Scan data creation method and scan data creation system

Abstract

To enable three-dimensional scan data to be synthesized highly accurately in three-dimensional scan data creation.SOLUTION: A scan data creation method for acquiring three-dimensional scan data for creating a three-dimensional digital model of an object (60), Includes: calculating a plurality of measuring positions (P1-P12) at which the object can be measured by a measuring apparatus (30); calculating a measuring route allowing the measuring apparatus to reach the plurality of measuring positions at a minimum movement cost; calculating a plurality of waiting positions (H1-H3, H5, H7, H8) at which a reference sphere (50) can wait, on the basis of the measuring route; calculating a waiting route allowing the reference sphere to reach the plurality of waiting positions, on the measuring route; and calculating movement order for the measuring apparatus and the reference sphere.SELECTED DRAWING: Figure 2

Description

Technical Field

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[0001] The present disclosure relates to a scan data creation method and a scan data creation system.

Background Art

[0002] In recent years, in the field of architecture, the introduction of a modeling method using three-dimensional scan data represented by BIM (Building Information Modeling) has been progressing. In BIM, a three-dimensional digital model of a building or the like is created on a computer, and management information and equipment information are added to obtain comprehensive building-related data, thereby enhancing convenience for various applications. For example, it can be applied to the progress management of a building under construction.

[0003] As a measuring device for acquiring three-dimensional scan data, a three-dimensional scanner that irradiates a measurement target with laser light radially and acquires three-dimensional coordinates of the surface shape of the measurement target is known. If there is measurement leakage, incomplete three-dimensional digital data will result.

[0004] Patent Document 1 describes a placement position evaluation method for arranging a plurality of monitoring cameras arranged in a monitoring target area where obstacles exist so as to reduce the blind spot area of the obstacles as much as possible.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] When the object to be modeled is large or wide, the object is divided into multiple areas, 3D scan data is acquired for each area, and then the data is combined. When combining the 3D scan data acquired for each area, common objects contained in the 3D scan data of each area are used as indicators to link them together.

[0007] When acquiring 3D scan data for each area and performing data synthesis in this manner, the following challenges are generally known: The appearance of the shape of the object (including common objects) changes depending on the scanning angle. As a result, errors accumulate each time 3D scan data is synthesized using a common object as a reference. In addition, if the common object used as a reference cannot be recognized during data synthesis, manual synthesis work becomes necessary, increasing the burden on the operator. For example, if the objects consist of a series of similar shapes, it may be impossible to recognize the common object used as a reference.

[0008] These challenges can also arise when using multiple 3D scanners to efficiently generate 3D digital models.

[0009] This disclosure was made to solve the above problems and aims to provide a scan data creation method and a scan data creation system that can synthesize 3D scan data with high accuracy. [Means for solving the problem]

[0010] One aspect of this disclosure is for creating a three-dimensional digital model of an object. It is synthesized using a reference sphere as an indicator. A method for creating scan data to acquire 3D scan data, comprising: a measurement position calculation step of calculating multiple measurement positions in which an object can be measured by a measuring instrument; a measurement route calculation step of calculating a measurement route that allows the measuring instrument to reach the multiple measurement positions with the minimum travel cost; and a plurality of standby positions in which a reference sphere can wait. The measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same standby position.A standby position calculation step calculated based on the measurement route, and a standby route calculation step calculated based on the measurement route for a standby route to reach the plurality of standby positions, The measurement range of the measuring instrument at adjacent measurement positions on the aforementioned measurement route includes the reference sphere waiting at the same standby position, The features include performing a movement sequence calculation step that calculates the movement sequence of the measuring instrument and the reference sphere.

[0011] One aspect of this disclosure is for creating a three-dimensional digital model of an object. It is synthesized using a reference sphere as an indicator. A scan data creation system for acquiring 3D scan data, comprising: a measuring instrument for measuring an object; a reference sphere; a command creation means; a first moving body; a second moving body, wherein the command creation means calculates a plurality of measurement positions in which the object can be measured, a first calculation means for calculating a measurement route that allows the measuring instrument to reach the plurality of measurement positions with the minimum movement cost, and a plurality of standby positions in which the reference sphere can wait The measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same standby position. A second calculation means calculates a waiting route based on the measurement route, which allows the reference sphere to reach the plurality of waiting positions, based on the measurement route. The measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same standby position. The system includes a third calculation means for calculating the movement order of the measuring instrument and the reference sphere, wherein the first mobile body is capable of autonomous movement with the measuring instrument mounted on it, and, upon command from the command creation means, moves along the measurement route in the movement order and performs measurement by the measuring instrument at the measurement position, and the second mobile body is capable of autonomous movement with the reference sphere mounted on it, and, upon command from the command creation means, moves along the standby route in the movement order and waits at the standby position. [Effects of the Invention]

[0012] According to the scan data creation method and scan data creation system of this disclosure, 3D scan data can be synthesized with high accuracy. [Brief explanation of the drawing]

[0013] [Figure 1] This diagram shows the hardware configuration and functional blocks of the scan data creation system. [Figure 2]It is a flowchart showing the flow of a scan data creation method. [Figure 3] It is a diagram for explaining the determination of a plurality of measurement positions. [Figure 4] It is a diagram showing a connection relationship in which a plurality of measurement positions can be moved at the shortest distance. [Figure 5] It is a diagram showing a state in which a plurality of measurement positions are grouped. [Figure 6] It is a diagram showing a measurement route with the minimum movement cost for each group. [Figure 7] It is a diagram showing the movement order of the measurement route for each group. [Figure 8] It is a diagram showing a state in which the measurement route is corrected by changing the grouping. [Figure 9] It is a diagram (part 1) for explaining the determination of a plurality of standby positions. [Figure 10] It is a diagram (part 2) for explaining the determination of a plurality of standby positions. [Figure 11] It is a diagram showing a standby route for the determined measurement route of each group. [Figure 12] It is a diagram showing the movement order of paired moving bodies. [Figure 13] It is a diagram for explaining the determination of the movement order in a measurement route.

Embodiments for Carrying Out the Invention

[0014] Hereinafter, a scan data creation method and a scan data creation system according to embodiments will be described in detail with reference to the accompanying drawings. The following embodiments are applied when acquiring three-dimensional scan data of the internal structure of a building at a construction site.

[0015] Figure 1 is a block diagram showing the hardware configuration and functional blocks of the scan data creation system 1. The scan data creation system 1 includes an instruction creation unit 10, a mobile body 20, and a mobile body 40. The instruction creation unit 10 is an example of an instruction creation means that includes a first calculation means for calculating the measurement position and measurement route in which the mobile body 20 performs measurements, a second calculation means for calculating the standby position and standby route in which the mobile body 40 waits, and a third calculation means for calculating the movement order of the mobile body 20 and the mobile body 40. The mobile body 20 is an example of the first mobile body. The mobile body 40 is an example of the second mobile body.

[0016] The command creation unit 10 is composed of a local server or cloud server that is networked with the mobile body 20, the mobile body 40, and other external devices, and includes a data receiving unit 11, a data processing unit 12, and an autonomous mobile operation command unit 13. The mobile body 20 includes a computer 21 and sensors and devices that are comprehensively controlled by the computer 21. The mobile body 40 includes a computer 41, sensors and devices that are comprehensively controlled by the computer 41, and a reference sphere (also referred to as a spherical marker or spherical target) 50. In the scan data creation system 1, the mobile body 20 and the mobile body 40 form a pair, and one or more pairs can be used, with each pair of mobile body 20 and mobile body 40 having the configuration shown in Figure 1.

[0017] The instruction creation unit 10 includes, as a hardware configuration, a CPU (Central Processing Unit) as a means of calculation, a ROM (Read Only Memory) as a semiconductor memory, a RAM (Random Access Memory) as a semiconductor memory that can be randomly accessed, an input device, a display device, a communication interface, and the like. The instruction creation unit 10 can communicate with external devices, including the mobile units 20 and 40, via the communication interface. The communication method can be either wired or wireless, and the communication standard is not limited.

[0018] The instruction generation unit 10's ROM stores various programs. The CPU of the instruction generation unit 10 reads a program from the ROM and executes it in response to an operation signal from an input device. The instruction generation unit 10's RAM is used as a working area for programs and data when the CPU executes a program. The instruction generation unit 10's display device is a monitor with a display screen that shows information such as the content and results of the processing. The functions of the data processing unit 12 in the instruction generation unit 10 are realized by at least the CPU, ROM, and RAM. Furthermore, each of the processes performed by the instruction generation unit 10, as described later, is executed based on the scan data creation program stored in the ROM.

[0019] Various data is input to the data receiving unit 11 of the command creation unit 10 through the operation of an input device or communication via a communication interface. The data input to the data receiving unit 11 includes drawing data of the building that is the object to be measured (target) from which 3D scan data is to be acquired, and the number of pairs of mobile bodies 20 and 40 that are scheduled to be used (number of mobile body pairs). This data input to the data receiving unit 11 is sent to the data processing unit 12.

[0020] Based on the input data, the data processing unit 12 calculates and determines the following: multiple measurement locations where the mobile body 20 will perform measurements; the assignment (group) of measurement locations to be handled by each mobile body 20 when multiple pairs of mobile bodies 20 and 40 are used; the measurement route, which is the path the mobile body 20 will take to move between the measurement locations; multiple standby locations where the mobile body 40 will wait while the mobile body 20 is performing measurements; the standby route, which is the path the mobile body 40 will take to move between the standby locations; and the movement order of the mobile body 20 and the mobile body 40. These calculation processes will be described later. The information determined by the data processing unit 12 is sent as an operation command from the autonomous movement operation command unit 13 to the mobile body 20 and the mobile body 40.

[0021] The computer 21 of the mobile unit 20 is composed of a CPU, ROM, RAM, etc. The computer 21 receives operation commands issued by the instruction creation unit 10 with the data receiving unit 22, and the autonomous movement command control unit 23 and the 3D scanner operation unit 24 execute the contents of the operation commands.

[0022] The mobile unit 20 is equipped with an object sensor 25, an inertial measurement device 26, and a driving unit 27. The object sensor 25 is a detector capable of measuring the distance and positional relationship with external objects. For example, a ToF (Time of Flight) sensor using LiDAR (Light Detection And Ranging) technology or a stereo camera capable of capturing stereo images can be applied as the object sensor 25. The inertial measurement device 26, also called an IMU (Interial Measurement Unit), has sensors that detect various motion information such as acceleration and rotational angular velocity. Alternatively, a 360-degree camera can be used instead of the object sensor 25. By using a 360-degree camera, surrounding objects can be detected in a single shot. The driving unit 27 is a drive system mechanism consisting of wheels and tracks that make contact with the ground, motors and power transmission systems for operating the wheels and tracks. By obtaining information about surrounding objects and obstacles using the object sensor 25, recognizing the attitude and movement state of the vehicle using the inertial measurement device 26, and applying driving force using the driving drive unit 27, the mobile body 20 can move autonomously to the measurement position without operator intervention.

[0023] The mobile unit 20 is further equipped with a measuring instrument, a 3D scanner 30. The 3D scanner 30 is a non-contact optical scanner, and the measuring unit 31 irradiates an object with a light beam such as laser light and analyzes the time difference of reflection and the irradiation angle to acquire the object's 3D shape. The 3D scanner 30 in this embodiment is a type that irradiates laser light radially from the measuring unit 31, enabling omnidirectional measurement. The 3D scan data acquired by the measuring unit 31 is stored in the data storage unit 32.

[0024] The 3D scan data stored in the data storage unit 32 of the mobile unit 20 is sent to the server or other data processing device that constitutes the command creation unit 10. By combining (concatenating) the 3D scan data acquired by each mobile unit 20 at multiple measurement positions, it is possible to create 3D scan data that represents the entire building that is the object of measurement. By having each mobile unit 20 acquire 3D scan data that includes a reference sphere 50, which is a common object at adjacent measurement positions, the data can be combined with high accuracy using the reference sphere 50 as an indicator.

[0025] The computer 41 of the mobile unit 40 is composed of a CPU, ROM, RAM, etc. The computer 41 receives operation commands issued by the instruction creation unit 10 with the data receiving unit 42, and the autonomous movement command control unit 43 executes the contents of the operation commands.

[0026] The mobile unit 40 is equipped with an object sensor 44, an inertial measuring device 45, and a driving unit 46. These are the same as the object sensor 25, inertial measuring device 26, and driving unit 27 equipped in the mobile unit 20. By obtaining information about surrounding objects and obstacles with the object sensor 44, recognizing its own attitude and movement state with the inertial measuring device 45, and applying driving force with the driving unit 46, the mobile unit 40 can move autonomously to a standby position without operator intervention.

[0027] The mobile device 40 is further equipped with a reference sphere 50. The reference sphere 50 serves as an indicator when synthesizing 3D scan data acquired at adjacent measurement positions. Since the reference sphere 50 is a sphere, its appearance does not change even if the scanning angle is different. Therefore, it is suitable as an indicator when synthesizing 3D scan data and is effective in improving the accuracy of the synthesis.

[0028] As described above, the 3D scan data created using the scan data creation system 1 is used for creating 3D digital models of buildings, etc.

[0029] Next, referring to the flowchart in Figure 2 and the explanatory diagrams from Figure 3 onward, we will explain in detail how the command creation unit 10 determines the measurement position and measurement route, the standby position and standby route, and the movement order of the mobile body 20 and the mobile body 40.

[0030] The explanatory diagrams from Figure 3 onward show the case where the internal structure of a building 60 is scanned as the target object. The building 60 has a box-shaped outer wall 61 and multiple partition walls 62 located within the space enclosed by the outer wall 61. For the sake of clarity, Figures 3 to 12 show the building 60 in a plan view, but the acquired 3D scan data will also include information in the height direction (the direction perpendicular to the plane of the paper in Figures 3 to 12).

[0031] [Step S1: Data Entry Step] In step S1, data from the drawing (design drawing) of the building 60 to be measured is input to the data receiving unit 11 of the command creation unit 10, and the input drawing data, along with coordinate information, is expanded into the work area of ​​the data processing unit 12. In addition, the number of pairs of mobile bodies 20 and 40 used for measurement (number of mobile body pairs) is input to the data receiving unit 11 and is held in the work area of ​​the data processing unit 12 as mobile body pair number data. This embodiment illustrates the case where two pairs of mobile bodies 20 and 40 are used, and mobile body pair number data indicating two pairs is input.

[0032] [Step S2: Measurement position calculation step] Step S2 is processed by the measurement position calculation unit 12a (Figure 1), which is a functional block of the data processing unit 12. In step S2, the data processing unit 12 of the instruction creation unit 10 calculates the measurement positions where the mobile body 20 will acquire 3D scan data. When calculating the measurement positions, the following conditions are imposed: the entire object to be measured should be scanned to minimize blind spots; the number of measurement positions should be kept to a minimum; and the scanning ranges of adjacent measurement positions should include overlapping areas. Multiple measurement positions that satisfy these conditions are determined. The overlapping areas may include the reference sphere 50, which will serve as an indicator for later data synthesis. Each measurement position determined in step S2 is stored as coordinate data in the RAM of the instruction creation unit 10.

[0033] For calculating the measurement position in step S2, the arrangement position evaluation method described in Japanese Patent Application Publication No. 2011-86995 (Patent Document 1) can be used. Briefly, for the measurement target area, a non-diffraction Voronoi diagram is created in which the blind spots of obstacles viewed from each generator point are considered non-diffraction, and the measurement position to be placed in the measurement target area is evaluated using the non-diffraction Voronoi diagram.

[0034] Figure 3 shows the results of the processing in step S2 for building 60. As a result of the calculation, 12 measurement positions from measurement position P1 to measurement position P12 have been determined. Measurements are performed at each of these measurement positions P1 to P12 using the 3D scanner 30. If there are partition walls 62, etc., the laser beam from the measurement unit 31 is directed from both sides of the partition wall 62 to scan the entire internal structure of building 60 and obtain 3D scan data.

[0035] [Step S3: Movable Information Calculation Step] Step S3 is processed by the movable information calculation unit 12b (Figure 1), which is a functional block of the data processing unit 12. In step S3, movable information between multiple measurement positions is calculated. In this calculation process, provisional connection relationships (links) are set between the multiple measurement positions obtained in step S2 that can be moved along the shortest distance (straight-line movement) without being obstructed by obstacles such as partition walls 62. For example, a straight line is set to connect each of the multiple measurement positions, and it is determined whether or not there are obstacles that obstruct each straight line in the drawing data. Then, a straight line without obstacles is established as a link. In this way, a graph is created in which the measurement positions are vertices or nodes and the links are edges. The link information created in step S3 is stored in the RAM of the instruction creation unit 10.

[0036] Figure 4 shows the results of the processing in step S3 for building 60. All measurement positions P1 to P12 are connected to other measurement positions by at least one link L. In Figure 4, only the link L connecting measurement position P2 and measurement position P5 is labeled, but all solid lines connecting each measurement position are links L. On the other hand, dashed lines indicate that the positions are blocked by partitions 62 or other obstacles and are not in a relationship where movement is possible via the shortest distance, meaning that a link is not formed.

[0037] Figure 4 shows examples of locations where a link cannot be formed due to the partition wall 62, specifically between measurement position P1 and measurement position P2, between measurement position P3 and measurement position P6, between measurement position P9 and measurement position P10, and between measurement position P11 and measurement position P12. These are not the only locations where a link cannot be formed; there are several other locations. For example, a link cannot be formed between measurement position P1 and measurement position P3 because a bend in the outer wall 61 lies on the straight line connecting them.

[0038] [Step S4: Measurement Location Classification Step] Step S4 is processed by the measurement position assignment calculation unit 12c (Figure 1), which is a functional block of the data processing unit 12. In step S4, a calculation is performed to group (classify) multiple measurement positions. Based on the number of mobile object pairs data input to the data receiving unit 11, groups are created for each mobile object pair, and the measurement positions to be included in each group are determined. Specifically, starting from any measurement position on the graph based on the number of mobile object pairs, adjacent measurement positions connected by links are added to the same group one by one. It is efficient to start from different ends for the first measurement position. This process is performed for each group, and the process stops when all measurement positions are included in a group. Since all measurement positions belong to one of the groups, the grouping is completed.

[0039] It is preferable that the number of measurement positions in each group be nearly equal, but in the processing in step S4, the number of measurement positions in each group may not be equal. Also, if the total number of measurement positions is not divisible by the number of groups (number of moving object pairs), the number of measurement positions in each group will inevitably be unequal. In any case, the correction process described later will optimize the number of measurement positions in each group, taking into account the movement cost.

[0040] Figure 5 shows the results of the processing in step S4 for building 60. Based on the two input data for the number of moving object pairs, the measurement positions P1 to P12 are divided into two groups: Group 1 and Group 2. In the initial grouping shown in Figure 5, the five measurement positions from P1 to P5 are included in Group 1, and the seven measurement positions from P6 to P12 are included in Group 2.

[0041] [Step S5: Measurement Route Calculation Step] Step S5 is processed by the measurement route calculation unit 12d (Figure 1), which is a functional block of the data processing unit 12. In step S5, the measurement route for each group, that is, the movement path of each pair of mobile bodies 20, is determined. The determination of the measurement route is performed based on which of the previously set links is the most efficient (has the lowest movement cost), and includes the following two substeps. Movement cost is either the distance traveled or the time spent traveling. In this embodiment, the movement speed of the mobile bodies 20 is assumed to be constant.

[0042] [Step S5, first substep] In the first substep of step S5, a minimum spanning tree in graph theory is found based on a graph where the measurement locations of each group are vertices or nodes and links are edges. A spanning tree is a tree obtained by eliminating edges while maintaining the condition that the graph is connected, and a minimum spanning tree is a spanning tree whose sum of the costs of each edge is minimized. For example, Kruskal's algorithm can be used as an algorithm to find the minimum spanning tree.

[0043] Figure 6 shows the results of processing the first substep in step S5 for building 60. In Figure 6, link L1, represented by a solid line, is the part that constitutes the minimum spanning tree, and this part is the measurement route. In Figure 6, link L2, represented by a dashed line, is the part that does not correspond to the minimum spanning tree. In Figure 6, only one symbol is attached to each link L1 and link L2, but all solid lines connecting each measurement position are links L1, and all dashed lines are links L2.

[0044] In the first group, the sum of the costs of each edge in the spanning tree is minimized when measurement point P4 is used as the hub (center) and measurement points P1, P2, P3, and P5 are connected radially.

[0045] In the second group, the sum of the costs of each edge in the spanning tree is minimized when measurement point P7 is used as the hub (center) and connected to measurement points P6, P8, and P10, and from measurement point P6 to measurement points P9 and P11, and from measurement point P10 to measurement point P12.

[0046] [Second substep of Step S5] In the second substep of step S5, the order in which to move between edges of the previously defined minimum spanning tree is determined, and the order with the lowest movement cost is selected. The determination of the movement order is based on a depth-first search algorithm, starting from the measurement position located at any of the terminals (vertices) in the group.

[0047] Figure 13 shows example routes A to F for the order in which measurement locations move within the second group. These example routes A to F compare the travel costs when starting from measurement locations P8, P11, and P12, which are at the end of the second group (connected by only one other measurement location via a link). In each case, there is one branching point along the way, so there are a total of six example routes, including the cases where each branch is reached.

[0048] The basic idea is that the travel cost is minimized when all edges included in a route can be traversed in a single continuous line (without backtracking). Assuming that the length (distance) of each edge is the same, the travel cost increases as the number of edges requiring backtracking, or the number of backtracking trips for a particular edge, increases. For example, when traveling from a branch to the terminal node (measurement location) and then returning along the same route back to the original branch, backtracking occurs on the edges included in that round trip. In the route examples A to F in Figure 13, the change in the numbers following the letters A to F indicates a change in direction of travel due to a choice at a branch or a backtracking trip.

[0049] In the example route A in Figure 13, the starting point is measurement position P11, the route proceeds to measurement position P7 (A1), then branches off towards measurement position P8 (A2), and returns from measurement position P8 to measurement position P7 (A3). This A2 and A3 movement is a round trip. Next, the route proceeds towards measurement position P10, which is an unexplored node, and ends at measurement position P12, the terminal point (A4). In this case, the number of edges to return is "1".

[0050] In Route Example B in Figure 13, the route is the same as in Route Example A up to the point where it starts at measurement position P11 and proceeds to measurement position P7 (B1). At the branch, it proceeds towards measurement position P10 and reaches the terminal measurement position P12 (B2), and then returns to measurement position P7 (B3). This B2 and B3 is a round trip movement. Next, it proceeds towards measurement position P8, which is an unexplored node, and reaches the endpoint (B4). In this case, the number of edges to return is "2".

[0051] In the example route C in Figure 13, the starting point is measurement position P8, and the route proceeds to measurement position P7 (C1). At the branch, the route proceeds towards measurement position P6 and reaches the terminal measurement position P11 (C2), then returns to measurement position P7 (C3). C2 and C3 represent a round trip movement. Next, the route proceeds towards measurement position P10, which is an unexplored node, and ends at the terminal measurement position P12 (C4). In this case, the number of edges to return is "3".

[0052] In example route D in Figure 13, the route is the same as example route C up to the point where it starts at measurement position P8 and proceeds to measurement position P7 (D1). At the branch, it proceeds towards measurement position P10 and reaches the terminal measurement position P12 (D2), then returns to measurement position P7 (D3). This D2 and D3 is a round trip movement. Next, it proceeds towards measurement position P6, which is an unexplored node, and reaches the terminal measurement position P11, which is the endpoint (D4). In this case, the number of edges to return is "2".

[0053] In the example route E in Figure 13, the starting point is measurement position P12, and the route proceeds to measurement position P7 (E1). At the branch, the route proceeds towards measurement position P6 and reaches the terminal measurement position P11 (E2), then returns to measurement position P7 (E3). This E2 and E3 is a round trip movement. Next, the route proceeds towards measurement position P8, which is an unexplored node, and ends there (E4). In this case, the number of edges to return is "3".

[0054] In example route F in Figure 13, the route is the same as example route E up to the point where it starts at measurement position P12 and proceeds to measurement position P7 (F1). At the branch, it proceeds towards measurement position P8 (F2), and then returns from measurement position P8 to measurement position P7 (F3). F2 and F3 are round trip movements. Next, it proceeds towards measurement position P6, which is an unexplored node, and ends at the terminal measurement position P11 (F4). In this case, the number of edges to return is "1".

[0055] As can be seen from the route examples A to F above, in the measurement route for each group determined in the second substep of step S5, the number of returning edges may differ depending on the order in which the multiple measurement locations are moved. Route examples A and F, which have the fewest returning edges, have the shortest total travel distance and can be completed in the shortest time, thus representing the order of movement with the minimum travel cost.

[0056] Route example G shown in Figure 13 is a comparative example of setting a route using the breadth-first search method. Starting from measurement position P7, proceed to measurement positions P6, P9, and P11 (G1). Turn back at measurement position P11 and return to measurement position P7 (G2). Next, proceed towards measurement position P10 among the unexplored nodes and reach the terminal measurement position P12 (G3). Turn back at measurement position P12 and return to measurement position P7 (G4). Furthermore, proceed towards measurement position P8, which is an unexplored node, and reach the endpoint (G5). In this case, the number of edges to return is "5".

[0057] Route example G shows the case where the number of returning edges is the largest, but in route setting using breadth-first search starting from measurement position P7, the number of returning edges will be at least 3. Therefore, it can be seen that depth-first search is more suitable than breadth-first search for calculating the minimum movement cost.

[0058] Note that while Figure 13 focuses on the number of edges to return to, if the cost (distance) of each edge is not uniform, it is necessary to calculate the movement cost including the differences in the costs of the individual edges that cause the return. For example, even if the number of edges to return is the same, if the cost (length) of the edges to return is different, the sequence with the smaller cost of the edges to return is selected as the movement sequence with the minimum movement cost.

[0059] Furthermore, even if the number of edges to return to is "1", if the cost of that single edge is large and the return travel distance (amount of movement) is greater than if two other edges were returned, then returning two other edges results in a smaller overall travel cost for the group. Therefore, it is good practice to store the cost of each edge of the minimum spanning tree determined in the first substep of step S5, and in the second substep of step S5, determine the route that minimizes the sum of the costs of the edges that result in a return as the route with the minimum travel cost.

[0060] Figure 13 illustrates the second group, but the second substep in step S5 is performed similarly for the first group to determine the measurement route with the minimum travel cost.

[0061] As described above, a measurement route is determined for each group that allows the mobile body 20 to reach multiple measurement locations with the minimum movement cost. Figure 7 shows the results of the processing of the second substep in step S5 for the building 60. In Figure 7, the arrows next to the edges (links) connecting each measurement location indicate whether or not a return trip occurs in the determined measurement route. Where there are two arrows, one in forward and one in opposite directions, on both sides of an edge, it means that a return trip occurs from the measurement location at the end to the branch. Where there is a one-way arrow on only one side of an edge, it means that the route is a single continuous line route and no return trip occurs.

[0062] In the example shown in Figure 7, the first group has its measurement route movement sequence set starting from measurement position P1. In the first group, the edges to each measurement position P1-P3 and P5 are connected in a spoke-like fashion with measurement position P4 as the center. Therefore, the measurement route is such that a return movement occurs on all edges except the edge from the starting point, measurement position P1, to measurement position P4.

[0063] In the example shown in Figure 7, the second group adopts Route Example A, explained with reference to Figure 13, as the order of movement for the measurement route. This measurement route involves a return movement between measurement position P7 and measurement position P8, but no return movement is performed on any of the other edges.

[0064] [Step S6, Step S7: Measurement route evaluation step] Step S6 is processed by the calculation result evaluation unit 12e (Figure 1), which is a functional block of the data processing unit 12. In step S6, the measurement route calculated in step S5 is evaluated. In this evaluation, the travel costs of the measurement routes for each group are compared. The lower the travel cost for each group, the shorter the time required for scanning in that group. Also, when scanning is performed in parallel with multiple groups, the smaller the variation in travel costs between the multiple groups, the shorter the time required to complete the overall scanning work. From this perspective, the measurement route in which the travel costs of each group are most evenly distributed is the best in terms of work efficiency and work time, and whether or not this best measurement route is selected is the evaluation criterion. If it is not the best measurement route, it is determined that "there is room for improvement," and the result is YES in step S7, and the process proceeds to step S8. If it is the best measurement route, it is determined that "no improvement is needed," and the result is NO in step S7, and the process proceeds to step S9.

[0065] [Step S8: Measurement Route Correction Step] Step S8 is processed by the calculation result correction unit 12f (Figure 1), which is a functional block of the data processing unit 12. In step S8, the grouping of measurement locations is changed. Specifically, from the grouping done in step S4, the affiliation of one measurement location is temporarily changed to another group. Returning from step S8 to step S4, step S5 calculates the measurement route that minimizes travel cost for each updated group. Then, the evaluation in step S6 is performed again.

[0066] In other words, after changing the group to which one measurement location belongs (steps S8 and S4), the minimum travel cost is recalculated for each group (step S5), and it is evaluated whether an improvement in travel cost can be expected compared to the previous calculation result (step S6). As for the evaluation method, for example, one can choose to aim to minimize the travel cost in the group with the highest travel cost among all groups (making the maximum travel cost as small as possible), or to aim to minimize the difference in travel costs between the group with the highest travel cost and the group with the lowest travel cost (making the difference in travel costs as small as possible).

[0067] The loop from step S8 back to step S4 and continuing until the judgment result of step S7 is obtained is a correction process for the calculation results related to the measurement route. Therefore, strictly speaking, the measurement route correction step includes not only step S8 but also steps S4 through S7 from the second time onward. The change history of group division and the calculation results of movement costs performed in the correction process are stored in the RAM of the instruction creation unit 10. Then, the correction process of the calculation results is repeated until the judgment in step S7 becomes NO (no further improvement is possible).

[0068] An example of the correction process for the calculation results is shown in Figure 8. In Figure 8, the measurement position P8 is changed from the second group to the first group (step S8), and the contents of the first and second groups are updated (step S4). For the updated first and second groups, the measurement route is calculated (step S5), and the calculation results are evaluated (step S6). At this time, the route that most evenly distributes the travel costs of the first and second groups is extracted as the measurement route, and the travel costs are determined.

[0069] In Figure 7, before correction, the first group has 4 edges and the second group has 6 edges, whereas in Figure 8, after correction, both the first and second groups have 5 edges. As a result, the movement cost of the second group, which was high in Figure 7, has decreased, and the difference in movement costs between the two groups has also decreased. Therefore, it can be said that the measurement route in Figure 8 is an improvement over the measurement route in Figure 7.

[0070] Furthermore, before correction, as shown in Figure 7, the first group includes 5 measurement locations (P1-P5) and the second group includes 7 measurement locations (P6-P12). In contrast, after correction, as shown in Figure 8, both the first and second groups include 6 measurement locations, thus averaging the scanning time across each group. This averaging of the number of measurement locations across groups may be included as a criterion for determining improvement.

[0071] Furthermore, if we include the return movement in our consideration, the following results emerge. In the corrected version shown in Figure 8, since measurement position P8 is no longer in the second group, the second group becomes a route without any branches along the way, and regardless of whether the starting point is measurement position P11 or measurement position P12 at either end, it becomes the minimum movement cost that does not require a return movement. Therefore, for the second group, the effect of reducing movement costs by updating the group classification is reliably obtained.

[0072] In addition to measurement location P8, which has a changed group affiliation as shown in Figure 8, the same calculation and evaluation of the measurement route when the group is changed will be performed for all measurement locations that can be changed to a different group. A measurement location that can be changed to a different group is a measurement location that satisfies the following conditions: "it is connected by links to two or more other measurement locations" and "the change in group affiliation does not increase the number of groups (it does not disrupt the link structure of each existing group)."

[0073] For example, in the initial grouping shown in Figure 5, measurement positions P1, P2, P4, P5, P7, and P8 are measurement positions that can be moved to another group. Measurement positions P6, P9, and P10 cannot be moved to another group because if they change their affiliation from the second group to the first group, the end measurement positions P11 and P12 will become a new group separated from the second group. Measurement positions P3, P11, and P12 have only one link destination, and it is not possible to skip that link destination and connect to measurement positions in other grooves, so they cannot be moved to another group.

[0074] As shown in Figure 8, once the minimum movement cost for each group has been calculated when measurement position P8 is changed to the first group, measurement position P8 is changed back to the second group. Then, the minimum movement cost for each group when measurement position P7 is changed from the second group to the first group is calculated, and measurement position P7 is changed back to the second group. Similarly, the minimum movement cost for each group when measurement positions P1, P2, P4, and P5 are changed from the first group to the second group is calculated. In this way, each measurement position that can be changed to another group is changed one by one, and the minimum movement cost for each group in each case is calculated.

[0075] If the travel cost calculated after changing the measurement location group is better than the existing best travel cost stored (for example, if the travel cost of the group with the highest travel cost has decreased, or if the difference in travel costs between the group with the highest and lowest travel costs has narrowed), the improved travel cost is updated and stored. If the existing best travel cost stored is better than the travel cost calculated after changing the measurement location group, the existing travel cost is retained.

[0076] In this way, the grouping of measurement positions and the calculation of movement costs are repeated, and the calculation results are corrected. Finally, the grouping of measurement positions and the measurement route for each group are determined to be the state in which the movement cost is best (the state in which the judgment in step S7 proceeds to NO). This determined content becomes the determined measurement route that allows each moving body 20 to reach multiple measurement positions P1 to P12 with the minimum movement cost, and the information of the determined measurement route is stored in the RAM of the instruction creation unit 10.

[0077] In the following explanation, we will assume that the confirmed data is divided into two groups, as shown in Figure 8: measurement positions P1-P5 and P8 belong to the first group, and measurement positions P6, P7, and P9-P12 belong to the second group. The confirmed measurement route for the first group is P2→P4→P5→P4→P8→P4→P3→P4→P1, and the confirmed measurement route for the second group is P11→P9→P6→P7→P10→P12.

[0078] [Step S9: Waiting position calculation step] Step S9 is processed by the standby position calculation unit 12g (Figure 1), which is a functional block of the data processing unit 12. In step S9, the data processing unit 12 of the instruction creation unit 10 calculates the standby positions in the fixed measurement route for each group where the mobile body 40 will wait while the mobile body 20 is measuring. The calculation of standby positions is performed, in principle, under the condition that the same standby position (more specifically, the reference sphere 50 of the mobile body 40 waiting at the same standby position) is included in the scan range (measurement range) of adjacent measurement positions on the fixed measurement route, and multiple standby positions are determined. Each standby position determined in step S9 is stored as coordinate data in the RAM of the instruction creation unit 10. The calculation of standby positions includes, for example, the following two substeps.

[0079] [Step S9, first substep] In the first substep of step S9, three adjacent consecutive measurement locations on the defined measurement route for each group are connected by straight lines to create a triangle.

[0080] Figure 9 shows the results of the processing performed in the first substep of step S9 for building 60. In Figure 9, in the first group, triangle T1 is created by connecting three adjacent consecutive measurement positions P2, P4, and P5 with straight lines; triangle T2 is created by connecting three adjacent consecutive measurement positions P5, P4, and P8 with straight lines; triangle T3 is created by connecting three adjacent consecutive measurement positions P8, P4, and P3 with straight lines; and triangle T4 is created by connecting three adjacent consecutive measurement positions P3, P4, and P1 with straight lines. In the second group, triangles T5 was created by connecting three adjacent consecutive measurement positions P11, P9, and P6 with straight lines; triangle T6 was created by connecting three adjacent consecutive measurement positions P9, P6, and P7 with straight lines; triangle T7 was created by connecting three adjacent consecutive measurement positions P6, P7, and P10 with straight lines; and triangle T8 was created by connecting three adjacent consecutive measurement positions P7, P10, and P12 with straight lines.

[0081] [Second substep of Step S9] In the second substep of step S9, the centroid position of each triangle created in the first substep of step S9 is calculated as a standby position. However, if the centroid position is in a position where the mobile body 40 cannot stand, such as when it overlaps with the outer wall 61 or the bulkhead 62, that centroid position is excluded and not considered a standby position. Also, if multiple centroid positions are close together (for example, within 1m), only one of those centroid positions is considered a standby position, and the rest are excluded and not considered standby positions.

[0082] Figure 10 shows the results of processing the second substep of step S9 for building 60. In Figure 10, for the first group of confirmed measurement routes, the centroid position H1 of triangle T1, the centroid position H2 of triangle T2, and the centroid position H3 of triangle T3 are calculated as standby positions. Note that the centroid position H4 of triangle T4 is excluded as it overlaps with the outer wall 61 and is therefore not considered a standby position. For the second group of confirmed measurement routes, the centroid position H5 of triangle T5, the centroid position H7 of triangle T7, and the centroid position H8 of triangle T8 are calculated as standby positions. Note that since the centroid positions H6 of triangle T6 and H7 of triangle T7 are close together, one of them, centroid position H7, is designated as a standby position, and the remaining centroid position H6 is excluded as not being considered a standby position.

[0083] [Step S10: Waiting route calculation step] Step S10 is processed by the standby route calculation unit 12h (Figure 1), which is a functional block of the data processing unit 12. In step S10, the standby route for each group's confirmed measurement route, that is, the movement path of each pair of mobile bodies 40, is determined. The standby route is determined by connecting each standby position with a straight line so that it forms a single continuous route, based on the confirmed measurement route (the order of movement of each measurement position by the mobile body 20). However, if the route between standby positions is obstructed by the outer wall 61 or the partition wall 62, the route between those standby positions is replaced with a route that uses a part of the confirmed measurement route. The standby route determined in step S10 is stored in the RAM of the instruction creation unit 10.

[0084] Figure 11 shows the results of the processing in step S10 for building 60. In Figure 11, the standby route H1→H2→H3 has been determined for the confirmed measurement route of the first group. For the confirmed measurement route of the second group, the standby route H5→measurement position P9→P6→standby position H7→measurement position P7→standby position H8 has been determined. Note that for the standby route of the confirmed measurement route of the second group, the route connecting standby positions H5 and H7 in a straight line is blocked by the partition wall 62, so the route between those standby positions (H5→H7) has been replaced with a route using a part of the confirmed measurement route (H5→P9→P6→H7). Also, the route connecting standby positions H7 and H8 in a straight line is blocked by the partition wall 62, so the route between those standby positions (H7→H8) has been replaced with a route using a part of the confirmed measurement route (H7→P7→H8).

[0085] [Step S11: Movement Order Calculation Step] Step S11 is processed by the movement order calculation unit 12i (Figure 1), which is a functional block of the data processing unit 12. In step S11, the movement order of each pair of moving bodies 20 and 40 is determined. The determination of the movement order is, in principle, performed under the condition that the same standby position (more specifically, the reference sphere 50 of the moving body 40 waiting at the same standby position) is included in the scan range (measurement range) of adjacent measurement positions on the fixed measurement route. The determined movement order is stored in the RAM of the instruction creation unit 10.

[0086] Figure 12 shows the results of the processing in step S11 for building 60. In Figure 12, the movement sequence of a pair of mobile bodies 20 and 40 is determined as follows: First, mobile body 40 moves to standby position H1. Next, mobile body 20 moves sequentially to measurement positions P2, P4, and P5 (I1, I2). Next, mobile body 40 moves from standby position H1 to standby position H2 (I3). Next, mobile body 20 moves sequentially from measurement position P5 to measurement positions P4 and P8 (I4, I5). Next, mobile body 40 moves from standby position H2 to standby position H3 (I6). Next, mobile body 20 moves sequentially from measurement position P8 to measurement positions P4, P3, P4, and P1 (I7~I10). In this sequence of movement between the mobile body 20 and the mobile body 40, for example, while the mobile body 40 is waiting at standby position H1, measurements will be taken by the mobile body 20 at measurement positions P2, P4, and P5; while the mobile body 40 is waiting at standby position H2, measurements will be taken by the mobile body 20 at measurement positions P4 and P8; and while the mobile body 40 is waiting at standby position H3, measurements will be taken by the mobile body 20 at measurement positions P4, P3, and P1.

[0087] In Figure 12, the movement sequence of another pair of mobile bodies 20 and 40 is determined as follows: First, mobile body 40 moves to standby position H5. Next, mobile body 20 moves sequentially to measurement positions P11 and P9 (J1). Next, mobile body 40 moves from standby position H5 to standby position H7 via measurement positions P9 and P6 (J2-J4). Next, mobile body 20 moves sequentially from measurement position P9 to measurement positions P6 and P7 (J5, J6). Next, mobile body 40 moves from standby position H7 to standby position H8 via measurement position P7 (J7, J8). Next, mobile body 20 moves sequentially from measurement position P7 to measurement positions P10 and P12 (J9, J10). In this sequence of movement between the mobile body 20 and the mobile body 40, for example, while the mobile body 40 is waiting at standby position H5, measurements will be taken by the mobile body 20 at measurement positions P11 and P9; while the mobile body 40 is waiting at standby position H7, measurements will be taken by the mobile body 20 at measurement positions P6 and P7; and while the mobile body 40 is waiting at standby position H8, measurements will be taken by the mobile body 20 at measurement positions P10 and P12.

[0088] [Step S12: Step to issue commands to the mobile unit] In step S12, based on the movement order of each pair of mobile bodies 20 and 40 calculated by the data processing unit 12, the autonomous movement operation command unit 13 sends operation commands to each pair of mobile bodies 20 and 40.

[0089] For example, if the movement order is determined as shown in Figure 12, the following commands are sent to a pair of moving objects 20 and 40. First, the command to "move to standby position H1" is sent to moving object 40. Next, the command to "move to measurement positions P2, P4, and P5 in order and perform a scan with the 3D scanner 30 at each measurement position" is sent to moving object 20. Next, the command to "move to standby position H2" is sent to moving object 40. Next, the command to "move to measurement positions P4 and P8 in order and perform a scan with the 3D scanner 30 at each measurement position" is sent to moving object 20. Next, the command to "move to standby position H3" is sent to moving object 40. Next, the command to "move to measurement positions P4, P3, P4, and P1 in order and perform a scan with the 3D scanner 30 at each measurement position" is sent to moving object 20.

[0090] The following commands are sent to another pair of mobile bodies 20 and 40. First, mobile body 40 is sent the command to "move to standby position H5". Next, mobile body 20 is sent the command to "move to measurement positions P11 and P9 in order and perform a scan with the 3D scanner 30 at each measurement position". Next, mobile body 40 is sent the command to "move to standby position H7 via measurement positions P9 and P6 in order". Next, mobile body 20 is sent the command to "move to measurement positions P6 and P7 in order and perform a scan with the 3D scanner 30 at each measurement position". Next, mobile body 40 is sent the command to "move to standby position H8 via measurement position P7". Next, mobile body 20 is sent the command to "move to measurement positions P10 and P12 in order and perform a scan with the 3D scanner 30 at each measurement position".

[0091] Furthermore, the timing for sending a command to one of the paired mobile units 20 and 40, after sending a command to the other, may be after receiving notification from the other unit that the command execution has finished, or, if the time required for the command execution of the other unit can be predicted, it may be after that predicted time has elapsed.

[0092] The transmission of the command in step S12 completes the series of processes in the command creation unit 10, and the system exits the flowchart in Figure 2. Note that in the functional blocks of the data processing unit 12 that process each of the steps described above, the measurement position calculation unit 12a, the movable information calculation unit 12b, the measurement position assignment calculation unit 12c, the measurement route calculation unit 12d, the calculation result evaluation unit 12e, and the calculation result correction unit 12f are examples of the first calculation means. The standby position calculation unit 12g and the standby route calculation unit 12h are examples of the second calculation means. The movement sequence calculation unit 12i is an example of the third calculation means.

[0093] Each mobile unit 20 receives commands from the command creation unit 10 via the data receiving unit 22. The autonomous movement command control unit 23 operates the driving unit 27 while referring to signals from the object sensor 25 and the inertial measurement device 26 to perform movement to each measurement position specified by the command. Upon reaching each measurement position, the mobile unit 20 stops moving, and the 3D scanner operation unit 24 controls the 3D scanner 30 to perform scanning of the target object.

[0094] Each mobile unit 40 receives commands from the command creation unit 10 via the data receiving unit 42. The autonomous movement command control unit 43 operates the driving unit 46 while referring to signals from the object sensor 44 and the inertial measuring device 45 to execute movement to the standby position specified by the command. When the mobile unit 40 reaches the standby position, it stops moving. If a mobile unit 20 is stopped at a measurement position when the mobile unit 40 moves to the standby position via a measurement position, in order to avoid a collision with the mobile unit 20, the mobile unit 40 considers that it has reached the measurement position when the distance between the mobile unit 40 and the mobile unit 20 measured by the object sensor 44 reaches within a predetermined distance (for example, within 1 m), and then proceeds to the standby position. For example, in the standby route for the second group's confirmed measurement route, when the mobile body 40 moves from standby position H5 to standby position H7, the mobile body 20 is stopped at measurement position P9. In this case, when the distance between the mobile body 20 stopped at measurement position P9 and the mobile body 40 reaches within a predetermined distance, it is considered that the mobile body has reached measurement position P9, and the subsequent movement to standby position H7 is performed.

[0095] As described above, the data processing unit 12 of the command creation unit 10 determines the measurement route in a way that reduces the difference in movement costs between groups of moving objects 20, and reduces the movement cost of the moving object 20 in the group with the highest movement cost. Therefore, when acquiring 3D scan data by simultaneously moving multiple pairs of moving objects 20 and moving objects 40, the time required to complete all measurement work can be shortened. As a result, it becomes possible to create 3D scan data efficiently. In addition, since the scan range of two adjacent measurement positions on the determined measurement route of each group, in principle, includes a reference sphere 50 which is a common object, the accuracy of the synthesis can be improved by using the reference sphere 50 as an indicator to synthesize the 3D scan data. Furthermore, even for objects with similar shapes that appear consecutively, the reference sphere 50 can be used as an indicator, so manual synthesis work is not required due to the inability to recognize a common object.

[0096] As an example, we have explained the case where there are two pairs of mobile bodies 20 and 40, but this can also be applied when there are three or more pairs of mobile bodies 20 and 40. Processing can be done by changing the number of groups set in step S4 according to the number of pairs of mobile bodies 20 and 40.

[0097] As described above, the scan data creation method and scan data creation system of this disclosure make it possible to synthesize 3D scan data with high accuracy.

[0098] It should be noted that the present invention is not limited to the above embodiments and can be implemented by modifying it as appropriate without changing its essence.

[0099] For example, in the above embodiment, in step S12, commands were sent alternately multiple times to each pair of mobile bodies 20 and 40. However, if the time it takes for mobile body 20 to move to the starting measurement position, the time it takes for mobile body 20 to move between each measurement position, the measurement time at each measurement position by mobile body 20, the time it takes for mobile body 40 to move to the starting standby position, and the time it takes for mobile body 40 to move between each standby position are known in advance, then commands may be sent only once to each pair of mobile bodies 20 and 40. In this case, for example, in one pair, the mobile body 40 is sent the command to "move to standby position H1 and wait for a predetermined time, then move to standby position H2 and wait for a predetermined time, then move to standby position H3", and the mobile body 20 is sent the command to "move sequentially to measurement positions P2, P4, and P5 after a predetermined time has elapsed and perform a scan with the 3D scanner 30 at each measurement position, then move sequentially to measurement positions P4 and P8 after a predetermined time has elapsed and perform a scan with the 3D scanner 30 at each measurement position, then move sequentially to measurement positions P4, P3, P4, and P1 after a predetermined time has elapsed and perform a scan with the 3D scanner 30 at each measurement position".

[0100] In another pair, the mobile body 40 is given the command to "move to standby position H5 and wait for a predetermined time, then move to standby position H7 via measurement positions P9 and P6 in order and wait for a predetermined time, then move to standby position H8 via measurement position P7," and the mobile body 20 is given the command to "move to measurement positions P11 and P9 in order after a predetermined time has elapsed and perform a scan with the 3D scanner 30 at each measurement position, then move to measurement positions P6 and P7 in order and perform a scan with the 3D scanner 30 at each measurement position, then move to measurement positions P10 and P12 in order after a predetermined time has elapsed and perform a scan with the 3D scanner 30 at each measurement position."

[0101] Furthermore, although the above embodiment shows the case where multiple pairs of mobile bodies 20 and 40 are operated, it may also be applied when there is only one pair of mobile bodies 20 and 40. In this case, the grouping of measurement positions in step S4 is skipped. Also, the movement of measurement positions between groups in step S8 and the corresponding correction processing of calculation results are not performed.

[0102] In the above embodiment, the case where the number of pairs of mobile bodies 20 and 40 to be used is predetermined is shown. However, it can also be used as a means to determine a suitable number of input pairs when the number of pairs to be used is undetermined. By changing the number of mobile body pairs input in step S1, the travel cost of the best measurement route for different numbers of groups can be determined in the subsequent process. Then, the number of mobile body pairs to be used can be determined based on the criterion of the best average travel cost per mobile body pair.

[0103] In the above embodiment, a 3D scanner 30 capable of measuring in all directions is used as the measuring instrument, which is excellent in terms of work efficiency for measurement at each measurement position, but the measuring instrument is not limited to this. For example, a device such as a handheld scanner with a limited field of view that can be measured may also be used as the measuring instrument. Depending on the field of view of the measuring instrument, the number and location of the measurement positions set in step S2 will differ. Consequently, the number and location of the standby positions determined in step S9 will also differ.

[0104] In addition to scanners that emit laser light or other beams of light onto an object, it is also possible to use cameras that capture images of the subject without emitting any light from the device itself as measuring instruments. These cameras can include 360-degree spherical cameras or standard cameras with a narrower field of view. [Industrial applicability]

[0105] This invention can be used to create scan data that requires measurements at multiple measurement locations, and is particularly useful when scanning large measurement targets such as buildings and construction sites. [Explanation of Symbols]

[0106] 1. Scan Data Creation System 10. Instruction creation unit (instruction creation means) 11 Data receiving unit 12 Data Processing Unit 12a Measurement position calculation unit 12b Mobility information calculation unit 12c Measurement position assignment calculation unit 12d Measurement route calculation unit 12e Calculation Result Evaluation Unit 12f Calculation result correction section 12g Standby position calculation section 12h standby route calculation unit 12i Movement order calculation unit 13. Autonomous Mobile Operation Command Unit 20 Mobile Unit (First Mobile Unit) 21 Computer 22 Data receiving unit 23 Autonomous Movement Command Control Unit 24 3D scanner operation unit 25 Object Sensor 26 Inertial Measurement Device 27. Drive unit 30. 3D scanner (measuring instrument) 31 Measurement Unit 32 Data Storage Unit 40 Mobile Unit (Second Mobile Unit) 41 Computer 42 Data receiving unit 43 Autonomous Movement Command Control Unit 44 Object Sensor 45 Inertial measuring device 46. ​​Drive unit 50 Reference sphere 60. Buildings (objects) 61 Exterior Wall 62 Bulkhead H1~H8 Center of gravity position H1~H3, H5, H7, H8 standby position P1~P12 Measurement positions T1~T8 triangle

Claims

1. A method for creating scan data, which involves acquiring 3D scan data synthesized using a reference sphere as an indicator in order to create a 3D digital model of an object, A measurement position calculation step that calculates multiple measurement positions where the object can be measured using a measuring instrument, A measurement route calculation step that calculates a measurement route that allows the measuring instrument to reach the plurality of measurement locations with the minimum travel cost, A waiting position calculation step is to calculate multiple waiting positions in which a reference sphere can wait, based on the measurement route, such that the measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same waiting position, A waiting route calculation step in which a waiting route is calculated based on the measurement route to reach the reference sphere at the plurality of waiting positions, A movement sequence calculation step that calculates the movement sequence of the measuring instrument and the reference sphere so that the measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same standby position, A method for creating scan data, characterized by performing the following steps.

2. The scan data creation method according to claim 1, characterized in that, in the measurement route calculation step, all edges that can connect the multiple measurement positions by the shortest distance are set, and the measurement route is determined by the minimum spanning tree calculated from all the edges.

3. The scan data creation method according to claim 2, characterized in that the measurement route calculation step calculates the movement sequence that most efficiently follows the measurement route and determines it as a measurement route including movement sequence information.

4. The scan data creation method according to any one of claims 1 to 3, characterized in that the standby position calculation step involves calculating the position of the centroid of a triangle formed by connecting three adjacent consecutive measurement positions on the measurement route with straight lines as the standby position.

5. When measuring the object using multiple pairs of the measuring instrument and the reference sphere, the measurement position classification step involves dividing the multiple measurement positions into multiple groups, In the measurement route calculation step, after calculating the measurement route for each group, the measurement route correction step involves changing the measurement locations included in each group and calculating the measurement route again to calculate the grouping that minimizes travel costs. A method for creating scan data according to any one of claims 1 to 4, characterized by performing the following.

6. The scan data creation method according to claim 5, characterized in that the measurement route correction step is performed until the difference between the travel costs of the group with the largest travel cost and the group with the smallest travel cost is minimized.

7. The measuring instrument is mounted on a first mobile body capable of autonomous movement. The aforementioned reference sphere is mounted on a second mobile body capable of autonomous movement. A command is sent to the first mobile body to move along the measurement route calculated in the measurement route calculation step in the movement order calculation step, and to perform measurements using the measuring instrument at the measurement positions included in the measurement route. A command is sent to the second mobile body to move along the waiting route calculated in the waiting route calculation step in the movement order calculated in the movement order calculation step. A method for creating scan data according to any one of claims 1 to 6.

8. A scan data creation system that acquires 3D scan data synthesized using a reference sphere as an indicator in order to create a 3D digital model of an object, Measuring instruments for measuring objects, Reference ball and, Instruction creation means, The first mobile unit, The second mobile unit, It has, The instruction generation means is A first calculation means calculates a plurality of measurement positions in which the object can be measured, and calculates a measurement route that allows the measuring instrument to reach the plurality of measurement positions with the minimum movement cost, A second calculation means calculates a plurality of standby positions in which the reference sphere can be stationed, based on the measurement route, such that the measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere stationed at the same standby position, and calculates a standby route to reach the plurality of standby positions based on the measurement route. a third calculation means for calculating the movement order of the measuring instrument and the reference sphere such that the measurement range of the measuring instrument at adjacent measurement positions on the measurement route includes the reference sphere waiting at the same standby position, Includes, The first mobile body is capable of autonomous movement with the measuring instrument mounted on it, and, upon receiving a command from the command generation means, moves along the measurement route in the specified movement sequence and performs measurement using the measuring instrument at the measurement position. The second mobile body is capable of autonomous movement with the reference sphere mounted on it, and, upon receiving a command from the command generation means, moves along the waiting route in the specified movement sequence and waits at the waiting position. A scan data creation system characterized by the following features.

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