Measurement system, environment system, measurement method, and program

Abstract

Provided are a measurement system, an environment system, a measurement method, and a program, all of which allow measurement to be performed even when it is difficult to enter a target position by travel. A measurement system (1) includes: a main body unit (1A) configured to be movable inside a specific space (4) including a measurement region (41, 42, 43, 44); and a measurement unit (1B) removably attached to the main body unit (1A). The main body unit (1A) includes a moving mechanism (10) for moving in a specific space (4). The measurement unit (1B) comprises a measurement instrument (11) for measuring a predetermined measurement object relating to an environment in the measurement region (41, 42, 43, 44). The measurement instrument (11) is configured so as to be able to measure a measurement object in a state in which the measurement unit (1B) is removed from the main body unit (1A).

Description

Technical Field

[0001] The present disclosure generally relates to measurement systems, environmental systems, measurement methods, and programs. More particularly, the present disclosure relates to a measurement system designed to measure a measurement object related to a given environment while moving in a specific space, and also relates to an environmental system, a measurement method, and a program. Background Art

[0002] Patent Document 1 discloses a measurement system configured to be movable inside a specific space. The measurement system includes a moving mechanism and a measuring instrument. When activated, the moving mechanism transports the measuring instrument to a target position inside the specific space so that the measuring instrument measures a predetermined measurement object related to a given environment.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-194642 Summary of the Invention

[0006] In the measurement system disclosed in Patent Document 1, the moving body serving as the measurement system sometimes has difficulty entering the target position due to, for example, the presence of obstacles in its measurement area or for other reasons.

[0007] An object of the present disclosure is to provide a measurement system, an environmental system, a measurement method, and a program, all of which allow measurement to be easily performed even in such a situation where it is difficult for the moving body to enter the target position.

[0008] A measurement system according to one aspect of the present disclosure includes: a main body unit configured to be movable inside a specific space including a measurement area; and a measurement unit removably attached to the main body unit. The main body unit includes a moving mechanism for moving in the specific space. The measurement unit includes a measuring instrument for measuring a predetermined measurement object related to the environment in the measurement area. The measuring instrument is configured to be able to measure the measurement object in a state where the measurement unit is removed from the main body unit.

[0009] An environmental system according to another aspect of the present disclosure includes the above-described measurement system and an environment generation system. The environment generation system includes an object that is at least one of a generation unit and a sensor. Each of the generation unit and the sensor generates the environment in the specific space.

[0010] A measurement method according to another aspect of the present disclosure is a measurement method that is performed by using a measurement system that is configured to move in a specific space in which an object is installed. The object is at least one of a generation unit and a sensor of an environment generation system. The environment generation system generates an environment in the specific space. The measurement method includes: a movement step that includes moving a main body unit, in a state where a measurement unit is attached thereto, to a measurement area in the specific space; and a measurement step that includes measuring a measurement object related to the environment in the measurement area by using the measurement unit removed from the main body unit after the main body unit has stopped moving.

[0011] A program according to another aspect of the present disclosure is designed such that one or more processors perform the above-described measurement method. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a block diagram illustrating the structures of a measurement system and an environment generation system according to typical embodiments;

[0013] Figure 2 is a front view schematically illustrating the measurement system;

[0014] Figure 3 is a side view schematically illustrating the measurement system;

[0015] Figure 4 is a side view schematically illustrating a state in which measurement is performed by using the measurement system; and

[0016] Figure 5 is a perspective view schematically illustrating means for estimating a position by using the measurement system. DETAILED DESCRIPTION

[0017] A measurement system, an environment generation system, and an environment system according to typical embodiments will now be described with reference to the drawings.

[0018] Note that all of the drawings to be referred to in the following description of the embodiments are schematic drawings. Therefore, the ratios of the sizes (including thicknesses) of the respective constituent elements illustrated in the drawings do not always reflect their actual size ratios.

[0019] (Embodiment)

[0020] (1) Outline

[0021] The outline of a measurement system 1, an environment generation system 2, and an environment system 3 according to the present embodiment will be described with reference to the drawings.

[0022] As Figure 1As shown, the environmental system 3 according to the present embodiment includes a measurement system 1 and a plurality of environmental generation systems 2. The plurality of environmental generation systems 2 may be, for example, four environmental generation systems 2.

[0023] Each of the plurality of environmental generation systems 2 is, for example, a system for generating an environment in a specific space 4. The specific space 4 is an internal space of a non-residential facility such as an office, a store, a school, or a tunnel. The specific space 4 is not limited to the internal space of a non-residential facility, but may also be an internal space of an apartment complex or a single-family house. A plurality of objects 20 are arranged at appropriate positions in the specific space 4 (refer to Figure 1 and Figure 4 ). Each of the plurality of objects 20 is at least one of a generation unit 21 and a sensor 22 included in the environmental generation system 2.

[0024] The environmental generation system 2 is, for example, a system for creating an illumination environment in the specific space 4. That is, the generation unit 21 according to the present embodiment is a lighting fixture configured to generate light in the specific space 4.

[0025] The measurement system 1 is a system designed to measure a predetermined measurement object related to the environment in the specific space 4 while autonomously moving in the specific space 4. The measurement system 1 includes a main body unit 1A and a measurement unit 1B separately provided from the main body unit 1A. The main body unit 1A is configured to be movable inside the specific space 4 including measurement areas 41, 42, 43, and 44. Each of the measurement areas 41, 42, 43, and 44 does not have to have any specific shape or size. The shapes and sizes of the measurement areas 41, 42, 43, and 44 may be the same as or different from each other, and either is appropriate. The object 20 is arranged at an appropriate position in each of the measurement areas 41, 42, 43, and 44. The measurement unit 1B is configured to be removably attached to the main body unit 1A.

[0026] The main body unit 1A includes a moving mechanism 10. The moving mechanism 10 is a mechanism for moving in the specific space 4. When the measurement system 1 starts measuring the specific space 4, the moving mechanism 10 is activated to sequentially move through the measurement areas 41, 42, 43, and 44 in the specific space 4.

[0027] The measurement unit 1B includes a measuring instrument 11. The measuring instrument 11 measures a predetermined measurement object in each of the measurement areas 41, 42, 43, and 44. The predetermined measurement object according to the present embodiment is the illuminance of the light generated by the generation unit 21 of the environmental generation system 2.

[0028] In the measurement system 1 according to the present embodiment, with the measurement unit 1B attached to the main unit 1A, the measuring instrument 11 of the measurement unit 1B can measure a predetermined measurement object. Further, in the measurement system 1 according to the present embodiment, even when the measurement unit 1B is removed from the main unit 1A, the measuring instrument 11 of the measurement unit 1B can measure a predetermined measurement object.

[0029] Therefore, the measurement system 1 according to the present embodiment can easily perform measurement in a state where the measurement unit 1B is removed from the main unit 1A even in a place where the main unit 1A cannot enter, thus improving the work efficiency.

[0030] (2) Structure

[0031] The structures of the measurement system 1, the environment generation system 2, and the environment system 3 according to the present embodiment will be described in further detail.

[0032] As described above, the environment system 3 according to the present embodiment includes a measurement system 1 including a main unit 1A and a measurement unit 1B, and four environment generation systems 2. In the present embodiment, a plurality of measurement areas 41, 42, 43, and 44 correspond one-to-one with the plurality of environment generation systems 2 in the specific space 4.

[0033] (2.1) Main unit

[0034] As Figure 1 shown in and other drawings, the main unit 1A according to the present embodiment includes a moving mechanism 10, a main body position measuring instrument 142, a position estimating unit 145, an output unit 15, a control unit 17, and a storage device 18.

[0035] The moving mechanism 10 is a mechanism for driving the main unit 1A. The moving mechanism 10 includes, for example, a plurality of drive wheels 101, a plurality of driven wheels 102, and a motor for driving the plurality of drive wheels 101. In the moving mechanism 10, the motor starts operating according to an instruction given by the control unit 17, thereby transmitting the rotational force of the motor to the plurality of drive wheels 101, and thereby rotating the plurality of drive wheels 101. Therefore, the main unit 1A and the measurement system 1 including the main unit 1A can move through the measurement areas 41, 42, 43, and 44 in the specific space 4.

[0036] The main body position measuring instrument 142 measures the position of the main unit 1A. That is, the main body position measuring instrument 142 is configured to acquire its own position data of the main unit 1A in a three-dimensional space (refer to Figure 5)。The main body position measuring instrument 142 is, for example, a unit using LiDAR (Light Detection and Ranging) technology. This unit will be hereinafter referred to as the "LiDAR unit". The main body position measuring instrument 142 can acquire data related to the distance to a structure (such as the inner wall or an obstacle in a specific space 4) as its own position data.

[0037] The position estimation unit 145 estimates the position of the measurement unit 1B. As will be described later, the position estimation unit 145 estimates the position of the measurement unit 1B based on the position of the main body unit 1A measured by the main body position measuring instrument 142, the relative position of the measurement unit 1B measured by the relative position measuring instrument 141, and the map information of the specific space 4.

[0038] The output unit 15 outputs correspondence information. This correspondence information is information indicating the correspondence between the output information based on the measurement result obtained by the measuring instrument 11 and the object 20. For example, if the object 20 is the generation unit 21, the correspondence information includes control information as the output information and identification information for identifying the generation unit 21. For example, if the object 20 is the sensor 22, the correspondence information includes adjustment information as the output information and identification information for identifying the sensor 22.

[0039] The control unit 17 may, for example, include a computer system including one or more processors and one or more memories as its main components. The functions of the control unit 17 are performed by causing the processor of the computer system to execute the program stored in the memory of the computer system. This program may be pre-stored in the memory. Alternatively, this program may also be downloaded via a telecommunication line such as the Internet, or distributed after being stored in a non-transitory storage medium such as a memory card.

[0040] The control unit 17 controls each of the moving mechanism 10, the main body position measuring instrument 142, the position estimation unit 145, and the output unit 15 included in the main body unit 1A. In addition, the control unit 17 also controls each of the measuring instrument 11, the relative position measuring instrument 141, and the communication interface 16 included in the measurement unit 1B. The control unit 17 generates control information for controlling the object 20 as the output information.

[0041] For example, if the object 20 is a generation unit 21 (e.g., a lighting fixture in the present embodiment), when the measurement result obtained by the measuring instrument 11 is different from a preset value, the control unit 17 generates control information for controlling the output of the generation unit 21 to adjust the illuminance of the light generated by the generation unit 21 to the preset value as output information. More specifically, the control unit 17 generates correspondence information including control information for controlling the output of the generation unit 21, and then causes the output unit 15 to output the thus-generated correspondence information. The correspondence information output by the output unit 15 is transmitted to the environment generation system 2 via the communication interface 16 included in the measurement unit 1B. In the environment generation system 2, a control unit 27 (to be described later) controls the output of the generation unit 21 by following the control information included in the correspondence information.

[0042] The storage device 18 is implemented as, for example, any device selected from the group consisting of a ROM (read-only memory), a RAM (random access memory), and an EEPROM (electrically erasable programmable read-only memory). The storage device 18 can store its own position data, relative position data, map data, route data, sensor position data, measurement position data, initial setting data, and measurement data. The storage device 18 can also store data related to the measurement order for a plurality of measurement areas 41, 42, 43, and 44.

[0043] The above-mentioned own position data is data related to the position of the main unit 1A obtained by the main body position measuring instrument 142. The relative position data is data related to the relative position of the measurement unit 1B measured by the relative position measuring instrument 141. The map data is data related to the positions of the structures installed in the specific space 4. The route data is data related to the route to the object.

[0044] The sensor position data is data related to the position of the sensor 22 in the specific space 4. As Figure 5 shown, the sensor position data includes an X coordinate as a coordinate in the X-axis direction, a Y coordinate as a coordinate in the Y-axis direction, and a Z coordinate as a coordinate in the Z-axis direction. The sensor position data is stored in the storage device 18 in a format associated with the identification information for identifying the sensor 22.

[0045] The measurement position data is data related to the position where the measuring instrument 11 performs measurement (i.e., the measurement point). One or more measurement points are set for each of the measurement areas 41, 42, 43, and 44. The measurement position data is stored in the storage device 18 in a format associated with the identification information for identifying the generation unit 21. The initial setting data is data set by the sensor 22. The initial setting data includes, for example, the identification information for identifying the sensor 22 and the operation mode of the sensor 22. The measurement data is data related to the illuminance of the light obtained as the measurement result by the measuring instrument 11. The measurement data is stored in the storage device 18 in a format associated with the identification information of the generation unit 21.

[0046] The main body unit 1A includes a housing 19 that serves as the housing of the main body unit 1A. A moving mechanism 10 is provided at the lower part of the housing 19. The housing 19 is driven along a traveling surface such as the ground by rotating a plurality of drive wheels 101 of the moving mechanism 10.

[0047] A main body position measuring instrument 142 is provided at the upper part of the housing 19. In addition, a holder 192 for removably holding the measurement unit 1B is provided for the housing 19. The holder 192 is located, for example, below the part of the housing 19 where the main body position measuring instrument 142 is installed. The position estimation unit 145, the output unit 15, the control unit 17, and the storage device 18 are accommodated inside the housing 19.

[0048] (2.2) Measurement unit

[0049] The measurement unit 1B according to the present embodiment includes a measuring instrument 11, a support member 12, an operation command input device 13, a relative position measuring instrument 141, and a communication interface 16.

[0050] The measuring instrument 11 measures a predetermined measurement object related to the environment in the measurement areas 41, 42, 43, and 44. In the present embodiment, the predetermined measurement object is the illuminance of the light generated by the generation unit 21. The generation unit 21 is a lighting fixture. The measuring instrument 11 measures the illuminance of the light generated by the generation unit 21 as the measurement object. In the present embodiment, the measuring instrument 11 is an illuminometer. The measuring instrument 11 outputs data related to the illuminance of the light as the measurement result to the control unit 17.

[0051] The measurement unit 1B can be selectively attached to the main body unit 1A (hereinafter referred to as the "attached state") or removed from the main body unit 1A (hereinafter referred to as the "removed state"). The measuring instrument 11 is configured to be able to measure the measurement object in both the attached state and the removed state. The measuring instrument 11 is configured to be able to output data related to the illuminance of the light as the measurement result to the control unit 17 in both the attached state and the removed state.

[0052] The support member 12 is connected to the measuring instrument 11. The support member 12 is a rod-shaped member configured to support the measuring instrument 11. In the attached state, the measuring instrument 11 is supported by the main body unit 1A via the support member 12.

[0053] The support member 12 includes a support portion 121, a grip portion 122, a connection portion 123, and an attachment portion 125 that is removably attached to the holder 192 of the main body unit 1A. The support portion 121 is the part for supporting the measuring instrument 11. The grip portion 122 is a rod-shaped portion provided for the user to grip this part. As used herein, the user is, for example, a contractor. The connection portion 123 is the part that connects the support portion 121 to the grip portion 122. The support portion 121 and the grip portion 122 can be connected to each other via the connection portion 123 to integrally form an L-shaped member. The attachment portion 125 is the part that is removably attached to the holder 192 of the main body unit 1A.

[0054] The angle formed by the support portion 121 and the measuring instrument 11 supported by the support portion 121 can be changed via the connection portion 123. Optionally, an actuator for changing the angle of the support portion 121 can also be provided for the support member 12. In the attached state, the measuring instrument 11 is supported directly above the main body unit 1A via the support member 12.

[0055] The operation command input device 13 is configured to accept operation commands input by the user. In this example, the user is, for example, a contractor. The operation command input device 13 is installed on the part of the grip portion 122 that forms a part of the support member 12. The operation command input device 13 is, for example, an operation switch configured to be ready for operation by the fingers of the user holding the grip portion 122. The operation command input device 13 is configured to be able to output the operation result of the user to the control unit 17 in both the attached state and the removed state.

[0056] The relative position measuring instrument 141 is configured to measure the relative position of the measuring unit 1B with respect to the main body unit 1A in a three-dimensional space. The relative position measuring instrument 141 is, for example, a LiDAR unit supported by the support member 12. The relative position measuring instrument 141 is configured to be able to output the relative position of the measuring unit 1B as a measurement result to the control unit 17 in both the attached state and the removed state.

[0057] The measuring unit 1B is electrically connected to the main body unit 1A via a flexible electric wire 5. Each of the measuring instrument 11, the operation command input device 13, the relative position measuring instrument 141, and the communication interface 16 included in the measuring unit 1B is connected to the control unit 17 of the main body unit 1A via the electric wire 5. Preferably, the electric wire 5 is provided to be extendable from the main body unit 1A.

[0058] It is also preferable that the measurement unit 1B is wirelessly connected to the main unit 1A via wireless communication such as infrared communication without using the electric wire 5. In this case, each of the measuring instrument 11, the support member 12, the operation command input device 13, the relative position measuring instrument 141, and the communication interface 16 included in the measurement unit 1B is wirelessly connected to the control unit 17 of the main unit 1A.

[0059] The communication interface 16 is, for example, a communication module for wirelessly communicating with the environment generation system 2. The communication interface 16, for example, establishes infrared communication with the environment generation system 2. The communication interface 16, for example, receives the initial setting data of the sensor 22 from the environment generation system 2. If the object 20 is the generation unit 21, the communication interface 16 outputs correspondence information of a certain type whose output information is control information for controlling the output of the generation unit 21 to the environment generation system 2. If the object 20 is the sensor 22, the communication interface 16 outputs correspondence information of another type whose output information is the initial setting data or adjustment information to the environment generation system 2. The adjustment information is information for adjusting the state of the sensor 22. The adjustment information is, for example, information for adjusting the sensitivity of the sensor 22.

[0060] (2.3) Environment generation system

[0061] As Figure 1 shown, the environment generation system 2 according to the present embodiment includes a communication interface 26, a control unit 27, a storage device 28, and a generation unit 21 and a sensor 22 serving as the object 20. The environment generation system 2 according to the present embodiment is a sensor-equipped lighting system including the sensor 22 and the generation unit 21 serving as a lighting fixture for generating light in the specific space 4.

[0062] The generation unit 21 generates the environment in the specific space 4. In the present embodiment, the generation unit 21 is a lighting fixture for generating light in the specific space 4. The generation unit 21 is designed to switch its operation mode between a mode in which the generation unit 21 generates light and a mode in which the generation unit 21 does not generate light according to an output signal indicating the detection result of the sensor 22.

[0063] The sensor 22 is, for example, a brightness sensor. The sensor 22 is, for example, a photodiode type sensor. For example, when the preset illuminance in the installation area is 500 lux, even when external light enters from the outside of a given environment during the day or the light amount decreases at night, the sensor 22 is used to cause the generation unit 21 to start outputting or operating in order to maintain the illuminance in the installation area at 500 lux.

[0064] The communication interface 26 is, for example, a communication module for wireless communication with the measurement system 1. The communication interface 26 establishes, for example, infrared communication with the measurement unit 1B of the measurement system 1. The communication interface 26 transmits, for example, the initial setting data of the sensor 22 stored in the storage device 28 according to a request from the measurement system 1. If the object 20 is the generation unit 21, the communication interface 26 receives correspondence information including control information for controlling the operation of the generation unit 21 from the measurement system 1. If the object 20 is the sensor 22, the communication interface 26 receives correspondence information including adjustment information for adjusting the state of the sensor 22 from the measurement system 1.

[0065] The control unit 27 may include, for example, a computer system including one or more processors and one or more memories as its main components. The functions of the control unit 27 are performed by causing the processor of the computer system to execute a program stored in the memory of the computer system. The program may be pre-stored in the memory. Alternatively, the program may also be downloaded via a telecommunication line such as the Internet, or distributed after being stored in a non-transitory storage medium such as a memory card. The control unit 27 controls each of the generation unit 21, the sensor 22, and the communication interface 26.

[0066] The storage device 28 is implemented as, for example, any device selected from the group consisting of a ROM, a RAM, and an EEPROM. The storage device 28 may store identification information of each of the generation unit 21 and the sensor 22. The storage device 28 may store a preset value of the illuminance of the light generated by the generation unit 21. In addition, the storage device 28 may also store the initial setting data related to the sensor 22.

[0067] (3) Measurement method

[0068] The measurement method performed by using the measurement system 1 according to the present embodiment includes a movement step and a measurement step. In the measurement method according to the present embodiment, the movement step and the measurement step are performed each time the measurement system 1 makes a measurement at a set measurement point. The measurement system 1 used in this case is a measurement system 1 that moves in a specific space 4 in which the object 20 is installed. The object 20 is at least one of the generation unit 21 and the sensor 22 of the environment generation system 2 that generates the environment in the specific space 4. The storage device 18 of the measurement system 1 stores a program for causing one or more processors to execute this measurement method.

[0069] The moving step is as follows: The main body unit 1A moves to a predetermined position in any one of the plurality of measurement areas 41, 42, 43, and 44 in the specific space 4 in a state where the measurement unit 1B is attached. In this moving step, for example, when driving the moving mechanism 10 of the main body unit 1A according to an instruction given by the control unit 17, the main body unit 1A is moved toward the predetermined position in the measurement area 41. The control unit 17 uses the self-position data obtained by the main body position measuring instrument 142, as well as the map data and the measurement position data read from the storage device 18, to grasp the position of the main body unit 1A in the specific space 4, and thereby controls the moving mechanism 10.

[0070] The measuring step is as follows: The measurement unit 1B of the measurement system 1 that has stopped moving in the moving step measures a measurement object at a predetermined measurement point in any one of the measurement areas 41, 42, 43, and 44.

[0071] For example, in a case where there is no specific obstacle on the traveling surface in the measurement area 41 that would impede its travel, the main body unit 1A moves to a predetermined measurement point in the measurement area 41 in a state where the measurement unit 1B is attached. Then, the measuring instrument 11 of the measurement unit 1B attached to the main body unit 1A measures the measurement object at the predetermined measurement point.

[0072] On the other hand, for example, in a case where there is an obstacle at the predetermined measurement point in the measurement area 41, the main body unit 1A moves to a point that the main body unit 1A can reach and is located near the measurement point in the measurement area 41 in a state where the measurement unit 1B is attached. Then, a user such as a contractor removes the measurement unit 1B from the stopped main body unit 1A, holds the measurement unit 1B, and then manually transports the measurement unit 1B to the predetermined measurement point. Then, the user inputs a command to start measurement, for example, by operating the operation command input device 13 with his or her finger. This enables the measurement unit 1B removed from the main body unit 1A to measure the measurement object related to the environment in the measurement area 41. In the other measurement areas 42, 43, and 44, the user can also measure the measurement object related to the environment by performing the moving step and the measuring step in the same manner. The storage device 18 of the measurement system 1 stores data related to the position of the measurement unit 1B and data related to the measurement object measured by the measuring instrument 11 at this position.

[0073] In the measurement step, the control unit 17 compares the measurement result obtained from the measuring instrument 11 with the preset value read from the storage device 18. If the measurement result is consistent with the preset value, the control unit 17 ends the process. If the measurement result is different from the preset value, the control unit 17 generates correspondence information including control information for controlling the generation unit 21 and identification information of the generation unit 21, and causes the output unit 15 to output the thus generated correspondence information. Similarly, when the preset value is stored in the control unit 27, the control unit 17 also generates correspondence information including control information for controlling the generation unit 21 and identification information of the generation unit 21 based on the measurement result obtained from the measuring instrument 11, and causes the output unit 15 to output the thus generated correspondence information.

[0074] The correspondence information output by the output unit 15 is sent via the communication interface 16 to the environment generation system 2 including the object 20 associated with the measurement area 41. The control information is information for controlling the output of the generation unit 21 such that the illuminance of the light generated by the generation unit 21 is equal to the preset value.

[0075] In the environment generation system 2, when the communication interface 26 receives the correspondence information from the measurement system 1, the control unit 27 checks whether the identification information included in the correspondence information is consistent with the identification information of the generation unit 21 associated with the control unit 27 itself. If the answer is "yes", the control unit 27 controls the output of the generation unit 21 according to the control information included in the correspondence information. As a result, the illuminance of the light generated by the generation unit 21 is adjusted to be equal to the preset value.

[0076] In the above example, the object 20 is the generation unit. However, this is only an example and should not be construed as restrictive. The object 20 can also be the sensor 22. In this case, the output information is adjustment information for adjusting the state of the sensor 22. The output information is, for example, information for adjusting the sensitivity of the sensor 22.

[0077] (4) Estimate the position of the measurement unit

[0078] The position estimation unit 145 included in the main unit 1A estimates the position of the measurement unit 1B removed from the main unit 1A. The position estimation unit 145 estimates the position of the measurement unit 1B based on its own position data, relative position data, and map data. The own position data is data related to the position of the main unit 1A. The relative position data is data related to the relative position of the measurement unit 1B with respect to the main unit 1A. The map data is data related to map information, where the map information is related to the specific space 4.

[0079] The position of the main unit 1A is measured by the main unit position measuring instrument 142 included in the main unit 1A, and the measurement result is stored in the storage device 18. The relative position of the measurement unit 1B with respect to the main unit 1A is measured by the relative position measuring instrument 141 included in the measurement unit 1B, and the measurement result is stored in the storage device 18.

[0080] According to various situations such as the presence of obstacles, the measurement system 1 according to the present embodiment can measure a measurement object in a state where the measurement unit 1B is removed from the main unit 1A. The measurement system 1 can store the measurement result together with data related to the position of the measurement unit 1B at the time of measurement in the storage device 18. The measurement system 1 according to the present embodiment measures while the user is transporting the measurement unit 1B removed from the main unit 1A by holding it with his or her hand in the specific space 4. This enables the measurement system 1 to easily acquire measurement data at any position in the specific space 4 and store the data thus acquired together with data related to the measurement position in the storage device 18.

[0081] (5) Modification example

[0082] Note that the above embodiments are merely typical embodiments among various embodiments of the present disclosure and should not be construed as restrictive. On the contrary, the typical embodiment can be easily modified in various ways according to design choices or any other factors without departing from the scope of the present disclosure.

[0083] Next, modification examples of the typical embodiment will be listed one by one. Note that the modification examples to be described below can be appropriately combined and employed.

[0084] The measurement system 1 and the environment generation system 2 according to the present disclosure include, for example, a computer system in their control units 17, 27. The computer system may include a processor and a memory as its main hardware components. The computer system executes the functions of the measurement system 1 and the environment generation system 2 according to the present disclosure by causing the processor to execute a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system. Alternatively, the program may also be downloaded via a telecommunication line or distributed after being recorded on a certain non-transitory storage medium. Examples of such non-transitory storage media include memory cards, optical discs, or hard disk drives (any of which is readable by the computer system). The processor of the computer system may be constituted by a single or multiple electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). As used herein, "integrated circuits" such as ICs or LSIs are called different names according to their degree of integration. Examples of integrated circuits such as ICs and LSIs include integrated circuits called "system LSIs", "very large scale integrated circuits (VLSIs)", and "ultra large scale integrated circuits (ULSIs)". Optionally, a field programmable gate array (FPGA) to be programmed after manufacturing the LSI or a logic device allowing reconfiguration of connections or circuit sections inside the LSI may also be employed as the processor. These electronic circuits may be integrated together on a single chip or distributed over multiple chips, either of which is appropriate. These multiple chips may be aggregated together in a single device or distributed over multiple devices without limitation. As used herein, a "computer system" includes a microcontroller including one or more than one processor and one or more than one memory. Therefore, the microcontroller may also be implemented as a single or multiple electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

[0085] At least a part of the functions of the measurement system 1 (e.g., the functions of the control unit 17) may be implemented, for example, as a cloud computing system. Similarly, at least a part of the functions of the environment generation system 2 (e.g., the functions of the control unit 27) may be implemented, for example, as a cloud computing system.

[0086] In the above-described embodiment, the main body position measuring instrument 142 is implemented as a LiDAR unit. However, this should not be construed as restrictive. For example, the main body position measuring instrument 142 may also be configured to detect the position of the moving mechanism 10 based on the number of revolutions of the motor included in the moving mechanism 10. In yet another example, in the case where the measurement system 1 includes a camera, the main body position measuring instrument 142 may also be configured to detect the position of the main body unit 1A based on the video captured by the camera. In still another example, the main body position measuring instrument 142 may further include an acceleration sensor or a gyro sensor, and be configured to detect the position of the moving mechanism 10 based on acceleration information or angular velocity information.

[0087] Similarly, in the above-described embodiment, the relative position measuring instrument 141 is implemented as a LiDAR unit. However, this should not be construed as restrictive. For example, in the case where the measurement unit 1B includes a camera, the relative position measuring instrument 141 may also be configured to detect the relative position of the measurement unit 1B based on the video captured by the camera. In another example, the relative position measuring instrument 141 may further include an acceleration sensor or a gyro sensor, and be configured to detect the relative position of the relative position measuring instrument 141 based on acceleration information or angular velocity information.

[0088] In the above-described embodiment, the relative position measuring instrument 141 is mounted in the measurement unit 1B. However, this should not be construed as restrictive. Alternatively, for example, the relative position measuring instrument 141 may also be mounted in the main body unit 1A. In this case, the relative position measuring instrument 141 included in the main body unit 1A may be implemented as a LiDAR unit. In the case where the main body unit 1A includes a camera, the relative position measuring instrument 141 may also be configured to detect the relative position of the measurement unit 1B based on the video captured by the camera.

[0089] In the above-described embodiment, the number of measurement regions in the specific space 4 is four (i.e., measurement regions 41, 42, 43, and 44 are provided). However, the number is not limited to four, and may be, for example, one, two, three, or five or more.

[0090] In the above-described embodiment, the measuring instrument 11 is configured to measure the illuminance of the light generated by the generation unit 21. However, this should not be construed as restrictive. Alternatively, the measuring instrument 11 may, for example, also be configured to measure the color temperature of the light generated by the generation unit 21.

[0091] In the above-described embodiment, the sensor 22 is a thermoelectric infrared sensor. However, this should not be construed as restrictive. Alternatively, the sensor 22 may also be an ultrasonic sensor, a visible light sensor, or an image sensor.

[0092] In the above-described embodiment, the generating unit 21 is a lighting fixture. However, the generating unit 21 only needs to generate the environment in the specific space 4 and should not be construed as being limited to a lighting fixture. Alternatively, the generating unit 21 can also be, for example, an air conditioner or a heater. In these cases, the measuring instrument 11 only needs to measure, for example, at least one of the temperature, humidity, and air volume in each of the measurement areas 41, 42, 43, and 44 in the measurement areas as the measurement target. The generating unit 21 can also be, for example, an air purifier or an exhaust fan. In these cases, the measuring instrument 11 can measure, for example, the air quality in each of the measurement areas 41, 42, 43, and 44 as the measurement target. The control unit 17 can also, for example, judge the degree of pollution in the air in each of the measurement areas 41, 42, 43, and 44 based on the Air Quality Index (AQI).

[0093] In the above-described embodiment, one environmental generation system 2 is installed in each of the measurement areas 41, 42, 43, and 44. However, this should not be construed as restrictive. Alternatively, two or more than two environmental generation systems 2 can also be provided in each of the measurement areas 41, 42, 43, and 44. The number of environmental generation systems 2 provided in one of the measurement areas 41, 42, 43, and 44 can be the same as or different from the number of environmental generation systems 2 provided in any other one of the measurement areas 41, 42, 43, and 44, and either is appropriate.

[0094] In the above-described embodiment, the communication interface 16 of the measurement system 1 and the communication interface 26 of the environmental generation system 2 establish infrared communication. However, this should not be construed as restrictive. Alternatively, the communication interface 16 and the communication interface 26 can also establish wireless communication using radio waves, for example.

[0095] In the above-described embodiment, the communication interface 16 is installed in the main unit 1A. However, this should not be construed as restrictive. Alternatively, the communication interface 16 can also be installed in the measurement unit 1B. In this case, the correspondence information output by the output unit 15 of the main unit 1A is sent to the environmental generation system 2 via the communication interface 16 included in the main unit 1A.

[0096] In the above-described embodiment, the correspondence information including the control information for the generating unit 21 is sent to the environmental generation system 2 including the generating unit 21. However, this is not the only data sent to the environmental generation system 2. For example, the initial setting data of the sensor 22 can also be sent to the environmental generation system 2 including the sensor 22.

[0097] (Generalization)

[0098] As can be seen from the above description, the measurement system (1) according to the first aspect includes: a main body unit (1A) configured to be movable inside a specific space (4) including measurement areas (41, 42, 43, 44); and a measurement unit (1B) removably attached to the main body unit (1A). The main body unit (1A) includes a moving mechanism (10) for moving in the specific space (4). The measurement unit (1B) includes a measuring instrument (11) for measuring a predetermined measurement object related to the environment in the measurement areas (41, 42, 43, 44). The measuring instrument (11) is configured to be able to measure the measurement object in a state where the measurement unit (1B) is removed from the main body unit (1A).

[0099] Even in a situation where, for example, due to the presence of obstacles on the traveling surface of the measurement areas (41, 42, 43, 44) or for other reasons, it is difficult for the main body unit (1A) to enter the measurement areas (41, 42, 43, 44), this aspect allows for easy measurement by removing the measurement unit (1B) from the main body unit (1A).

[0100] In the measurement system (1) according to the second aspect, which can be implemented in combination with the first aspect, the measurement unit (1B) further includes a support member (12) coupled to the measuring instrument (11). The measuring instrument (11) is supported by the main body unit (1A) via the support member (12) in a state where the measurement unit (1B) is attached to the main body unit (1A).

[0101] This aspect enables the measuring instrument (11) to be supported at a predetermined position via the support member (12) in a state where the measurement unit (1B) is attached to the main body unit (1A). This aspect also enables the user to transport the measuring instrument (11) to a target position, for example, by holding the support member (12) in a state where the measurement unit (1B) is removed from the main body unit (1A).

[0102] In the measurement system (1) according to the third aspect, which can be implemented in combination with the first aspect or the second aspect, the measurement unit (1B) further includes an operation command input device (13) for receiving operation commands related to measurement. The operation commands are input by a human.

[0103] This aspect enables the user to operate the operation command input device (13) at hand in a state where the measurement unit (1B) is removed from the main body unit (1A), thereby, for example, inputting a command to start measurement at a target position. Therefore, this aspect allows for measurement even in a place where it is difficult for the main body unit (1A) to enter.

[0104] In the measurement system (1) according to a fourth aspect that can be implemented in combination with any one of the first to third aspects, the measurement unit (1B) further includes a relative position measuring instrument (141) for measuring the relative position of the measurement unit (1B) with respect to the main unit (1A).

[0105] This aspect allows the relative position of the measurement unit (1B) removed from the main unit (1A) with respect to the main unit (1A) to be measured by using the relative position measuring instrument (141) provided for the measurement unit (1B).

[0106] In the measurement system (1) according to a fifth aspect that can be implemented in combination with any one of the first to third aspects, the main unit (1A) further includes a relative position measuring instrument (141) for measuring the relative position of the measurement unit (1B) with respect to the main unit (1A).

[0107] This aspect allows the relative position of the measurement unit (1B) removed from the main unit (1A) with respect to the main unit (1A) to be measured by using the relative position measuring instrument (141) provided for the main unit (1A).

[0108] In the measurement system (1) according to a sixth aspect that can be implemented in combination with the fourth or fifth aspect, the main unit (1A) further includes a storage device (18) for storing data related to the relative position of the measurement unit (1B) measured by the relative position measuring instrument (141).

[0109] This aspect allows data related to the measured relative position of the measurement unit (1B) removed from the main unit (1A) to be stored in the storage device (18).

[0110] The measurement system (1) according to a seventh aspect that can be implemented in combination with any one of the first to third aspects further includes: a relative position measuring instrument (141) for measuring the relative position of the measurement unit (1B) with respect to the main unit (1A); a main unit position measuring instrument (142) for measuring the position of the main unit (1A); and a position estimation unit (145) for estimating the position of the measurement unit (1B). The position estimation unit (145) estimates the position of the measurement unit (1B) by using the relative position of the measurement unit (1B) measured by the relative position measuring instrument (141), the position of the main unit (1A) measured by the main unit position measuring instrument (142), and map information related to a specific space (4).

[0111] This aspect enables the position of the measurement unit (1B) removed from the main unit (1A) in the specific space (4) to be accurately estimated.

[0112] The measurement system (1) according to the eighth aspect, which can be implemented in combination with any one of the first to fifth aspects and the seventh aspect, further includes a storage device (18) for storing data related to the position of the measurement unit (1B) and data related to the measurement object measured by the measuring instrument (11) at that position.

[0113] This aspect allows for easily obtaining measurement data at any position in the specific space (4) by performing measurements while the user is transporting the measurement unit (1B) removed from the main unit (1A) in the specific space (4).

[0114] The environmental system (3) according to the ninth aspect includes the measurement system (1) according to any one of the first to eighth aspects, and an environment generation system (2). The environment generation system (2) includes an object (20), and the object (20) is at least one of a generation unit (21) and a sensor (22). Each of the generation unit (21) and the sensor (22) generates an environment in the specific space (4).

[0115] Even in a situation where it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44), for example, due to the presence of obstacles on the traveling surface of the measurement area (41, 42, 43, 44) or for other reasons, this aspect allows for easily measuring a predetermined measurement object related to the object (20) by removing the measurement unit (1B) from the main unit (1A).

[0116] The measurement method according to the tenth aspect is a measurement method performed by using a measurement system (1) that moves in a specific space (4) where an object (20) is installed. The object (20) is at least one of a generation unit (21) and a sensor (22) of the environment generation system (2). The environment generation system (2) generates an environment in the specific space (4). The measurement method includes: a movement step, which includes moving the main unit (1A) with the measurement unit (1B) attached to it to a measurement area (41, 42, 43, 44) in the specific space (4); and a measurement step, which includes measuring a measurement object related to the environment in the measurement area (41, 42, 43, 44) by using the measurement unit (1B) removed from the main unit (1A) after the main unit (1A) has stopped moving.

[0117] In a situation where it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44), for example, due to the presence of obstacles on the traveling surface of the measurement area (41, 42, 43, 44) or for other reasons, this aspect allows for easily measuring a predetermined measurement object related to the object (20) by removing the measurement unit (1B) from the main unit (1A).

[0118] The program according to the eleventh aspect is designed such that one or more processors perform the measurement method according to the tenth aspect.

[0119] When it is difficult for the main unit (1A) to access the measurement areas (41, 42, 43, 44), this aspect allows for easy measurement of a predetermined measurement object related to the object (20) by removing the measurement unit (1B) from the main unit (1A).

[0120] Note that the components according to the second aspect to the eighth aspect are not essential components of the measurement system (1) and can be appropriately omitted.

[0121] Explanation of Reference Numerals

[0122] 1 Measurement system

[0123] 1A Main unit

[0124] 1B Measurement unit

[0125] 10 Moving mechanism

[0126] 11 Measuring instrument

[0127] 12 Support member

[0128] 13 Operation command input device

[0129] 141 Relative position measuring instrument

[0130] 142 Main body position measuring instrument

[0131] 145 Position estimation unit

[0132] 18 Storage device

[0133] 2 Environment generation system

[0134] 20 Object

[0135] 21 Generation unit

[0136] 22 Sensor

[0137] 3 Environment system

[0138] 4 Specific space

[0139] 41 Measurement area

[0140] 42 Measurement area

[0141] 43 Measurement area

[0142] 43 Measurement area

Claims

1. A measurement system, comprising: A main body unit configured to be movable inside a specific space including a measurement area; And A measurement unit removably attached to the main body unit, Wherein the main body unit includes a moving mechanism configured to move in the specific space, The measurement unit includes a measuring instrument configured to measure a predetermined measurement object related to the environment in the measurement area, and The measuring instrument is configured to be able to measure the measurement object in a state where the measurement unit is removed from the main body unit.

2. The measurement system according to claim 1, wherein The measurement unit further includes a support member coupled to the measuring instrument, and In a state where the measurement unit is attached to the main body unit, the measuring instrument is supported by the main body unit via the support member.

3. The measurement system according to claim 1 or 2, wherein The measurement unit further includes an operation command input device configured to receive an operation command related to measurement, and the operation command is input by a human.

4. The measurement system according to any one of claims 1 to 3, wherein The measurement unit further includes a relative position measuring instrument configured to measure the relative position of the measurement unit with respect to the main body unit.

5. The measurement system according to any one of claims 1 to 3, wherein The main body unit further includes a relative position measuring instrument configured to measure the relative position of the measurement unit with respect to the main body unit.

6. The measurement system according to claim 4 or 5, wherein The main body unit further includes a storage device configured to store data related to the relative position of the measurement unit measured by the relative position measuring instrument.

7. The measurement system according to any one of claims 1 to 3, further comprising: A relative position measuring instrument configured to measure the relative position of the measurement unit with respect to the main body unit; A main body position measuring instrument configured to measure the position of the main body unit; And A position estimation unit configured to estimate the position of the measurement unit, Wherein the position estimation unit is configured to estimate the position of the measurement unit based on the relative position of the measurement unit measured by the relative position measuring instrument, the position of the main body unit measured by the main body position measuring instrument, and map information related to the specific space.

8. The measurement system according to any one of claims 1 to 5 and 7, further comprising a storage device configured to store data related to the position of the measurement unit and data related to the measurement object measured by the measuring instrument at the position.

9. An environmental system, comprising: The measurement system according to any one of claims 1 to 8; And An environment generation system Among them, the environment generation system includes an object, and the object is at least one of a generation unit and a sensor, and each of the generation unit and the sensor is configured to generate an environment in the specific space.

10. A measurement method, which is performed by using a measurement system configured to move in a specific space where an object is installed, the object being at least one of a generation unit and a sensor of an environment generation system configured to generate an environment in the specific space, the measurement method comprising: a moving step of moving a main unit with a measurement unit attached thereto to a measurement area in the specific space; and a measurement step of measuring a measurement object related to the environment in the measurement area by using the measurement unit removed from the main unit after the main unit has stopped moving.

11. A program designed to cause one or more processors to perform the measurement method according to claim 10.

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