel to the ZX plane is smallest. Similarly, the identification unit 14 identifies the coordinates (Y1, Z2) of the installation position 166 located on the YZ plane and included in the candidate area 162 when the size of the unmeasurable area 164 projected onto a wall surface parallel to the YZ plane is smallest. Similarly, the identification unit 14 identifies the coordinates (X2, Y2) of the installation position 166 located on the XY plane and included in the candidate area 162 when the size of the unmeasurable area 164 projected onto a wall surface parallel to the XY plane is smallest.

[0038] At this time, the identification unit 14 calculates the total size of the unmeasurable area 164 caused by each obstacle, as illustrated in FIG. 2, for each of the installation positions 166, for each of the ZX plane, YZ plane, and XY plane.

[0039] Figure 4 is a diagram illustrating the identification criteria 165 used by the installation position setting support device 10 of the present disclosure when finally identifying the installation position 166 of the three-dimensional scanner 20 for the next measurement from among multiple installation positions 166 included in the candidate area 162.

[0040] 4, the upper graph on the left column of the page represents the relationship between the X coordinate of installation position 166 on the ZX plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the ZX plane. The lower graph on the left column of the page represents the relationship between the X coordinate of installation position 166 on the XY plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the XY plane.

[0041] 4, the graph in the middle of the middle row (center of the page) represents the relationship between the Y coordinate of installation position 166 on the YZ plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the YZ plane. The graph in the bottom of the middle row represents the relationship between the Y coordinate of installation position 166 on the XY plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the XY plane.

[0042] 4, the top graph on the right side of the page represents the relationship between the Z coordinate of installation position 166 on the ZX plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the ZX plane. The middle graph on the right side of the page represents the relationship between the Z coordinate of installation position 166 on the YZ plane included in candidate area 162 and the total area of ​​unmeasurable area 164 projected onto the wall surface of the measurement target space parallel to the YZ plane.

[0043] As described above, in Fig. 4, the graphs in the left, middle, and right columns respectively represent the relationship between the X, Y, and Z coordinates of installation position 166 included in candidate area 162 and the area of ​​unmeasurable area 164 projected onto each plane. Also, in Fig. 4, the graphs in the top, middle, and bottom rows respectively represent the relationship between the area of ​​unmeasurable area 164 projected onto the ZX plane, YZ plane, and XY plane and the coordinates of installation position 166 included in candidate area 162.

[0044] The X coordinate, Y coordinate, and Z coordinate in the graph shown in Fig. 4 above represent coordinates where the interval between the installation positions 166 arranged in a grid pattern as shown in Fig. 3 is set to 1. That is, the value of each coordinate is expressed as an integer between 1 and 5.

[0045] 3, for example, the identification unit 14 has identified that the coordinates (X1, Z1) of the installation position 166 are (1, 2), (Y1, Z2) are (4, 4), and (X2, Y2) are (4, 2). In this case, the identification unit 14 calculates an approximation curve representing the area of ​​the unmeasurable region 164 projected onto the ZX plane when the X coordinate of the installation position 166 is changed from X1 (= 1) to X2 (= 4), as shown in the graph in the upper left column of FIG. 4. Similarly, the identification unit 14 calculates an approximation curve representing the area of ​​the unmeasurable region 164 projected onto the XY plane when the X coordinate of the installation position 166 is changed from X1 (= 1) to X2 (= 4), as shown in the graph in the lower left column of FIG. Then, the determination unit 14 determines, from the two approximation curves described above, Xn, which is the value of the X coordinate when the sum of the area of ​​the unmeasurable region 164 projected onto the ZX plane and the area of ​​the unmeasurable region 164 projected onto the XY plane is minimum. In the example shown in Fig. 4, the determination unit 14 calculates Xn as a value between 1 and 2.

[0046] Similarly, the determination unit 14 calculates, from the two graphs in the middle row in Fig. 4, approximate curves that represent the areas of the unmeasurable region 164 projected onto the YZ plane and the XY plane when the Y coordinate of the installation position 166 is changed from Y2 (= 3) to Y1 (= 4). Then, from the two approximate curves described above, the determination unit 14 determines Yn, which is the Y coordinate value when the sum of the area of ​​the unmeasurable region 164 projected onto the YZ plane and the area of ​​the unmeasurable region 164 projected onto the XY plane is minimum. In the example shown in Fig. 4, the determination unit 14 calculates Yn as a value between 3 and 4.

[0047] Similarly, the determination unit 14 calculates, from the two graphs in the right column in Fig. 4, approximate curves that represent the areas of the unmeasurable region 164 projected onto the ZX plane and the YZ plane when the Z coordinate of the installation position 166 is changed from Z1 (= 2) to Z2 (= 4). Then, from the two approximate curves described above, the determination unit 14 determines Zn, which is the Z coordinate value when the sum of the area of ​​the unmeasurable region 164 projected onto the ZX plane and the area of ​​the unmeasurable region 164 projected onto the YZ plane is minimum. In the example shown in Fig. 4, the determination unit 14 calculates Zn as 4.

[0048] The presentation unit 15 displays the coordinates (Xn, Yn, Zn) of the installation position 166 of the three-dimensional scanner 20 identified by the identification unit 14 on the display screen 210 of the terminal device 21. In this case, the three-dimensional scanner 20 is installed at the coordinates (Xn, Yn, Zn) by the user, and the next measurement of the measurement target space is performed.

[0049] Next, the operation (processing) of the installation position setting assistance device 10 according to the present disclosure will be described in detail with reference to the flowchart of FIG.

[0050] The measurement result acquisition unit 11 acquires the first measurement result 161 from the three-dimensional scanner 20 (step S101). The presentation unit 15 displays the measurement result 161 acquired by the measurement result acquisition unit 11 on the display screen 210 of the terminal device 21 (step S102). The candidate area acquisition unit 12 acquires, from the terminal device 21, a candidate area 162 input through an input operation by the user who has been presented with the measurement result 161 via the display screen 210 (step S103).

[0051] The prediction unit 13 sets a plurality of candidates for the installation position 166 of the next measurement that are included in the candidate area 162 acquired by the candidate area acquisition unit 12 (step S104). For each candidate installation position 166, the prediction unit 13 predicts the size of the unmeasurable area 164 when the three-dimensional scanner 20 is installed for each of the wall surfaces parallel to the XY plane, YZ plane, and ZX plane in the space to be measured (step S105).

[0052] The identification unit 14 identifies the installation position 166 at which the size of the unmeasurable area 164 is smallest for each of the wall surfaces parallel to the XY plane, the YZ plane, and the ZX plane in the space to be measured, based on the prediction result of the size of the unmeasurable area 164 by the prediction unit 13 (step S106). The identification unit 14 identifies the next installation position 166 of the three-dimensional scanner 20 based on the installation position 166 at which the size of the unmeasurable area 164 is smallest for each of the wall surfaces parallel to the XY plane, the YZ plane, and the ZX plane, and the identification criterion 165 (step S107).

[0053] The measurement result acquisition unit 11 acquires the measurement result 161 by the three-dimensional scanner 20 installed at the identified installation position 166 (step S108). If the measurement is to be continued because the next measurement remains or the obtained measurement result 161 deviates from the prediction (Yes in step S109), the process returns to step S102. If the measurement is not to be continued (No in step S109), the entire process ends.

[0054] The installation position setting support device 10 according to the present disclosure can more efficiently improve the accuracy of measurements by the three-dimensional scanner because the installation position setting support device 10 predicts the unmeasurable area 164 for each of a plurality of positions included in a candidate area 162 that is a candidate for the position where the three-dimensional scanner 20 is to be installed, and identifies and presents to the user a position where the unmeasurable area 164 satisfies a specific criterion 165.

[0055] The effects achieved by the installation position setting assistance device 10 according to the present disclosure will be described in detail below.

[0056] For example, when scanning a floor to be measured while it is in use, the work being done on that floor must be temporarily stopped or scanning must be performed between workers, which often limits the time and number of scans that can be performed. Also, there are scanning methods using 3D scanners that improve measurement accuracy by performing comprehensive scans of areas where data cannot be collected due to the presence of obstacles, but this method can take a long time to perform the measurement. In other words, the challenge is to improve the accuracy of measurements using 3D scanners more efficiently.

[0057] To address this issue, the installation position setting support device 10 according to the present disclosure acquires information representing a candidate area 162, which is a candidate for the next installation location of the three-dimensional scanner 20, associated with past measurement results of the space to be measured by the three-dimensional scanner 20. When the three-dimensional scanner is installed at one of multiple positions included in the candidate area 162, the installation position setting support device 10 predicts an unmeasurable area 164 caused by an obstacle for each of the multiple positions. The installation position setting support device 10 identifies a position from the multiple positions where the size of the predicted unmeasurable area 164 satisfies a specific criterion 165 and presents the identified position to the user. In other words, the installation position setting support device 10 simplifies the process for determining the installation position 166 of the three-dimensional scanner 20 for the next measurement by narrowing it down to the candidate area 162 associated with the past measurement results, rather than targeting the entire space to be measured. This allows the installation position setting support device 10 to more efficiently improve the accuracy of measurements using the three-dimensional scanner.

[0058] Furthermore, the installation position setting support device 10 according to the present disclosure obtains measurement results 161 of the measurement target space obtained by the three-dimensional scanner 20, and presents the measurement results 161 to the user. The installation position setting support device 10 then obtains information representing a candidate area 162 for the next measurement by the three-dimensional scanner 20, which information is input by the user who has been presented with the measurement results 161. That is, the installation position setting support device 10 determines the installation position 166 of the three-dimensional scanner 20 for the next measurement using the candidate area 162 created based on the user's knowledge from the previous measurement results 161, thereby more efficiently improving the accuracy of measurements by the three-dimensional scanner.

[0059] Furthermore, the candidate area 162 does not have to be information created by a user. For example, the candidate area acquisition unit 12 may generate information representing the candidate area 162 for the next measurement by the three-dimensional scanner based on setting criteria for setting the candidate area 162 for the next measurement by the three-dimensional scanner 20 in accordance with the measurement result 161 and the acquired measurement result 161. In this case, the setting criteria may be, for example, a learning model that has learned the relationship between the measurement result 161 and the candidate area 162 for the next measurement by the three-dimensional scanner 20. This allows the installation position setting assistance device 10 to efficiently obtain the candidate area 162.

[0060] Furthermore, the installation position setting assistance device 10 may feed back the coordinates (Xn, Yn, Zn) of the installation position 166 of the three-dimensional scanner 20 identified by the identification unit 14 as described above to the setting of multiple candidate installation positions 166 included in the candidate area 162. In this case, the prediction unit 13 resets the ZX plane, YZ plane, and XY plane on which the multiple candidate installation positions 166 illustrated in FIG. 3 are arranged to planes including the coordinates (Xn, Yn, Zn), and performs processing to predict the unmeasurable area 164. In the example shown in FIG. 3, the prediction unit 13 sets the Y coordinate of the candidate installation position 166 to 0 when predicting the unmeasurable area 164 on the ZX plane, for example, but sets the Y coordinate to Yn through the above-described feedback and predicts the unmeasurable area 164 taking into account the influence of the Y-axis direction. Similarly, through the above-described feedback, the prediction unit 13 predicts the unmeasurable area 164 for the installation position 166 arranged on the YZ plane taking into account Xn and the XY plane taking into account Zn. This allows the installation position setting assistance device 10 to improve the accuracy of predicting the unmeasurable area 164.

[0061] Furthermore, the installation position setting support device 10 may use a plane other than the above-described XY plane, YZ plane, and ZX plane as a plane for arranging the candidates for the installation position 166 to be set inside the candidate area 162. For example, as illustrated in Fig. 6, the installation position setting support device 10 may use a plane set radially in the space to be measured as the plane.

[0062] Furthermore, the installation position setting support device 10 may specify the installation position 166 of the three-dimensional scanner 20 for the next measurement using a criterion different from the specification criterion 165 exemplified in Fig. 4. The installation position setting support device 10 may use the specification criterion 165 that indicates specifying the installation position 166 of the three-dimensional scanner 20 for the next measurement using, for example, a minimum area method, instead of a method using an approximation curve of a graph as exemplified in Fig. 4.

[0063] <Second embodiment> 7 is a block diagram showing the configuration of a three-dimensional scanner installation position setting support device 30 according to the present disclosure. The installation position setting support device 30 includes a candidate area acquisition unit 31, a prediction unit 32, an identification unit 33, and a presentation unit 34. The candidate area acquisition unit 31, the prediction unit 32, the identification unit 33, and the presentation unit 34 are examples of candidate area acquisition means, prediction means, identification means, and presentation means, respectively.

[0064] The candidate area acquisition unit 31 acquires information representing a candidate area 310, which is a candidate for the next location for installing the three-dimensional scanner 40, in association with past measurement results of the measurement target space by the three-dimensional scanner 40. The three-dimensional scanner 40 is, for example, a device similar to the three-dimensional scanner 20 of the installation position setting support device 10. The candidate area 310 is, for example, information similar to the candidate area 162 of the installation position setting support device 10. The candidate area acquisition unit 31 operates in the same manner as the candidate area acquisition unit 12 of the installation position setting support device 10, for example.

[0065] When the three-dimensional scanner 40 is installed at any of a plurality of positions included in the candidate area 310, the prediction unit 32 predicts an area 320 that cannot be measured by the three-dimensional scanner 40 due to an obstacle for each of the plurality of positions. The unmeasurable area 320 is, for example, information similar to the unmeasurable area 164 of the installation position setting support device 10. The prediction unit 32 operates in the same manner as the prediction unit 13 of the installation position setting support device 10, for example.

[0066] The identifying unit 33 identifies, from among the plurality of positions, a position where the size of the predicted unmeasurable area 320 satisfies a criterion 330. The criterion 330 is, for example, a criterion similar to the identifying criterion 165 of the installation position setting support device 10. The identifying unit 33 operates in the same manner as the identifying unit 14 of the installation position setting support device 10, for example.

[0067] The presenting unit 34 presents the identified position to the user. The presenting unit 34 operates in the same manner as the presenting unit 15 of the installation position setting assistance device 10, for example.

[0068] Next, the operation (processing) of the installation position setting assistance device 30 according to the present disclosure will be described in detail with reference to the flowchart of FIG.

[0069] The candidate area acquisition unit 31 acquires information representing a candidate area 310, which is associated with past measurement results of the measurement target space by the three-dimensional scanner 40 and is a candidate for the next position where the three-dimensional scanner 40 will be installed (step S201). When the three-dimensional scanner 40 is installed at any of multiple positions included in the candidate area 310, the prediction unit 32 predicts an area 320 that cannot be measured by the three-dimensional scanner 40 due to an obstacle for each of the multiple positions (step S202).

[0070] The identifying unit 33 identifies the position where the size of the predicted unmeasurable region 320 satisfies the criterion 330 as follows: The location is identified from the plurality of locations (step S203). The presenting unit 34 presents the identified location to the user (step S204), and the entire process ends.

[0071] The installation position setting support device 30 according to the present disclosure can more efficiently improve the accuracy of measurements by the three-dimensional scanner because the installation position setting support device 30 predicts the unmeasurable area 320 for each of multiple positions included in the candidate area 310, which is a candidate area for installing the three-dimensional scanner 40, when the three-dimensional scanner 40 is installed at that position, and identifies and presents to the user a position where the unmeasurable area 320 satisfies the criteria 330.

[0072] <Hardware configuration example> In each of the above-described embodiments, each unit in the installation position setting support device shown in Figures 1 and 7 can be realized by dedicated HW (Hardware) (electronic circuitry). In Figures 1 and 7, at least the following components can be considered as functional (processing) units (software modules) of a software program including instructions executed by a processor. ·Measurement result acquisition unit 11 Candidate region acquisition units 12 and 31, prediction units 13 and 32, Particulars 14 and 33, presentation units 15 and 34, ·Memory control function in the memory unit 16.

[0073] However, the division of the various components shown in these drawings is for the sake of convenience of explanation, and various configurations may be assumed for implementation. An example of the hardware environment in this case will be described with reference to FIG.

[0074] Fig. 9 is a diagram illustrating an example of the configuration of an information processing device 900 (computer) that can realize the installation position setting support device according to the present disclosure. That is, Fig. 9 shows the configuration of a computer (information processing device) that can realize the installation position setting support device shown in Figs. 1 and 7, and represents a hardware environment that can realize each function in the above-described embodiment. However, each unit in the above-described installation position setting support device may be distributed among multiple information processing devices 900, or at least some of the functions may be provided in a server or the like that constitutes a cloud computing environment.

[0075] The information processing device 900 shown in FIG. 9 includes the following components. ·CPU(Central Processing Unit)901, ·ROM (Read Only Memory) 902, ·RAM(Random Access Memory)903, Hard disk (storage device) 904, a communication interface 905; Bus 906 (communication line), A reader / writer 908 capable of reading and writing data stored in a recording medium 907 such as a CD-ROM (Compact Disc Read Only Memory), · Input / output interface 909 such as a monitor, speaker, keyboard, etc.

[0076] That is, the information processing device 900 having the above-mentioned components is a general computer in which these components are connected via a bus 906. The information processing device 900 may have multiple CPUs 901, or may have a CPU 901 configured with multiple cores. The information processing device 900 may also not have some of the above-mentioned components.

[0077] The present invention, explained using the above-mentioned embodiment as an example, supplies a computer program capable of realizing the following functions to the information processing device 900 shown in FIG. 9. The functions are the above-mentioned configurations in the block diagrams (FIGS. 1 and 7) or the functions of the flowcharts (FIGS. 5 and 8) referred to in the description of the embodiment. The present invention is then achieved by reading the computer program into the CPU 901 of the hardware, interpreting it, and executing it. The computer program supplied to the device may be stored in a readable / writable volatile memory (RAM 903) or a non-volatile storage device such as a ROM 902 or a hard disk 904.

[0078] In the above case, the method of supplying the computer program to the hardware can be a currently common procedure, such as installing the program in the device via a recording medium 907 such as a CD-ROM, or downloading the program from an external source via a communication line such as the Internet. In such a case, the present invention can be considered to be constituted by the code constituting the computer program or the recording medium 907 on which the code is stored.

[0079] The present invention has been described above using the above-described embodiments as exemplary examples. However, the present invention is not limited to the above-described embodiments. In other words, the present invention can be applied in various aspects that can be understood by a person skilled in the art within the scope of the present invention.

[0080] Note that part or all of the above-described embodiments can also be described as follows: However, the present invention, which has been exemplarily described using the above-described embodiments, is not limited to the following.

[0081] (Appendix 1) a candidate area acquisition means for acquiring information representing a candidate area that is a candidate for the next location for installing the three-dimensional scanner, in association with past measurement results of the measurement target space using the three-dimensional scanner; a prediction means for predicting, for each of a plurality of positions included in the candidate area, an area that cannot be measured by the three-dimensional scanner due to an obstacle when the three-dimensional scanner is installed at any of the plurality of positions; a specifying means for specifying, from among the plurality of positions, a position where the predicted size of the unmeasurable region satisfies a criterion; a presentation means for presenting the identified location to a user; A three-dimensional scanner installation position setting support device comprising:

[0082] (Appendix 2) further comprising a measurement result acquisition means for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the presentation means presents the measurement results to a user; the candidate area acquisition means acquires information representing the candidate area for the next measurement by the three-dimensional scanner, the information being input by the user who has been presented with the measurement results; 2. A three-dimensional scanner installation position setting support device according to claim 1.

[0083] (Appendix 3) further comprising a measurement result acquisition means for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the candidate area acquisition means generates information representing the candidate area for the next measurement by the three-dimensional scanner based on a setting criterion for setting the candidate area for the next measurement by the three-dimensional scanner in accordance with the measurement result and the acquired measurement result. 2. A three-dimensional scanner installation position setting support device according to claim 1.

[0084] (Appendix 4) The prediction means predicts the unmeasurable area projected onto one or more planes included in the measurement target space, the specifying means specifies, from among the plurality of positions, a position where the total area of ​​the unmeasurable regions projected onto each of the one or more planes satisfies the criterion; 4. An installation position setting support device for a three-dimensional scanner according to any one of Supplementary Note 1 to Supplementary Note 3.

[0085] (Appendix 5) the measurement target space is represented by an X-axis, a Y-axis, and a Z-axis; The one or more planes are an XY plane, a YZ plane, and a ZX plane. 5. A three-dimensional scanner installation position setting support device as described in Appendix 4.

[0086] (Appendix 6) The plurality of positions are arranged in a grid pattern on each of the XY plane, the YZ plane, and the ZX plane included in the candidate area. 6. A three-dimensional scanner installation position setting support device as described in Appendix 5.

[0087] (Appendix 7) the specifying means specifies the X coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the XY plane and the ZX plane respectively satisfies the criterion, the Y coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the XY plane and the YZ plane respectively satisfies the criterion, and the Z coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the YZ plane and the ZX plane respectively satisfies the criterion. 7. A three-dimensional scanner installation position setting support device as described in Appendix 6.

[0088] (Appendix 8) The shape of the candidate region is either a cylinder, a prism, or a sphere. 8. A three-dimensional scanner installation position setting support device according to any one of Supplementary Note 1 to Supplementary Note 7.

[0089] (Appendix 9) By the information processing device, Acquire information representing a candidate area for the next installation position of the three-dimensional scanner, which is associated with past measurement results of the measurement target space by the three-dimensional scanner; predicting areas that cannot be measured by the three-dimensional scanner due to obstacles when the three-dimensional scanner is installed at any of a plurality of positions included in the candidate area, for each of the plurality of positions; Identifying a location from among the plurality of locations where the predicted size of the unmeasurable region meets a criterion; Presenting the identified location to the user; A method for assisting in setting the installation position of a three-dimensional scanner.

[0090] (Appendix 10) A method for acquiring the measurement results of the measurement target space by the three-dimensional scanner, comprising: Present the measurement results to a user; acquiring information representing the candidate region for the next measurement by the three-dimensional scanner, the information being input by the user who has been presented with the measurement results; A method for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 9.

[0091] (Appendix 11) A method for acquiring the measurement results of the measurement target space by the three-dimensional scanner, comprising: generating information representing the candidate region for the next measurement by the three-dimensional scanner based on a setting criterion for setting the candidate region for the next measurement by the three-dimensional scanner in accordance with the measurement result and the acquired measurement result; A method for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 9.

[0092] (Appendix 12) predicting the unmeasurable regions projected onto one or more planes included in the object space; Identifying a position from among the plurality of positions where the sum of the areas of the unmeasurable regions projected onto the one or more planes satisfies the criterion; A method for supporting setting of an installation position of a three-dimensional scanner according to any one of Supplementary Note 9 to Supplementary Note 11.

[0093] (Appendix 13) the measurement target space is represented by an X-axis, a Y-axis, and a Z-axis; The one or more planes are an XY plane, a YZ plane, and a ZX plane. A method for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 12.

[0094] (Appendix 14) The plurality of positions are arranged in a grid pattern on each of the XY plane, the YZ plane, and the ZX plane included in the candidate area. A method for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 13.

[0095] (Appendix 15) Identifying the X coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the XY plane and the ZX plane satisfies the criterion, the Y coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the XY plane and the YZ plane satisfies the criterion, and the Z coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the YZ plane and the ZX plane satisfies the criterion. A method for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 14.

[0096] (Appendix 16) The shape of the candidate region is either a cylinder, a prism, or a sphere. A method for supporting setting of an installation position of a three-dimensional scanner according to any one of Supplementary Note 9 to Supplementary Note 15.

[0097] (Appendix 17) a candidate area acquisition process for acquiring information representing a candidate area that is a candidate for the next location for installing the three-dimensional scanner, in association with past measurement results of the measurement target space using the three-dimensional scanner; a prediction process for predicting, for each of a plurality of positions included in the candidate area, an area that cannot be measured by the three-dimensional scanner due to an obstacle when the three-dimensional scanner is installed at any of the plurality of positions; a process of identifying a position where the predicted size of the unmeasurable region satisfies a criterion from among the plurality of positions; a presentation process for presenting the identified location to a user; A program to assist in setting the installation position of a three-dimensional scanner, which is executed by a computer.

[0098] (Appendix 18) a program for causing a computer to further execute a measurement result acquisition process for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the presentation process presents the measurement results to a user; The candidate area acquisition process acquires information representing the candidate area for the next measurement by the three-dimensional scanner, the information being input by a user who has been presented with the measurement results. A program for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 17.

[0099] (Appendix 19) a program for causing a computer to further execute a measurement result acquisition means for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the candidate area acquisition process generates information representing the candidate area for the next measurement by the three-dimensional scanner based on a setting criterion for setting the candidate area for the next measurement by the three-dimensional scanner in accordance with the measurement result and the acquired measurement result; A program for assisting in setting the installation position of a three-dimensional scanner as described in Appendix 17.

[0100] (Appendix 20) The prediction process predicts the unmeasurable area projected onto one or more planes included in the measurement target space; the identifying process identifies, from the plurality of positions, a position where the total area of ​​the unmeasurable regions projected onto each of the one or more planes satisfies the criterion; An installation position setting support program for a three-dimensional scanner according to any one of Supplementary Note 17 to Supplementary Note 19.

[0101] (Appendix 21) the measurement target space is represented by an X-axis, a Y-axis, and a Z-axis; The one or more planes are an XY plane, a YZ plane, and a ZX plane. A program for supporting the installation position setting of a three-dimensional scanner according to appendix 20.

[0102] (Appendix 22) The plurality of positions are arranged in a grid pattern on each of the XY plane, the YZ plane, and the ZX plane included in the candidate area. A program for supporting the installation position setting of a three-dimensional scanner as described in Appendix 21.

[0103] (Appendix 23) The identification process identifies the X coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the XY plane and the ZX plane satisfies the criterion, the Y coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the XY plane and the YZ plane satisfies the criterion, and the Z coordinate value of the position where the total area of ​​the unmeasurable regions projected onto the YZ plane and the ZX plane satisfies the criterion. A program for supporting the installation position setting of a three-dimensional scanner as described in Appendix 22.

[0104] (Appendix 24) The shape of the candidate region is either a cylinder, a prism, or a sphere. An installation position setting support program for a three-dimensional scanner according to any one of Supplementary Note 17 to Supplementary Note 23. [Explanation of symbols]

[0105] 10 Installation position setting support device 11 Measurement result acquisition section 12 Candidate area acquisition unit 13 Prediction Department 14 Specific part 15 Presentation section 16 Memory section 161 Measurement results 162 Candidate area 163 Prediction Procedure 164 Unmeasurable area 165 Specific criteria 166 Installation position 20 3D scanner 21 Terminal equipment 210 Display screen 30 Installation position setting support device 31 Candidate area acquisition unit 310 Candidate area 32 Prediction Department 320 Unmeasurable Area 33 Specific part 330 Standards 34 Presentation part 900 Information Processing Equipment 901 CPU 902 ROM 903 RAM 904 Hard disk (storage device) 905 Communication Interface 906 Bus 907 Recording Media 908 Reader / Writer 909 Input / Output Interface

Claims

1. a candidate area acquisition means for acquiring information representing a candidate area that is a candidate for the next location for installing the three-dimensional scanner, in association with past measurement results of the measurement target space using the three-dimensional scanner; a prediction means for predicting, for each of a plurality of positions included in the candidate area, an area that cannot be measured by the three-dimensional scanner due to an obstacle when the three-dimensional scanner is installed at any of the plurality of positions; a specifying means for specifying, from among the plurality of positions, a position where the predicted size of the unmeasurable region satisfies a criterion; a presentation means for presenting the identified location to a user; A three-dimensional scanner installation position setting support device comprising:

2. further comprising a measurement result acquisition means for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the presentation means presents the measurement results to a user; the candidate area acquisition means acquires information representing the candidate area for the next measurement by the three-dimensional scanner, the information being input by the user who has been presented with the measurement results; The installation position setting support device for a three-dimensional scanner according to claim 1.

3. further comprising a measurement result acquisition means for acquiring the measurement results of the measurement target space by the three-dimensional scanner, the candidate area acquisition means generates information representing the candidate area for the next measurement by the three-dimensional scanner based on a setting criterion for setting the candidate area for the next measurement by the three-dimensional scanner in accordance with the measurement result and the acquired measurement result. The installation position setting support device for a three-dimensional scanner according to claim 1.

4. The prediction means predicts the unmeasurable area projected onto one or more planes included in the measurement target space, the specifying means specifies, from among the plurality of positions, a position where the total area of ​​the unmeasurable regions projected onto each of the one or more planes satisfies the criterion; 3. The installation position setting support device for a three-dimensional scanner according to claim 1.

5. the measurement target space is represented by an X-axis, a Y-axis, and a Z-axis; The one or more planes are an XY plane, a YZ plane, and a ZX plane. The installation position setting support device for a three-dimensional scanner according to claim 4.

6. The plurality of positions are arranged in a grid pattern on each of the XY plane, the YZ plane, and the ZX plane included in the candidate area. The installation position setting support device for a three-dimensional scanner according to claim 5.

7. the specifying means specifies the X coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the XY plane and the ZX plane satisfies the criterion, the Y coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the XY plane and the YZ plane satisfies the criterion, and the Z coordinate value of the position where the sum of the areas of the unmeasurable regions projected onto the YZ plane and the ZX plane satisfies the criterion. The installation position setting support device for a three-dimensional scanner according to claim 6.

8. The shape of the candidate region is either a cylinder, a prism, or a sphere.

3. The installation position setting support device for a three-dimensional scanner according to claim 1.

9. By the information processing device, Acquire information representing a candidate area that is a candidate for the next location for installing the three-dimensional scanner, in association with past measurement results of the measurement target space using the three-dimensional scanner; predicting areas that cannot be measured by the three-dimensional scanner due to obstacles when the three-dimensional scanner is installed at any of a plurality of positions included in the candidate area, for each of the plurality of positions; Identifying a location from among the plurality of locations where the predicted size of the unmeasurable region meets a criterion; Presenting the identified location to the user; A method for assisting in setting the installation position of a three-dimensional scanner.

10. a candidate area acquisition process for acquiring information representing a candidate area that is a candidate for the next location for installing the three-dimensional scanner, in association with past measurement results of the measurement target space using the three-dimensional scanner; a prediction process for predicting, for each of a plurality of positions included in the candidate area, an area that cannot be measured by the three-dimensional scanner due to an obstacle when the three-dimensional scanner is installed at any of the plurality of positions; a process of identifying a position where the predicted size of the unmeasurable region satisfies a criterion from among the plurality of positions; a presentation process for presenting the identified location to a user; A program to assist in setting the installation position of a three-dimensional scanner, which is executed by a computer.

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