JP2009276087A - Projection search device and projection search method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a searching device can search for existence of a projection by taking as an object, a plane that rises from a horizontal plane indoors. <P>SOLUTION: This projection search device is equipped with a contactor 1 formed by arraying in the lateral direction; a plurality of rod-shaped bodies having a plurality of contact sensors aligned in the longitudinal direction; a contactor driving part 2 for moving the contactor in the vertical direction, while bringing the chip part of the contactor into contact with an indoor side face, in a state where the longitudinal direction of the rod-shaped body is orthogonal to a rising plane indoors (plane different from a horizontal plane of a floor, or the like); a contactor movement control part 3 for outputting a control signal for moving the contactor to the contactor driving part; a contact information input part 4 for inputting a detection signal of each contact sensor on the plurality of rod-shaped bodies during movement of the contactor 1; and a projection detection part 5 for detecting the presence of a projection on the rising plane, based on the detection signal input by the contact information input part 4, and discriminating the shape of a projection when detecting the projection. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a protrusion searching device and a protrusion searching method for searching for the presence or absence of protrusions present on an indoor wall or the like.

  Projections such as nails and thorns on the walls of walls and furniture are dangerous books for adults and children. A simple method of finding a protrusion is a method of searching based on human vision or touch. When a search method based on visual recognition is performed, illumination is necessary, and the work is difficult in a dark place. There is also a possibility of overlooking the protrusion. Furthermore, when the search area becomes large, time and labor costs increase.

  When a search method based on tactile sensation is carried out, a search is made by touching a wall or furniture with a hand, but this is not preferable because the projections may harm the searcher. When a device searches for a person instead of a human, there is no possibility that the searcher will be harmed, so it is also conceivable that the robot performs a search (see, for example, Patent Document 1).

JP 2001-125641 A (paragraphs 0005, 0006)

  However, autonomously movable robots can search for objects in indoor spaces, but they cannot search for objects that are standing up from a horizontal surface (eg, floor) such as a room wall. It is not easy for the robot.

  Then, an object of this invention is to provide the search apparatus which can search the presence or absence of a protrusion for the surface which stood up from the horizontal surface indoor.

  A projection search device according to the present invention is a projection search device for searching for a projection present on a rising surface rising from a horizontal plane indoors, wherein a plurality of rod-shaped bodies having a plurality of contact sensors arranged in the longitudinal direction are laterally arranged. Contact bodies arranged in a direction, and a contact body driving unit that moves the contact body in the vertical direction while bringing the tip portion of the rod-shaped body into contact with the rising surface in a state where the longitudinal direction of the rod-shaped body is orthogonal to the rising surface in the room, A contact body movement control unit that outputs a control signal for moving the contact body to the contact body drive unit, and a contact information input unit that inputs detection signals of contact sensors in a plurality of rod-shaped bodies when the contact body is moving Based on the detection signal input by the contact information input unit, the presence or absence of a protrusion on the rising surface is detected, and when the protrusion is detected, the protrusion detection is performed to determine the shape of the protrusion. Characterized in that a part.

  The projection searching method according to the present invention is a projection searching method for searching for a projection existing on a rising surface rising from a horizontal plane indoors, wherein a plurality of rod-shaped bodies having a plurality of contact sensors arranged in the longitudinal direction are horizontally arranged. When the contact body is moved in the vertical direction while the longitudinal direction of the contact bodies arranged in the direction is orthogonal to the rising surface in the room while the tip of the rod-shaped body is in contact with the rising surface, The detection signals of the contact sensors in a plurality of rod-shaped bodies are input, the presence or absence of protrusions on the rising surface is detected based on the detection signals input by the contact information input unit, and the shape of the protrusion is determined when the protrusion is detected. It is characterized by discriminating.

  ADVANTAGE OF THE INVENTION According to this invention, the presence or absence of a protrusion can be searched for the surface which stood up from the horizontal surface indoors irrespective of a human hand.

  FIG. 1 is an explanatory view showing a main part of a projection searching device according to the present invention. As shown in FIG. 1, the protrusion search device includes a contact body 1 (corresponding to the touch brush 116 in the configuration shown in FIG. 2) in which a plurality of rod-shaped bodies having a plurality of contact sensors arranged in the longitudinal direction are arranged in the lateral direction. The contact body that moves the contact body in the vertical direction while bringing the tip of the rod-shaped body into contact with the indoor side surface in a state in which the longitudinal direction of the rod-shaped body is orthogonal to the indoor rising surface (a surface different from a horizontal surface such as a floor). The drive unit 2 (corresponding to the swing mechanism unit 121 in the configuration shown in FIG. 2) and the contact body movement control unit 3 that outputs a control signal for moving the contact body to the contact body drive unit 2 (configuration shown in FIG. 2). And a contact information input unit 4 for inputting detection signals (corresponding to contact information in FIG. 2) of a plurality of rod-shaped bodies when the contact body 1 is moving. In the configuration shown in 2. And the presence or absence of a protrusion on the rising surface based on the detection signal input by the contact information input unit 4 and when the protrusion is detected, the shape of the protrusion is determined. The protrusion detection unit 5 (corresponding to the control unit 21 and the dangerous substance investigation processing unit 23 in the configuration shown in FIG. 2) is provided.

  When the detection signals of the plurality of contact sensors in the rod-shaped body indicate the contact state with the object, the contact information input unit 4 is a contact that is disposed at a position farthest from the rising surface indoors among the contact sensors. A detection signal indicating that only the sensor indicates a contact state with the object is output to the protrusion detection unit 5 (for example, only information corresponding to the contact sensor arranged at the farthest position in the contact information is “1”. ").

  The contact body drive unit 2 moves the contact body at a constant speed, and the contact information input unit 4 inputs the detection signal of the contact sensor in the rod-shaped body every time the contact body moves by a certain amount (for example, 5 mm), The object detection unit 5 includes a position of a rod-like body (for example, an X coordinate value) in which the detection signal of the contact sensor indicates a contact state with the object, and a position of the contact sensor to which the contact information input unit 4 has input the detection signal ( For example, the shape of the protrusion is determined based on the Y coordinate value.

Embodiment 1. FIG.
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 2 is a block diagram showing a device configuration of the first embodiment (Embodiment 1) of the projection searching device. The protrusion search device is connected to the protrusion searcher 10 for searching for a protrusion, and is communicably connected to the protrusion searcher 10 via the Internet 100, and is processed by program control based on the search result of the protrusion searcher 10. And a projection center 20 for performing the above. Each block in the projection center 20 shown in FIG. 2 is realized by a server device, for example. Therefore, the protrusion center 20 is actually a server device, for example.

  The protrusion searching device 10 includes a main body 11, a swing roller unit 120, and a tire 125. The main body 11 incorporates a battery 131 which is a drive source such as an electric circuit mounted on the main body 11. The swing roller unit 120 is provided with a touch brush 116 that outputs contact information indicating whether or not a protrusion is in contact.

  The main body 11 includes a microcomputer 101, a main body side communication control unit 150, a protrusion processing flag 133, an internal pressure switch 107, an upper sensor 108, and lower sensors 109 to 113. The microcomputer 101 includes a room movement control unit 102, a touch brush control unit 103, a swing control unit 104, a tire axis switching control unit 105, and an input / output control unit 106. Specifically, the room movement control unit 102, the touch brush control unit 103, the swing control unit 104, the tire axis switching control unit 105, and the input / output control unit 106 are realized by a CPU and a control program in the microcomputer 101. .

  The room movement control unit 102 performs control to move the protrusion searcher 10 using an output signal of a sensor installed in the protrusion searcher 10. The touch brush control unit 103 inputs contact information output from the touch brush 116, detection signals output from the three wall sensors 117A to 117C, the temperature sensor 118, and the magnetic field sensor 119, and the contact information from each sensor. The operation of the touch brush 116 is controlled based on the detection signal.

  The head swing control unit 104 outputs a control signal to the head swing mechanism unit 121. The swing mechanism unit 121 vertically moves the swing roller unit 120 in accordance with a control signal from the swing control unit 104. The swing mechanism unit 121 sets the number of times of input of the control signal to be moved in the vertical direction from the swing control unit 104 in the vertical counter 141. The number set in the vertical counter 141 is appropriately transmitted to the projection center 20.

  The tire axis switching control unit 105 outputs, to the tire driving unit 122, an instruction signal for rotating the axle and an instruction signal for instructing forward, backward, or stop in order to move the protrusion searcher 10 forward, backward, left and right. In response to the instruction signal from the tire axis switching control unit 105, the tire driving unit 122 causes the protrusion searcher 10 to move forward, backward, move left, or stop. However, when there is a wall or furniture on the left, it is once moved to the right and turned 90 degrees to the left so as to face the wall or furniture, and then moved to the left. The protrusion searcher 10 repeats left-right movement while facing the wall and furniture. The number of times of performing the left horizontal movement is registered in the horizontal counter 140 used for the projection display.

  Of the signals input from the tire axis switching control unit 105, the tire driving unit 122 inputs the number of times of input of a signal for moving the protrusion searcher 10 to the left (an instruction signal for rotating the axle to advance to the left), that is, The horizontal movement instruction number is set in the horizontal counter 140. The number set in the horizontal counter 140 is transmitted to the protrusion center 20 as appropriate. The horizontal counter 140 and the vertical counter 141 are formed in an area of a storage device (not shown).

  The input / output control unit 106 controls operations of the display panel 126, an operation panel (OP panel) 127, a microphone / speaker (hereinafter referred to as a microphone / speaker) 128, and a camera / light unit 129. The display panel 126 displays an image captured by the camera / light unit 129. The OP panel 127 is an operation panel on which the user performs initial setting input or cancels the warning. The microphone / speaker 128 outputs a warning sound or inputs a warning sound canceling sound. The camera / light unit 129 shoots a projection or an object determined to be a warning object while shining on the light.

  The main body side communication control unit 150 controls information communication between the microcomputer 101 of the main body 11 and the protrusion center 20 via the Internet 100.

  The protrusion processing flag 133 includes an upper flag, a lower flag, and a LAST flag, a return address, a starting point address, and a protrusion number. The protrusion processing flag 133 is realized in one area of a storage device (not shown).

  The touch brush control unit 103, when an object that may be a protrusion is found, lowers the touch brush 116 and then lowers it. Contact information is input from the contact sensor. The protrusion processing flag 133 is used to prevent the contact information input process related to the protrusions for which contact information related to the protrusion information has already been collected from being executed again.

  The internal pressure switch 107 is activated when a load is applied. For example, it operates to ensure safety when a person gets on the protrusion searcher 10. When the internal pressure switch 107 is activated, the room movement control unit 102 stops the movement of the protrusion searcher 10, and the touch brush control unit 103 stores the touch brush 116 in the storage area 123 in the swing roller unit 120. The instruction is output to the swing mechanism unit 121. Further, the input / output control unit 106 outputs a warning sound from the microphone / speaker 128, and the main body side communication control unit 105 transmits a mail to the request source mobile terminal device (request source mobile terminal) 400. The operation of the internal pressure switch 107 is released when the load is released or when the client performs a release operation.

  In the present embodiment, the business entity that provides the protrusion search service has the protrusion search device. The request source mobile terminal 400 is a terminal device such as a mobile phone held by a user (requester) who has requested provision of the protrusion search service. However, the protrusion search device 10 may be held by the user and the business operator may operate the protrusion center 20.

  The upper sensor 108, the lower sensors 109 to 113, and the overhead sensor 114 are contact sensors that operate when the protrusion searcher 10 contacts a wall or furniture. The operation of these sensors becomes a stop factor or a start factor of the operation such as raising of the swing roller portion 120 and movement of the main body 11 back and forth and right and left.

  The swing roller unit 120 is provided with a touch brush 116, an overhead sensor 114, a nose tip sensor 115, wall sensors 117A to 117C, a temperature sensor 118, a magnetic field sensor 119, a camera / light unit 129, and a swing mechanism unit 121. .

  The touch brush 116 is stored in the storage area 123 in the swing roller unit 120 when not searching, and protrudes when searching for a protrusion, and is stored again in the storage area 123 after the search is completed.

  The overhead sensor 114 operates when the swing roller unit 120 hits a ceiling or a desk in order to detect the upper limit of the upward movement of the swing roller unit 120. Further, the protrusion searcher 10 moves forward until the nose tip sensor 115 detects contact with the wall or furniture, and when contact with the wall or furniture is detected, the protrusion searcher 10 moves backward by 10 cm. When the protrusion searching device 10 is 10 cm away from the wall or furniture, the touch brush 116 protrudes from the swing roller unit 120. The wall sensors 117A to 117C are installed at the tip of the touch brush 116, and when the wall sensors 117A to 117C detect contact with a wall or the like, the projection search is started.

  The temperature sensor 118 and the magnetic field sensor 119 are incorporated in the touch brush 116 in order to detect an outlet insertion failure, heat generation due to power cord pressurization, electric leakage, and the like. When the temperature detected by the temperature sensor 118 is equal to or higher than a specific temperature determined as an abnormal temperature, or when the strength of the magnetic field detected by the magnetic field sensor 119 exceeds a predetermined value, the room movement control unit 102 The camera / light unit 129 is made to photograph a dangerous object that is presumed to be present in the front. Then, voice notification and email transmission are performed as an emergency detection notification to the requesting portable terminal 400. In addition, an image captured by the camera / light unit 129 is displayed on the display panel 126.

  The protrusion center 20 includes a control unit 21, a center side communication control unit 22, a risk investigation processing unit 23, a protrusion MAP creation unit 24, a display information storage unit 25, and a register 26.

  The control unit 21 controls the entire protrusion center 20 according to a program. The center side communication control unit 22 performs communication control with the main body side communication control unit 150 of the protrusion search device 10. The risk investigation processing unit 23 includes a graphic processing unit 23A and a contact information storage unit 23B. The graphic processing unit 23A performs graphic processing based on the contact information of the XY coordinate values transmitted from the protrusion searcher 10 to the risk investigation processing unit 23 to determine the shape of the protrusion. Then, the degree of risk is determined based on the determined shape of the protrusion. Thereafter, the contact information is stored in the contact information storage unit 23B in the order in which the protrusions are detected. The contact information storage unit 23B stores contact information of all detected protrusions. The register 26 holds contact information in a predetermined range. Each time the contact information is read from a plurality of contact sensors provided on the touch brush 116, the read contact information is sequentially written in the register 26. The contact information written in the register 26 is “1” or “0”. “1” corresponds to the operation of the contact sensor (a state where pressing of the contact sensor is detected), and “0” corresponds to the non-operation of the contact sensor.

  The display information storage unit 25 is a number in which the horizontal position information of the protrusions, the vertical position information of the protrusions, and the shooting data of the image captured by the camera / light unit 129 are sequentially assigned to the detected protrusions. Store by projection number. The protrusion memory 27 stores a protrusion number, horizontal position information, vertical position information, and photographing data. The contents of the protrusion memory 27 are transferred to the display information storage unit 25 at a predetermined time.

  3 to 5 are schematic diagrams schematically showing the protrusion searcher 10. 3 is a schematic diagram when the projection searcher 10 is viewed from the side, FIG. 4 is a schematic diagram when the projection searcher 10 is viewed from above, and FIG. 5 is a schematic view of the projection searcher 10 from below. It is a schematic diagram when seen.

  As shown in FIGS. 3 to 5, lower sensors 109 and 110 are provided at the lower part of the left side of the main body 11 (when the side on which the swing roller unit 120 is provided is the front side), and the lower part is provided at the lower part on the right side. Are provided with lower sensors 112 and 113. A lower sensor 111 is provided on the rear side of the main body 11.

  In the swing roller section 120, the overhead sensor 114 is installed at the top, and the nose tip sensor 115 is provided at the tip. Further, the swing mechanism unit 1231 is installed at the lower part of the swing roller unit 120, but a part of the swing roller unit 120 is applied to the main body 11.

  FIG. 6 is an explanatory diagram for explaining the operation of the swing roller unit 120. As shown in FIG. 6, the swing roller unit 120 is moved in the vertical direction by a lifting mechanism that is a part of the swing mechanism unit 121. In this embodiment, the projection search target room is a rectangular parallelepiped room having a height of 5 m and a total length of four sides of the bottom surface of 100 m.

  Therefore, the elevating mechanism includes, for example, a member that is folded and housed in the main body 11 when not searching, and that is driven by a motor and can be extended to 5 m when searching. Then, the touch brush 116 rises as the swing roller unit 120 rises, and the touch brush 116 falls as the swing roller unit 120 descends.

  FIG. 7 is an explanatory diagram for explaining the shape of the touch brush. As shown in FIG. 7, the touch brush 116 is provided with 20 rod-shaped bodies. Each rod is 10 cm long. Moreover, the rod-shaped body is formed of a flexible material such as synthetic resin. FIG. 7 shows a state where the tip of the rod-shaped body is in contact with the rising surface 300 in the room where the protrusion 201 exists. The rising surface rising from the horizontal plane in the room is not limited to a wall surface, but the following description will be given by taking a wall surface as a representative example of the rising surface as an example.

  On the upper surface side of each rod-shaped body, 50 convex contact members are provided at equal intervals in the longitudinal direction. A contact sensor is formed inside the rod-like body to detect when pressed by the contact member. Hereinafter, the installation position of the contact member (corresponding to the Y coordinate extending in the Y direction) is Y [1], Y [2], Y [3],..., Y [50] in order from the opposite side of the tip. . Therefore, 50 contact sensors are provided in each rod-shaped body. Further, the 20 rod-shaped bodies are arranged at equal intervals in the X direction perpendicular to the Y direction. Hereinafter, the installation positions (corresponding to the X coordinate) of the 20 rod-shaped bodies are X [1], X [2], X [3],..., X [20] in order from one side. In addition, the space | interval of each rod-shaped body and the adjacent rod-shaped body is 5 mm.

  FIG. 8 is an explanatory view showing the respective rod-like bodies in an enlarged manner. FIG. 8 shows only the rod-shaped body of X [1], the rod-shaped body of X [2], and X [20]. The contact member in each rod-shaped body is covered with a dome-shaped cap formed of a flexible material such as synthetic resin. By providing the dome-shaped cap, the touch brush 116 can smoothly move along the wall surface without being caught by the protrusions. Therefore, it is expected that reliable contact information can be obtained regardless of the contact angle with the protrusions existing on the wall surface or the like and the size of the protrusions.

  FIG. 9 is an explanatory diagram for explaining the operation of a general touch panel. By detecting a change in resistance value or the like at the pressed position when the touch panel is pressed, the pressed position on the XY plane of the touch panel is detected.

  The touch brush 116 has 20 rod-like bodies arranged in the X direction, but since the contact members are arranged in the longitudinal direction (Y direction) of the 20 rod-like bodies, the 20 rod-like bodies are Equivalently, a 10 cm × 10 cm touch panel is formed.

  FIG. 10 is an explanatory diagram for explaining the operation of the touch panel formed equivalent to the touch brush 116. As shown in FIG. 10, forces (f, f2, f3) in various directions may be applied to the rod-shaped body from protrusions having different shapes (height, width, size). Since it is put on the dome-shaped cap 182, the forces (f, f2, f3) in various directions are transmitted to the contact member 181 almost without any leakage. That is, the dome-shaped cap 182 can transmit forces from a plurality of different directions to the contact sensor in the rod-shaped body via the contact member 181. Therefore, the position can be detected with high accuracy by applying a force in the rod-shaped body. In FIG. 10, one protrusion 200 is also shown.

  FIG. 11 is an explanatory diagram showing the installation position of the wall sensor. As shown in FIG. 11, the wall sensors 117 </ b> A to 117 </ b> C are the first (X [1]), tenth (X “10”), and twentyth (X [20]) of the 20 rod-shaped bodies in the touch brush 116. ) Is built into the tip. When all the wall sensors 117A to 117C are inactive (a state in which nothing is detected) when the touch brush 116 searches for a protrusion, the protrusion searcher 10 moves forward. When one or more of the wall sensors 117A to 117C are activated (when something is detected), the projection search is started. Further, if all the wall sensors 117A to 117C do not operate even if the vehicle travels a predetermined distance, it is determined that there is no wall surface, and thus the protrusion searcher 10 stops moving forward.

  When searching for protrusions, the substantially spherical swing mechanism unit 121 moves the entire swing roller unit 120 up and down. In the main body of the protrusion searching device 10, the microcomputer 101 executes the protrusion searching process using contact information from the contact sensor in the touch brush 116. The touch brush control unit 103 reads contact information from the contact sensor every time the touch brush 116 moves 5 mm upward or downward.

  In the case of outputting contact information indicating that a plurality of contact sensors are activated (in a state in which pressing of the contact sensor is detected) among the 50 contact sensors in the rod-shaped body, the touch brush control unit 103 starts from the wall surface. Only contact information from the contact sensor arranged at the farthest position is used in the projection search process. Specifically, of the contact information stored in the register 26 in the protrusion center 20, only the contact information from the contact sensor arranged at the position farthest from the wall surface is set to “1”. This is because only the contact information from the contact sensor disposed at the position farthest from the wall surface is required to detect the height of the protrusion.

  The touch brush control unit 103 transmits contact information input from each rod-like body to the protrusion center 20 via the main body side communication control unit 150. In the projection center 20, contact information is input to the control unit 21 via the center side communication control unit 22. The control unit 21 stores the contact information in the register 26.

  FIG. 12 is an explanatory diagram for explaining the process of determining the shape of the protrusion. On the right side in FIG. 12, the first rod-shaped body that moves is schematically illustrated by a broken line. On the left side in FIG. 12, an arrow written in the right direction in the horizontal direction indicates the position of the rod-shaped body. An upward arrow, an obliquely upward arrow, and an obliquely downward arrow indicate that the rod-shaped body is bent. When the rod-shaped body comes into contact with the projection A, the barb B, and the projection C, the rod-like body gets over the projection A, the barb B, and the projection C by bending.

  It is assumed that the rod-shaped body moves from the upper side to the lower side in FIG. The arrow on the right side of FIG. 12 indicates that the contact sensor arranged farthest from the wall surface among the activated contact sensors based on the presence of the protrusion A, the thorn (a kind of protrusion) B, and the protrusion C. Indicates that it will change. In addition, that a contact sensor changes means that the contact sensor arrange | positioned in the position farthest from the wall surface among the activated contact sensors turns into another contact sensor. Moreover, the example of the coordinate value corresponding to the contact sensor arrange | positioned in the position farthest from the wall surface among the activated contact sensors is shown on the right side of FIG.

  FIG. 13 is an explanatory diagram for explaining a method of searching for protrusions on a wall surface indoors by the protrusion searcher 10. FIG. 13 corresponds to a plan view of the room. In the example illustrated in FIG. 13, the length of the A side and the C side is 40 m, and the length of the B side and the D side is 10 m, which is 100 m in total. FIG. 13 also shows installation items P, Q, R, and S such as furniture. In FIG. 13, the arrows indicate the traveling direction of the protrusion searcher 10 toward the wall surface. In addition, although the protrusion searcher 10 performs a protrusion search not only on the wall surface but also on the side surfaces of the installation objects P, Q, R, and S, for simplicity of explanation, the protrusion searcher 10 is provided on the wall surface. It is expressed as searching for protrusions.

  Basically, the protrusion searcher 10 moves forward toward the wall surface, performs a protrusion search for the abutted area on the wall surface, then moves backward after moving backward, and searches for the protrusion for the abutted area on the wall surface. Repeat the process to execute. When there is a wall on the left (may be furniture or the like), the protrusion searcher 10 once moves to the right, then rotates 90 degrees to the left, and again faces the wall.

  FIG. 14 is an explanatory diagram showing a configuration example of the register 26 in the projection center 20. FIG. 15 is an explanatory diagram showing the relationship between the protrusion search range and the register 26. The touch brush 116 is provided with 20 rod-like bodies (corresponding to X1 to X20), and each bar-like body is provided with 50 contact sensors. Therefore, in the example shown in FIG. Contact information from a total of 1000 (50 × 20) contact sensors in the brush 116 is stored. In addition, in the touch brush 116, 20 rod-shaped bodies are installed at intervals of 5 mm, and the protrusion searcher 10 collects contact information once every time the touch brush 116 moves 5 mm on the wall surface. "Equivalent to 10 cm" and "Height 5 mm". FIG. 14 shows an example in which contact information for one time collected by the touch brush 116 is stored. However, the height of the wall surface for the protrusion search is 5 m, and the height of the wall surface for the protrusion search is 5 m. Assuming that the total width is 100 m, as shown in FIG. 15, contact information is stored 1000 (5 m / 5 mm) × 1000 (100 m / 10 cm) times in the register 26 illustrated in FIG. If not). However, when a protrusion is detected, the number of times contact information is stored in the register 26 may exceed 1000 × 1000.

  Although a simplified configuration is shown in FIG. 15, in actuality, 1000 (5 m / 5 mm) pieces of data (one piece of data includes 1000 pieces of contact information) are arranged in the vertical direction. 1000 (100 m / 10 cm) pieces of data are arranged in the horizontal direction. In FIG. 15, the 1000th data in the horizontal direction is described as “register 1000th”. Further, in FIG. 15, a horizontal arrow indicates movement along the wall of the protrusion searcher 10, and a vertical arrow indicates movement of the swing roller unit 120.

  FIG. 16 is an explanatory diagram illustrating a specific example of the protrusion search process. In order to grasp the shape of the protrusion 200 more accurately, when there is a possibility that the protrusion has been discovered, contact information is collected while the touch brush 116 is raised and lowered as shown in FIG. Then, it is determined whether or not the protrusion 200 exists on the wall surface using the contact information collected at the time of ascent and descent. And when it determines with the protrusion 200 existing, the process which discriminate | determines the shape of the protrusion 200 is performed.

  In the main body 11, each of the projection processing flag 133, the upper flag, the lower flag, and the LAST flag is set to ON (ON) or OFF (OFF). The initial value is OFF. The protrusion searching device 10 uses the position at which the head swing mechanism 121 starts to move as a starting address. The touch brush 116 is raised from the position of the starting point address, and the first contact information is collected. When a protrusion is detected in the first protrusion search, the protrusion searcher 10 raises the LAST flag and raises the touch brush 116 until no protrusion is detected. The return address is the position where the protrusion stops being detected and stops rising. Thereafter, the touch brush 116 is lowered and the second contact information is collected. The upper flag is set to ON when the touch brush 116 is raised, and the lower flag is set to ON when the touch brush 116 is lowered.

  When the contact information is collected twice for the same search area, the touch brush control unit 103 sets the protrusion processing flag 133. Further, the head swing mechanism unit 121 moves up from the position of the start address to the position of the return address in order to execute the search for the protrusion 201 for the next search area. Note that ascending projection numbers are assigned to the detected projections. In addition, since contact information is collected when searching for an upward projection, and contact information is collected when searching for a downward projection, two projection numbers are assigned to one projection.

  In the projection center 20, the contact information stored in the register 26 is transferred to the risk investigation processing unit 23. The transferred contact information is stored in the contact information storage unit 23B. The graphic processing unit 23A performs graphic processing on two projection numbers.

  FIG. 17 is an explanatory diagram for explaining processing of the projection map creation unit 24 and the like. Of the signals input from the tire axis switching control unit 105, the tire driving unit 122 inputs the number of times of input of a signal for moving the protrusion searcher 10 to the left (an instruction signal for rotating the axle to advance to the left), that is, The horizontal movement instruction number is set in the horizontal counter 140. The number set in the horizontal counter 140 is transmitted to the protrusion center 20 as appropriate. The swing mechanism unit 121 sets the number of times of input of the control signal to be moved in the vertical direction from the swing control unit 104 in the vertical counter 141. The number set in the vertical counter 141 is appropriately transmitted to the projection center 20.

  When a projection is detected at the projection center 20, the projection map creation unit 24 sets a value obtained by multiplying the number set in the horizontal counter 140 by 10 cm in the horizontal counter 24A. Further, a value obtained by multiplying the number set in the vertical counter 141 by 5 mm is set in the vertical counter 24B.

  The projection map creating unit 24 further converts the value set in the horizontal counter 24A and the value set in the vertical counter 24B into the size of the display screen of the display panel 126. Assuming that the height of the wall for searching for protrusions is 5 m and the total width of the wall for searching for protrusions is 100 m, the size of the entire screen of the display panel 126 corresponds to the entire search area of 100 m × 5 m. The value set in the horizontal counter 24A and the value set in the vertical counter 24B converted to the size of the display screen correspond to the display position of the protrusion on the screen of the display panel 126.

  The protrusion memory 27 stores a protrusion number transferred from the register 26, horizontal position information and vertical position information, and shooting data of an image shot by the camera / light unit 129. The horizontal position information and the vertical position information are values obtained by converting the values set in the horizontal counter 24A and the values set in the vertical counter 24B by the projection map creation unit 24. The risk investigation processing unit 23 performs graphic processing based on the contact information to determine the shape of the protrusion, and determines the risk based on the determined shape of the protrusion, but the protrusion is detected. In some cases, control is performed to transfer the stored contents of the protrusion memory 27 to the display information storage unit 25. The control unit 21 transmits the data stored in the display information storage unit 25 to the main body 11 of the projection search device 10. In the main body 11, the input / output control unit 106 displays an image based on the transferred data on the display panel 126.

  Next, the operation of the projection searching device 10 will be described with reference to the flowcharts of FIGS.

  The requester of the protrusion search places the protrusion searcher 10 at the entrance of the room that is the object of the protrusion search (step S1). Next, the client performs initial setting (step S2). In the initial setting, the abnormal temperature to be set, the mail address of the requester, the length of the four sides of the target room, and the like are input to the protrusion searcher 10 by voice or operation on the OP panel 127. Further, the client resets all counters and flags in the protrusion searcher 10. Also, a request for initializing the contents of the display information storage unit 25 is input.

  Next, the client issues a start instruction to the protrusion searcher 10 by voice or operation on the OP panel 127 (step S3). Thereafter, the protrusion search device automatically executes the process.

  The tire axis switching control unit 105 advances the protrusion searching device 10 via the tire driving unit 122 (step S4). When the room movement control unit 102 detects that the nose tip sensor 115 has been actuated (detected an object), the microcomputer 101 determines that the nose tip sensor 115 has detected the wall surface, and starts the process of step S11. When other sensors are activated before the nose tip sensor 115 is activated, the following processing is performed in accordance with the operation status of each sensor.

  When the overhead sensor 114 is activated, the room movement control unit 102 determines that the protrusion search device 10 exists in a space that is narrow enough to prevent the head from entering, and notifies the tire axis switching control unit 105 of the fact. To do. The tire axis switching control unit 105 causes the protrusion searcher 10 to move backward through the tire driving unit 122 until all the sensors no longer operate (step S22). The input / output control unit 106 causes the camera / light unit 129 to photograph a narrow space ahead (step S22). In addition, the microcomputer 101 notifies the client of the voice through the speaker in the microphone / speaker unit 128 and transmits the mail to the requesting portable terminal 400 (step S23). The contents of the voice notification and the mail are that there was a narrow space and the projection search could not be performed. When the room movement control unit 102 confirms that all the sensors are not activated, the tire axis switching control unit 105 moves the protrusion searcher 10 to the left by 10 cm via the tire driving unit 122 (step S24). . Then, the process returns to step S4. The tire driving unit 122 increments the value of the lateral counter 140 by 1 every time the protrusion searching device 10 moves 10 cm to the left.

  When only the lower sensor 109 or the lower sensor 110 provided on the left side of the protrusion search device 10 is activated, the room movement control unit 102 determines that there is a wall (or furniture) on the left side and switches the tire axis. This is notified to the control unit 105. The tire axis switching control unit 105 moves the protrusion searching device 10 to the right via the tire driving unit 122 (step S31). When the room movement control unit 102 confirms that all the sensors are not activated during the movement, the tire axis switching control unit 105 stops the protrusion search device 10 via the tire driving unit 122, Further, it is turned 90 degrees to the left, and the front faces the wall surface (steps S32 and S34). Then, the process returns to step S4.

  When the room movement control unit 102 confirms that any of the sensors is activated during the movement, the tire axis switching control unit 105 does not operate all the sensors via the tire driving unit 122 because it cannot turn. The protrusion searching device 10 is moved backward to the state. Thereafter, the tire axis switching control unit 105 stops the protrusion searching device 10 via the tire driving unit 122, and further moves the protrusion searching device 10 to the left (steps S32 and S33). Then, the process returns to step S4.

  When the lower sensor 109 or the lower sensor 110 provided on the left side of the protrusion searching device 10 and the lower sensor 112 or 113 provided on the right side are operated together, the room movement control unit 102 It is determined that the gap is not wide enough for the object searcher 10 to enter. In that case, the microcomputer 101 sends a voice notification to the requester and sends a mail to the requesting portable terminal 400 (step S41). The contents of the voice notification and the e-mail are that the gap was narrow and the protrusion search could not be performed. Further, the tire axis switching control unit 105 moves the protrusion searching device 10 backward through the tire driving unit 122 and then moves it 10 cm to the left (step S42). Then, the process returns to step S4.

  When only the lower sensor 112 or the lower sensor 113 is activated, the tire axis switching control unit 105 moves the protrusion searcher 10 to the left by 10 cm via the tire driving unit 122 (step S51). Then, the process returns to step S4.

  In step S <b> 11, the protrusion searcher 10 performs a process for starting a protrusion search. In other words, the tire axis switching control unit 105 retreats the protrusion searching device 10 by 10 cm via the tire driving unit 122 and secures a space for the touch brush 116 to protrude. Next, the swing control unit 104 outputs an instruction signal for projecting the touch brush 116 to the swing roller unit 120. In response to the instruction signal, the swing roller unit 120 causes the touch brush 116 to protrude from the storage area 123 (step S12).

  Until the room movement control unit 102 confirms that any of the wall sensors 117 </ b> A to 117 </ b> C installed at the tip of the touch brush 116 is activated, the tire axis switching control unit 105 is connected via the tire driving unit 122. Then, the protrusion searcher 10 is moved forward (steps S13 and S14). When the room movement control unit 102 confirms that any of the wall sensors 117A to 117C is activated, the process proceeds to step S61.

  If the wall sensors 117A to 117C do not operate even when the protrusion searching device 10 moves forward a predetermined distance, the room movement control unit 102 determines that there is no wall. In that case, the swing control unit 104 outputs an instruction signal to lower the swing roller unit 120 to the swing mechanism unit 121. In addition, the tire axis switching control unit 105 moves the protrusion searching device 10 to the left by 10 cm via the tire driving unit 122 in order to move the protrusion searching device 10 to the next search area. Then, the process returns to step S4. The reason why the instruction signal for lowering the swing roller unit 120 is output is that the process of step S11 may be executed after the swing roller unit 120 is lifted.

  In step S <b> 61, the swing control unit 104 outputs an instruction signal for raising the swing roller unit 120 to the swing mechanism unit 121 in order to start collecting contact information. The swing mechanism unit 121 raises the swing roller unit 120 at a constant speed in response to the instruction signal. Then, the touch brush control unit 103 collects contact information every time the swing roller unit 120 moves 5 mm (step S62). When the collection of the contact information is started, the touch brush control unit 103 collects the contact information when the swing roller unit 120 starts to rise. That is, when the swing roller unit 120 is at the lowest position, the first contact information is collected. Further, the swing mechanism unit 121 increments the value of the vertical counter 141 every time it rises by 5 mm.

  In the process of step S <b> 62, the touch brush control unit 103 reads contact information from contact sensors provided on the respective rod-shaped bodies of the protruding touch brush 116. The reading cycle is every time the swing roller unit 120 moves 5 mm. The touch brush control unit 103 transmits the read contact information to the protrusion center 20 via the main body side communication control unit 150. In the protrusion center 20, the control unit 21 stores contact information in the register 26. As described above, when the contact information indicating that a plurality of contact sensors are activated in each rod-like body is output, the touch brush control unit 103 is arranged at the position farthest from the wall surface. Only the contact information from the sensor is set to “1”. Further, the register 26 stores contact information for a height of 10 mm and a width of 10 cm, which is a single contact information collection area. When the search range of the room is 5 m in height and 100 m in length on all sides, the contact information is stored in the register 26 as many times as that.

  The microcomputer 101 confirms whether or not a protrusion has been detected based on the contact information (step S63). Specifically, it is confirmed whether or not there is “1” in the contact information. If there is “1” in the contact information, the process proceeds to step S91. If there is no “1” in the contact information, it is confirmed whether or not the lower flag is ON (step S64).

  The fact that the lower flag is ON indicates that the swing roller unit 120 is lowered after detecting the protrusion when the swing roller unit 120 (specifically, the touch brush 116) is raised. means.

  When the lower flag is OFF, the microcomputer 101 sets data indicating the current position of the swing roller unit 120 (specifically, the touch brush 116) as a starting point address (step S71). Further, the protrusion processing flag is turned off (step S72).

  The protrusion processing flag is set so that the protrusion roller is detected when a protrusion is detected when the swing roller part 120 is raised and after the protrusion is detected when the swing roller part 120 is raised. Is turned on when is lowered.

  Next, the microcomputer 101 checks whether or not the upper flag is ON (step S73). If the upper flag is not ON, the microcomputer 101 returns to step S62. If the upper flag is ON, the protrusion processing flag is turned ON, the upper flag is turned OFF, and the lower flag is turned ON (step S74). Further, the projection number is incremented by 1 and data indicating the current position of the swing roller unit 120 (specifically, the touch brush 116) is set as a return address (step S75). The updated projection number (+1 incremented projection number) is transmitted to the projection center 20 via the main body side communication control unit 150.

  Then, the swing control unit 104 outputs an instruction signal for lowering the swing roller unit 120 to the swing mechanism unit 121 (step S76). The swing mechanism unit 121 lowers the swing roller unit 120 at a constant speed in response to the instruction signal. Thereafter, the process returns to step S62.

  If the microcomputer 101 confirms that the lower flag is ON in the process of step S64, the microcomputer 101 checks whether the LAST flag is ON (step S65). If the LAST flag is OFF, the process returns to step S62. If the LAST flag is ON, the upper flag, the lower flag, and the LAST flag are turned OFF, and the process proceeds to step S81.

  When the lower flag is ON, the microcomputer 101 turns OFF the upper flag, the lower flag, and the LAST flag when the position of the swing roller unit 120 is the position indicated by the data set in the return address. Then, the swing control unit 104 is caused to output an instruction to raise the swing roller unit 120 to the position indicated by the data set in the return address. Then, the process returns to step S62.

  The LAST flag is turned ON when a protrusion is detected when the lower flag is ON. The fact that the projection is not detected and the lower flag is ON means that the projection is detected when the swing roller portion 120 is lowered after the projection is detected when the swing roller portion 120 is raised. It means that the situation is not detected. In this situation, the fact that the LAST flag is ON means that a protrusion has been detected at least once when the swing roller unit 120 (specifically, the touch brush 116) is lowered. Therefore, if the LAST flag is ON, that is, if a protrusion is detected even when the swing roller unit 120 is lowered, the process proceeds to step S81.

  In step S81, the graphic processing unit 23A of the risk investigation processing unit 23 in the projection center 20 uses the contact information corresponding to the projection number (N) and the contact information corresponding to the projection number (N + 1) of the next number. To perform graphic processing. When contact information including “1” is stored in the register 26 in the protrusion center 20, the contents of the register 26 are transferred to the contact information storage unit 23 </ b> B in association with the protrusion number.

  The graphic processing is to create a graphic such as an arrow on the right side of FIG. 12 from the contact information stored in the contact information storage unit 23B. However, it is not necessary to actually create a figure, and a figure such as an arrow on the right side of FIG. 12 may be recognized based on the contact information stored in the contact information storage unit 23B. Since the contact information includes position information (coordinate values in the Y direction), the risk investigation processing unit 23 determines the shape of the protrusion based on the position of the contact sensor indicating the contact state with the object on the rod-shaped body. become. In addition, the above description focuses on a single rod-like body. However, since the touch brush 116 is provided with 20 rod-like bodies in the horizontal direction, the risk investigation processing unit 23 is connected to the object. Based on the rod-like body having the contact sensor indicating the contact state, that is, based on the coordinate value in the X direction, the shape of the protrusion perpendicular to the paper surface in FIG. 12 can be grasped. That is, the risk investigation processing unit 23 determines the shape of the protrusion based on the position of the rod-shaped body whose detection signal from the contact sensor indicates the contact state with the object.

  The contact information corresponding to the protrusion number (N) is contact information collected when the swing roller unit 120 is raised, and the contact information corresponding to the protrusion number (N + 1) is the swing roller unit 120 for the same area. Since they are the contact information collected when descending, they should match. However, if they do not match, for example, in the contact information, “1” in either the contact information corresponding to the protrusion number (N) or the contact information corresponding to the protrusion number (N + 1) is “ 1 ”.

  The risk investigation processing unit 23 checks whether or not the protrusion is dangerous based on the result of the graphic processing (step S82). For example, when the area of the tip of the recognized protrusion is equal to or smaller than a predetermined area (an example in the case of being in the alarm output corresponding shape range), it is determined that the protrusion is dangerous. If it is determined that the protrusion is dangerous, the process proceeds to step S101. For example, when the height of the protrusion is 1 cm or more, the process proceeds to step S101.

  If the protrusion is not dangerous, and the height of the protrusion is less than 1 cm, the control unit 21 in the protrusion center 20 passes through the center side communication control unit 22 to detect the protrusion. 10 main body 11 is instructed to send a voice notification to the requester and to send a mail to the requesting portable terminal 400. The microcomputer 101 in the main body 11 sends a voice notification to the requester and sends a mail to the requesting portable terminal 400 (step S84). The content of the voice notification and mail is that a protrusion was found.

  Further, in the main body 11 of the protrusion searcher 10, the swing control unit 104 issues an instruction to raise the swing roller unit 120 to the position indicated by the data set in the return address via the swing mechanism unit 121. (Step S85). Thereafter, the process returns to step S61.

  In step S <b> 101, the control unit 21 of the projection center 20 transmits an imaging instruction to the main body 11 of the projection search device 10 via the center side communication control unit 22. In the main body 11, the input / output control unit 106 causes the camera / light unit 129 to photograph the front. The microcomputer 101 transmits imaging data of an image captured by the camera / light unit 129 to the protrusion center 20 via the main body side communication control unit 150. In the projection center 20, the control unit 21 receives the imaging data and stores it in the projection memory 27. Further, the projection map creation unit 24 sets a value obtained by multiplying the number set in the horizontal counter 140 by 10 cm in the horizontal counter 24A. Further, a value obtained by multiplying the number set in the vertical counter 141 by 5 mm is set in the vertical counter 24B. Then, the value set in the horizontal counter 24A and the value set in the vertical counter 24B are converted into the size of the display screen of the display panel 126, and then stored in the projection memory 27 as horizontal position information and vertical position information. .

  Further, the risk investigation processing unit 23 transfers the storage contents of the protrusion memory 27 to the display information storage unit 25. Thereafter, the control unit 21 transmits the data stored in the display information storage unit 25 to the main body 11 of the projection search device 10 via the center side communication control unit 22. In the main body 11 of the projection searching device 10, the input / output control unit 106 outputs the data received from the projection center 20 to the display board 126 and causes the display board 126 to display the data.

  In addition, the control unit 21 in the protrusion center 20 instructs the main body 11 of the protrusion searching device 10 to send a mail to the requesting mobile terminal 400 via the center side communication control unit 22. The microcomputer 101 in the main body 11 sends a mail to the requesting portable terminal 400 (step S102). The content of the email is that a projection that should be noted is detected.

  Further, the control unit 21 in the projection center 20 transmits an instruction to retract the projection searcher 10 to the projection searcher 10 via the center side communication control unit 22 (step S103). In the main body 11 of the protrusion searching device 10, the tire shaft switching control unit 105 moves the protrusion searching device 10 backward via the tire driving unit 122 (step S103). Further, the tire axis switching control unit 105 moves the protrusion searching device 10 to the left via the tire driving unit 122 (step S104). Then, the process returns to step S4.

  In step S91, the microcomputer 101 confirms whether the protrusion processing flag is ON. When the protrusion processing flag is OFF, the protrusion number is incremented by 1, and the protrusion processing flag and the upper flag are turned ON (step S92). Then, control goes to a step S93. When the projection processing flag is ON, the process of step S92 is not executed and the process proceeds to step S93.

  In the projection center 20, the control unit 21 stores the contents of the register 26 in the contact information storage unit 23B in association with the projection number (step S93).

  Further, the microcomputer 101 confirms whether or not the lower flag is ON (step S94). If the lower flag is OFF, the process returns to step S62. If the lower flag is ON, the LAST flag is turned ON (step S95), and the process returns to step S62.

  If the touch brush control unit 103 detects that the temperature sensor 118 or the magnetic field sensor 119 has been operated while the projection search device 10 is operating, the input / output control unit 106 is connected to the camera / light unit 129. The front is photographed, and the photographed image is displayed on the display board 126 (step S201). In addition, the input / output control unit 106 sends a voice notification to the requester and transmits a mail to the requesting portable terminal 400 (step S202). The contents of the voice notification and mail are that an abnormal temperature is detected or magnetism is detected. Further, the tire axis switching control unit 105 moves the protrusion searching device 10 backward via the tire driving unit 122 (step S203). Then, the protrusion searching device 10 stands by until there is an operation on the OP panel 127 by the requester for resumption.

  When the protrusion searching device 10 is operating, if the touch brush control unit 103 detects that the internal pressure switch 107 is activated, the tire axis switching control unit 105 is connected via the tire driving unit 122. The protrusion searching device 10 is stopped (step S301). Further, the swing control unit 104 stores the swing roller unit 120 in the storage area 123 via the swing mechanism unit 121 (step S302). In addition, the input / output control unit 106 performs voice notification to the requester and transmits mail to the request source portable terminal 400 (step S303). The contents of the voice notification and the e-mail are that a load is applied to the protrusion searching device 10 due to a person getting on the protrusion searching device 10 or the like.

  Further, the input / output control unit 106 outputs a warning sound from the speaker of the microphone / speaker 128 (step S304). The input / output control unit 106 continues outputting the warning sound until the client inputs a stop instruction to the OP panel 127 (step S305). When a stop instruction is input to the OP panel 127, the output of the warning sound is stopped. Also, the input / output control unit 106 stops outputting the warning sound even when the internal pressure switch 107 is not activated.

  As described above, in this embodiment, the user (client) can search for protrusions on the walls of the room and the side surfaces of the furniture without performing the work by himself / herself. In addition, it is possible to search for protrusions even in an environment where it is difficult to visually recognize protrusions such as an environment where there is no room light or the like. Furthermore, it is possible to search for protrusions even in a narrow space that is difficult for the user to search.

  In this embodiment, when the microcomputer 101 detects a protrusion, the microcomputer 101 raises the touch brush 116 to collect contact information, and lowers the touch brush 116 to collect contact information. Although the contact information is collected twice, the contact information may be collected only once when a protrusion is detected.

  Moreover, although the case where a room having a height of 5 m and a side length of 100 m is searched is taken as an example, such a size is an example. Moreover, the size of the rod-shaped body in the touch brush 116 in this embodiment is also an example.

  In addition, the touch brush 116 can not only search for protrusions on a flat surface such as a wall surface, but can also search for protrusions on an uneven surface.

  The present invention is suitably applied to a use for searching for the presence or absence of protrusions present on an indoor wall or the like.

It is explanatory drawing which shows the principal part of the protrusion search device by this invention. It is a block diagram which shows the apparatus structure of a protrusion search device. It is a schematic diagram at the time of seeing a protrusion search machine from the side. It is a schematic diagram at the time of seeing a protrusion search machine from the top. It is a schematic diagram at the time of seeing a protrusion search machine from the bottom. It is explanatory drawing for demonstrating operation | movement of a swing roller part. It is explanatory drawing for demonstrating the shape of a touch brush. It is explanatory drawing which expands and shows a rod-shaped body. It is explanatory drawing for demonstrating the effect | action of a general touch panel. It is explanatory drawing for demonstrating the effect | action of the touch panel formed equivalent to the touch brush. It is explanatory drawing which shows the installation position of a wall sensor. It is a model figure which shows the relationship between a protrusion and contact information. It is explanatory drawing for demonstrating the method of the protrusion search of the wall surface indoors by a protrusion search device. It is explanatory drawing which shows the structural example of the register | resistor in a protrusion center. It is explanatory drawing which shows the relationship between a protrusion search range and a register | resistor. It is explanatory drawing which shows the specific example of a protrusion search process. It is explanatory drawing for demonstrating processes, such as a protrusion map creation part. It is a flowchart which shows operation | movement of a protrusion search device. It is a flowchart which shows operation | movement of a protrusion search device. It is a flowchart which shows operation | movement of a protrusion search device. It is a flowchart which shows operation | movement of a protrusion search device. It is a flowchart which shows operation | movement of a protrusion search device. It is a flowchart which shows operation | movement of a protrusion search device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Protrusion search machine 11 Main body 20 Protrusion center 21 Control part 22 Center side communication control part 23 Risk degree investigation processing part 23A Graphic processing part 23B Contact information storage part 24 Protrusion map creation part 25 Display information storage part 26 Register 27 Protrusion Memory 100 Internet 101 Microcomputer 102 Room movement control unit 103 Touch brush control unit 104 Swing control unit 105 Tire switching control unit 106 Input / output control unit 107 Internal pressure switch 108 Upper sensor 109, 110, 111, 112, 113 Lower sensor 114 Head sensor 115 Nose tip sensor 116 Touch brush 117A, 117B, 117C Wall sensor 118 Temperature sensor 119 Magnetic field sensor 120 Swing roller part 121 Swing mechanism part 122 Tire drive part 125 Tire 126 Display 127 OP panel 128 microphone / speaker 129 camera write unit 131 battery 133 projection process flag 140 horizontal counter 141 vertical counter 150 main body side communication control unit

Claims (11)

A projection searching device for searching for a projection present on a rising surface rising from a horizontal plane indoors,
A contact body in which a plurality of rod-shaped bodies having a plurality of contact sensors arranged in the longitudinal direction are arranged in the lateral direction;
In a state where the longitudinal direction of the rod-shaped body is orthogonal to the rising surface indoors, a contact body driving unit that moves the contact body in the vertical direction while bringing the tip portion of the rod-shaped body into contact with the rising surface;
A contact body movement control unit that outputs a control signal for moving the contact body to the contact body driving unit;
A contact information input unit that inputs detection signals of contact sensors in the plurality of rod-shaped bodies when the contact body is moving;
A projection detecting unit that detects the presence or absence of a projection on the rising surface based on the detection signal input by the contact information input unit, and determines the shape of the projection when the projection is detected. Projection searching device. When the detection signals of the plurality of contact sensors in the rod-shaped body indicate the contact state with the object, the contact information input unit is a contact sensor disposed at a position farthest from the rising surface indoors among the contact sensors. The projection search device according to claim 1, wherein a detection signal indicating that only indicates a contact state with an object is output to the projection detection unit. The contact body drive unit moves the contact body at a constant speed,
The contact information input unit inputs a detection signal of the contact sensor in the rod-shaped body every time the contact body moves by a certain amount,
The protrusion detection unit determines the shape of the protrusion based on the position of the rod-shaped body in which the detection signal of the contact sensor indicates the contact state with the object and the position of the contact sensor to which the contact information input unit has input the detection signal. The protrusion search device according to claim 2, wherein the protrusion is searched. The alarm output part which outputs an alarm when the shape of the protrusion which the protrusion detection part determined is contained in the predetermined alarm output corresponding | compatible shape range is provided. The protrusion search apparatus of Claim 1. The protrusion search device according to any one of claims 1 to 4, wherein the rod-shaped body is formed of a flexible material. The dome-shaped covering portion capable of transmitting forces from a plurality of different directions to the contact sensor in the rod-shaped body is attached to each of the contact sensors. Protrusion search device. A protrusion search machine equipped with a contact body, a contact body drive section, a contact body movement control section and a contact information input section;
The projection search device according to any one of claims 1 to 6, further comprising a server device that is communicably connected to the projection search device via a communication network and includes a projection detection unit. . The protrusion searcher includes a main body of the protrusion searcher on which the contact body movement control unit and the contact information input unit are mounted, and a search mechanism unit on which the contact body and the contact body drive unit are mounted.
The search mechanism unit includes a storage unit that stores the contact body,
The main body of the protrusion searcher includes a main body driving unit that moves the main body,
The main body drive unit moves the main body so that the tip of the contact body faces the rising surface indoors in a state where the contact body is stored in the storage unit, and then the tip of the contact body becomes the rising surface. When the main body reaches the contact position, the main body is moved backward by a distance corresponding to the length of the contact body,
The protrusion searching device according to claim 7, wherein the contact body driving unit causes the contact body to protrude from the storage portion after the main body is retracted. A projection search method for searching for a projection present on a rising surface rising from a horizontal plane indoors,
In a state where the longitudinal direction of the contact body in which a plurality of rod-shaped bodies having a plurality of contact sensors arranged in the longitudinal direction are arranged in the lateral direction is orthogonal to the rising surface in the room, the tip portion of the rod-shaped body is in contact with the rising surface Move the contact body up and down,
When the contact body is moving, input detection signals of contact sensors in the plurality of rod-shaped bodies,
A projection search method, comprising: detecting the presence or absence of a projection on a rising surface based on a detection signal input by the contact information input unit; and determining the shape of the projection when the projection is detected. When detection signals of a plurality of contact sensors in a rod-shaped body indicate a contact state with an object, among the contact sensors, the detection signals of the contact sensors arranged farthest from the rising surface indoors are used. The method for searching for a protrusion according to claim 9, wherein the height of the protrusion is determined. Move the contact body at a constant speed,
Each time the contact body moves by a certain amount, a detection signal of the contact sensor in the rod-shaped body is input,
The shape of the protrusion is determined based on the position of the rod-shaped body in which the detection signal of the contact sensor indicates the contact state with the object, and the position of the contact sensor to which the contact information input unit has input the detection signal. Method for searching for protrusions.

Images