Floor surface measuring apparatus and method for measuring floor surface

Abstract

To provide a floor surface measuring apparatus and a method for measuring a floor surface capable of obtaining height differences more accurately than existing techniques, thereby solving problems inherent in the prior art.SOLUTION: The floor surface measuring apparatus of the present invention is an apparatus configured to measure the height differences of a floor surface for each predetermined measurement section, and includes a traveling body and an inclinometer. The attachment positions of front and rear wheels can be adjusted so that a "wheelbase length," defined by two points obtained by projecting the positions of the front and rear wheels in the traveling direction, can expand or contract. The inclinometer installed on the base body of the traveling body measures the inclination angle formed between a "measurement plane," defined by the points where the wheels contact the floor surface, and a horizontal plane. The wheel positions are adjusted so that the wheelbase length corresponds to the measurement section, the traveling body is caused to travel, and the inclinometer measures the inclination angle when the traveling body reaches the measurement section.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a technology for measuring the planar condition of a floor surface, and more specifically to a floor surface measuring device that can measure elevation differences at regular intervals while moving, and a floor surface measuring method using the same. [Background technology]

[0002] In recent years, labor shortages have become a major issue in Japan due to the declining birthrate and aging population. In the construction industry in particular, more than a quarter of all workers are over 60 years old, while those under 29 years old account for only about 10%, making securing future human resources an extremely important and serious issue. Furthermore, restrictions on overtime work based on the Work Style Reform Act will be introduced in April 2024 in four industries, including construction, and it is expected that working practices in the construction industry will change dramatically. As a result, efforts to automate work have become more proactive than ever, and in fact, there has been an increase in the number of cases in which automated transport robots and automated forklifts are being introduced in logistics warehouses.

[0003] The automated transport robots and automated forklifts that operate in logistics warehouses run on the floor, and in most cases are unmanned and self-propelled. However, if the floor has significant unevenness or steps, the work robots cannot run smoothly and may even break down. For this reason, in recent years, when constructing new logistics warehouses, there has been a trend toward extremely high-precision flatness and horizontality of the floor (hereinafter referred to as "floor level"). In addition to contractors conducting their own floor level inspections, it is not uncommon for clients to request inspection reports.

[0004] Traditionally, measuring floor level has mainly been done by surveyors using designated surveying equipment. For example, in Figure 8, one surveyor holds a box scale ST while the other performs leveling by collimating the box scale ST with an auto-level AL. In this case, the floor level of the entire floor is measured by repeatedly collimating the auto-level AL while changing the position of the box scale ST. Alternatively, leveling has been performed using a total station instead of the auto-level AL, or a so-called terrestrial laser scanner has been used to measure floor height.

[0005] A typical logistics warehouse has a total floor area of ​​40,000 to 100,000 m 2 , and depending on the scale, even more. As a result, leveling using an autolevel or total station takes a considerable amount of time and requires two surveyors, resulting in considerable surveying costs, including labor costs. On the other hand, while terrestrial laser scanners can measure many points at once, procuring them is expensive. Furthermore, in logistics warehouses, pillars are installed roughly at 10m intervals, and walls are sometimes installed between the pillars, which inevitably creates blind spots. Therefore, whether an autolevel, total station, or terrestrial laser scanner is used, frequent equipment replacement is required.

[0006] Therefore, technologies for measuring floor levels using autonomously moving robots have been proposed. For example, Patent Document 1 proposes a "floor level measuring device" that moves across the floor surface while measuring the inclination angle at multiple pre-set measurement points. On the other hand, because procuring an autonomously moving surveying robot requires high costs, simpler surveying devices have also been proposed. For example, Patent Document 2 proposes a "leveling meter" that periodically measures elevation differences while moving manually. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2022-57522 [Patent Document 2] Japanese Patent Publication No. 61-271408 Summary of the Invention [Problem to be solved by the invention]

[0008] While the use of an autonomous mobile surveying robot such as that shown in Patent Document 1 reduces the burden on surveying engineers, it is expensive to procure and has the problem of increasing the amount of work required other than the surveying work, such as conducting analysis for autonomous movement in advance and performing calculation processing afterwards.Furthermore, the technology disclosed in Patent Document 2 requires a person to push the mobile platform while determining the elevation difference at regular time intervals, so if the moving speed varies, it is not possible to grasp the measured position afterwards, and depending on the moving speed (ultra-high or ultra-low), there is a risk of sparsely populated or overcrowded measurement points being placed.

[0009] Typically, floor level measurement results require elevation differences for each mesh that divides the floor surface into a grid. For example, a method may be employed in which multiple parallel measurement lines are set on the floor surface and elevation differences are measured at regular intervals while moving along the measurement lines. Measuring elevation differences while moving typically involves using a wheeled cart and measuring the inclination of the cart as it moves at regular intervals. In other words, this method calculates the elevation differences at regular intervals based on the distance (length) between the two points where the front and rear wheels touch the floor surface and the inclination of the cart. However, conventional hand-pushed measurement methods, including those described in Patent Document 2, do not accurately calculate elevation differences based on the distance between the two points of the front and rear wheels.

[0010] The object of the present invention is to solve the problems associated with the prior art, that is, to provide a floor surface measuring device and a floor surface measuring method using the same that can determine elevation differences more accurately than the prior art. [Means for solving the problem]

[0011] The present invention was made by focusing on the fact that it sets a "wheel-to-wheel length" based on the positions of the front and rear wheels, measures the inclination angle each time the vehicle moves that wheel-to-wheel length, and then measures the difference in elevation based on the inclination angle and wheel-to-wheel length, and is an invention based on an unprecedented idea.

[0012] The floor surface measuring device of the present invention is capable of measuring the elevation difference of a floor surface for each predetermined measurement section and includes a running body and an inclinometer. The running body has a base body and three or more wheels attached to the base body, and can run on a floor surface. The three or more wheels include "front wheels" and "rear wheels" located behind the front wheels in the running body's direction of travel. The mounting positions of the front and rear wheels can be changed so that the "wheel-to-wheel length," which is defined by two points projected onto the running body's direction of travel, can be expanded or contracted. The inclinometer attached to the running body's base body measures the inclination angle between the "measurement plane," defined by the point where the wheels contact the floor surface, and the horizontal plane. The running body is then run after adjusting the mounting positions of the front and rear wheels so that the wheel-to-wheel length corresponds to the measurement section. Once the running body reaches the measurement section, it stops and measures the inclination angle with the inclinometer. The elevation difference for each measurement section can be measured based on the inclination angle and the measurement section.

[0013] The floor surface measuring device of the present invention may further include a traveled distance measuring means and a traveled distance output means. The traveled distance measuring means measures the distance traveled by the moving object, and the traveled distance output means outputs the distance measured by the traveled distance measuring means. This allows the person operating the moving object to know that it has traveled the measured distance.

[0014] The floor surface measuring device of the present invention may further include an irradiation means for irradiating visible light in the traveling direction, thereby allowing the operator of the traveling object to travel in a predetermined traveling direction.

[0015] The floor surface measuring device of the present invention may further include a stopped state detection means and a stopped state information output means. The stopped state detection means is a means for detecting a stopped state of the moving object, and the stopped state information output means is a means for outputting "stop information (information indicating that the moving object has stopped)" when the stopped state detection means detects that the moving object has stopped.

[0016] The floor surface measuring device of the present invention may further include an elevation difference calculation means and an elevation difference storage means. The elevation difference calculation means calculates the elevation difference for each measurement section based on the inclination angle measured by the inclinometer and the measurement section, and the elevation difference storage means stores the elevation difference calculated by the elevation difference calculation means. The elevation difference storage means stores the elevation difference by associating it with a measurement identifier (an identifier that identifies one of multiple measurements taken by the inclinometer).

[0017] The floor surface measurement method of the present invention is a method for measuring floor surface elevation differences using the floor surface measurement device of the present invention, and includes a wheel adjustment process, a device movement process, and an inclination angle measurement process. In the wheel adjustment process, the mounting positions of the front and rear wheels are adjusted so that the "wheel-to-wheel length" becomes the measurement section. In the device movement process, the running body is moved for the measurement section from the previous measurement position. In the inclination angle measurement process, the running body is stopped and the inclination angle between the "measurement surface" and the horizontal plane is measured using an inclinometer. The elevation difference for each measurement section can then be measured based on the inclination angle and the measurement section. [Effects of the Invention]

[0018] The floor surface measuring device and floor surface measuring method of the present invention have the following effects. (1) The floor level can be measured more easily than with conventional techniques, thereby reducing the time required for the work. (2) Since the test can be performed by one person, labor savings can be achieved compared to the conventional two-person system. (3) It is expected that the implementation costs will be lower than when using terrestrial laser scanners or autonomous mobile surveying robots. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a block diagram showing the main configuration of a floor surface measuring device according to the present invention; [Figure 2] 1 is a perspective view schematically showing the appearance of a floor surface measuring device according to the present invention; [Figure 3] FIG. 3 is a plan view schematically showing the base body and wheels as viewed from above. [Figure 4] FIG. 10 is a cross-sectional view for explaining the "tilt angle." [Figure 5] FIG. 10 is a step diagram showing a schematic diagram of a situation in which measurements are taken while the moving body moves by the wheel-to-wheel length. [Figure 6] 1 is a plan view showing a situation in which a height difference on a floor surface is measured using the floor surface measuring device of the present invention; [Figure 7] 1 is a flow chart showing the main steps of the floor surface measurement method of the present invention. [Figure 8] A model diagram showing a schematic diagram of a leveling survey using an auto-level to collimate a box ruler. DETAILED DESCRIPTION OF THE INVENTION

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A floor surface measuring device and a floor surface measuring method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0021] 1.Overview The present invention is a technology for measuring floor levels in, for example, a logistics warehouse, and allows a measurer to measure the height difference of the floor surface while manually pushing the floor surface measuring device of the present invention. The device is characterized by being able to measure the height difference of the floor surface at predetermined intervals (hereinafter referred to as "measurement sections").

[0022] 2.Floor surface measuring device The floor surface measurement device of the present invention will be described in detail with reference to the drawings. The floor surface measurement method of the present invention is a method for measuring the height difference of a floor surface using the floor surface measurement device of the present invention. Therefore, the floor surface measurement device of the present invention will be described first, and then the floor surface measurement method of the present invention will be described.

[0023] 1 is a block diagram showing the main components of a floor surface measuring device 100 of the present invention. As shown in this figure, floor surface measuring device 100 is configured to include a traveling object 110 and an inclinometer 120, and can also be configured to include a travel distance measuring means 130, a display means 140, a travel distance output means 141, a stop information output means 142, an illumination means 150, a stop state detection means 160, an elevation difference calculation means 170, an elevation difference storage means 180, etc.

[0024] Of the main components constituting the floor surface measuring device 100, the travel distance output means 141, the stop information output means 142, and the elevation difference calculation means 170 can be manufactured as dedicated components, or a general-purpose computer device can be used. That is, the computer device executes arithmetic processing according to a predetermined program, thereby performing processing specific to each means. This computer device is equipped with a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display, and executes arithmetic processing according to a predetermined program. It can be configured as a personal computer (PC), a server, a tablet PC such as an iPad (registered trademark), a mobile device including a smartphone, or the like. When a computer device including a display is used, the display can also be used as the display means 140.

[0025] The elevation difference storage means 180 can be a storage device such as a personal computer, or can be built in a database server. When built in a database server, it can be placed on a local network (LAN: Local Area Network), or can be a cloud server that stores data via the Internet.

[0026] Below, each of the main elements that make up the floor surface measuring device 100 of the present invention will be described in detail.

[0027] (Traveling vehicle) 2 is a perspective view showing a schematic view of the exterior of floor surface measuring device 100 of the present invention. As shown in this figure, running body 110 is configured to include base body 111 and wheels 112, and may also be configured to include gripper body 113. Three or more wheels 112 are attached to base body 111, and rotation of these wheels 112 allows running body 110 to run in a predetermined direction (hereinafter simply referred to as the "traveling direction").

[0028] The three or more wheels 112 include wheels 112 arranged in the front (hereinafter, specifically referred to as "front wheels 112F") and wheels 112 arranged behind the front wheels 112F in the direction of travel (hereinafter, specifically referred to as "rear wheels 112R"). Note that the example in FIG. 2 shows wheels 112 consisting of one front wheel 112F and two rear wheels 112R, but this is not limiting and various combinations of front wheels 112F and rear wheels 112R are possible, such as wheels 112 consisting of two front wheels 112F and one rear wheel 112R, or wheels 112 consisting of two front wheels 112F and two rear wheels 112R. Furthermore, the three or more wheels 112 are arranged so that they are not all aligned in the same straight line.

[0029] A gripping body 113 can be attached to the rear of the base body 111. This gripping body 113 is composed of a support frame 113A that stands up from the base body 111, two handles 113B that extend rearward from the top of the support frame 113A, and a mounting base 113C that is attached between the two handles 113B. The measurer pushes the traveling body 110 in the direction of travel, and can easily control the direction of travel by holding the two handles 113B. Furthermore, a tablet PC or smartphone having a display means 140 (display) can be placed on the mounting base 113C, and in this case, the measurer can push the traveling body 110 while checking various information displayed on the display means 140.

[0030] 3 is a plan view showing a schematic view of the base body 111 and wheels 112 as seen from above, and is a diagram illustrating the "inter-wheel line segment" set by the front wheels 112F and rear wheels 112R. One of the technical features of the present invention is to set this "inter-wheel line segment" and to calculate the difference in floor elevation based on the length of this inter-wheel line segment (hereinafter referred to as the "inter-wheel length LW").

[0031] The inter-wheel segment is a line segment defined by the front wheel 112F and the rear wheel 112R, and more specifically, is a line segment having at its two ends the "front wheel point PF" which is the projection of the mounting position of the front wheel 112F in the direction of travel, and the "rear wheel point PR" which is the projection of the mounting position of the rear wheel 112R in the same direction of travel. The length of this inter-wheel segment is the "inter-wheel length LW."

[0032] As described above, the wheel-to-wheel length LW is determined by the positions at which the front wheels 112F and rear wheels 112R are attached to the base body 111, and is directly referred to as the "measurement section (section related to the difference in floor elevation)." On the other hand, the measurement section may be appropriately set depending on the floor area of ​​the building to be measured, but it is not realistic to manufacture a running body 110 with a wheel-to-wheel length LW that matches each time the measurement section changes.

[0033] Therefore, the floor surface measuring device 100 of the present invention is configured so that the positions of the wheels 112 attached to the base body 111 can be changed. By moving the attachment positions of the front wheels 112F and rear wheels 112R forward or backward in the direction of travel, the wheel-to-wheel length LW can be increased or decreased, meaning that the wheel-to-wheel length LW can be adjusted according to an appropriately set measurement section. Note that it is possible to make only the front wheels 112F of the wheels 112 adjustable, or only the rear wheels 112R adjustable, or to make both the front wheels 112F and the rear wheels 112R adjustable.

[0034] Various conventional techniques can be employed to change the mounting position of wheel 112. For example, an arm or the like fixed to wheel 112 can be configured to slide and extend, or a telescopic mechanism can be used to move multiple members in and out. Alternatively, a configuration can be adopted in which wheel 112 is fixed to an arm provided with multiple bolt holes, and the bolt holes of base body 111 and the bolt holes of the arm are joined with bolts, and the mounting position of wheel 112 can be changed by selectively changing the positions of the bolt holes.

[0035] (inclinometer) The inclinometer 120 is installed on the base body 111 of the traveling body 110 and measures the "tilt angle TA" shown in FIG. 4. FIG. 4 is a diagram for explaining the tilt angle TA, and is a cross-sectional view taken along a vertical cross section. As shown in this diagram, the tilt angle TA is the angle between the "measurement plane" and a horizontal plane, and more specifically, the included angle that appears when the measurement plane and the horizontal plane are cut along a vertical cross section in the direction of travel. Here, the measurement plane is a plane that is set based on the points where the wheels 112 contact the floor surface (hereinafter simply referred to as "contact points"). Three or more wheels 112 are attached to the base body 111, and because they are not all arranged in the same straight line, a single plane (i.e., the measurement plane) arranged in space by the three or more contact points can be determined.

[0036] To measure the tilt angle TA, the inclinometer 120 should be placed parallel to the measurement surface and coaxial with the direction of travel. Once the tilt angle TA is obtained by the inclinometer 120, the elevation difference of the floor surface can be calculated using this tilt angle TA and the inter-ring length LW. This elevation difference can be calculated as the sine component of the tilt angle TA when considering a right triangle with the inter-ring length LW as the hypotenuse, as shown in Figure 4. In other words, the elevation difference can be calculated using the following equation. (Height difference) = (Length between rings LW) × sin (Inclination angle TA)

[0037] As mentioned above, conventional hand-pushed measurement methods do not accurately calculate the elevation difference based on the distance between the two points of the front wheel 112F and the rear wheel 112R. In contrast, the present invention calculates the elevation difference based on the wheel-to-wheel length LW, as can be seen from FIG. 4, so that the elevation difference between the two points of the front wheel 112F and the rear wheel 112R can be accurately determined. When the floor surface measuring device 100 of the present invention is equipped with an elevation difference calculation means 170, the elevation difference is calculated by this elevation difference calculation means 170. Alternatively, the elevation difference calculation means 170 can be installed on a tablet PC or the like placed on the mounting base 113C, and the results can be displayed on the display means 140 (display). In this case, the person measuring can check the elevation difference at that position in real time, and if an abnormal elevation difference is detected, for example, a marking can be made on the spot.

[0038] (irradiation means) As described above, the measurer moves the running body 110 in the direction of travel by, for example, manually pushing the two handles 113B while gripping them. When measuring the floor level, a linear "measurement lane" may be set in advance. In this case, the measurer naturally moves the running body 110 so that its direction of travel matches the measurement lane. However, it may be difficult for the measurer to move the running body 110 in the appropriate direction based on visual inspection alone. Therefore, as shown in FIG. 2, it is preferable to install an irradiation unit 150 on the base body 111 of the running body 110. This irradiation unit 150 emits visible light such as a laser beam and is positioned so that it emits light in the direction of travel (forward) set for the running body 110. This allows the measurer to move the running body 110 in the appropriate direction while being guided by the visible light from the irradiation unit 150.

[0039] (Means for measuring distance traveled) As explained above, the inclinometer 120 measures the tilt angle TA between the two points of the front wheel 112F and the rear wheel 112R, thereby determining the difference in floor elevation between the two points of the front wheel 112F and the rear wheel 112R. While the inclinometer 120 is measuring, the running object 110 is stopped, but once the measurement is completed, the running object 110 is moved to the next measurement location. At this time, if the running object 110 is moved by the wheel-to-wheel length LW, in other words, if the running object 110 is moved until the position of the front wheel 112F in the previous measurement and the position of the rear wheel 112R in the current measurement coincide, the difference in floor elevation can be obtained without overlap or omission.

[0040] FIG. 5 is a step diagram that shows a schematic diagram of a measurement performed while the running object 110 moves the wheel-to-wheel length LW. (a) shows the first measurement, (b) shows the second measurement, and (c) shows the third measurement. As a result of the running object 110 moving the wheel-to-wheel length LW, the position of the rear wheel 112R of the running object 110 in FIG. 5(b) matches the position of the front wheel 112F of the running object 110 in the first measurement. Similarly, the position of the rear wheel 112R of the running object 110 in FIG. 5(c) matches the position of the front wheel 112F of the running object 110 in the second measurement. By measuring while moving in this way, it is possible to avoid calculating the elevation difference when measurement sections overlap or when there are gaps between measurement sections, and it is possible to calculate the elevation difference over the entire floor surface without any excess or deficiency.

[0041] When running the running object 110 over the wheel-to-wheel length LW, the measurer can measure the distance himself by pacing, but in this case it depends on the skill of the measurer. Therefore, it is advisable for the floor surface measuring device 100 to be equipped with a running distance measuring means 130. This running distance measuring means 130 measures the distance traveled by the running object 110 (hereinafter referred to as "running distance"), and various conventional devices such as wheel encoders can be used.

[0042] When the floor surface measuring device 100 includes the traveled distance measuring means 130, it may also include a traveled distance output means 141. This traveled distance output means 141 outputs the traveled distance measured by the traveled distance measuring means 130 and may be configured to display the traveled distance on a display means 140 (display) such as a tablet PC placed on the mounting base 113C. In this case, the person measuring can check the traveled distance in real time, i.e., can properly cause the running object 110 to travel the distance between the wheels LW. Alternatively, the traveled distance output means 141 may be configured to compare the traveled distance with the wheel-to-wheel length LW and output information indicating arrival when the traveled distance and the wheel-to-wheel length LW approximately match (including match) (hereinafter referred to as "arrival information"). This arrival information may be displayed as characters or symbols on the display means 140, output as sound from a speaker, or control a light that outputs light (e.g., a red rotating light).

[0043] (Stop state detection means) Depending on the type of inclinometer 120, some cannot accurately measure the inclination angle TA unless the running object 110 is stationary. In this case, the floor surface measuring device 100 should be equipped with a stationary state detection means 160. This stationary state detection means 160 measures whether the running object 110 is moving or stationary, and can utilize various conventional devices such as an IMU (Inertial Measurement Unit) or an accelerometer.

[0044] When the floor surface measuring device 100 includes the stopped state detection means 160, it may also include a stop information output means 142. When the stopped state detection means 160 detects that the running object 110 is stopped, the stop information output means 142 outputs information indicating that fact (hereinafter referred to as "stop information"). For example, the stop information output means 142 may be configured to display the stop information on a display means 140 (display) such as a tablet PC placed on the mounting base 113C. In this case, the measurer can check the stop information in real time, that is, understand the timing of measurement by the inclinometer 120. Alternatively, the stop information output means 142 may output a sound from a speaker or control a light (for example, a red rotating light) that outputs light when the stopped state detection means 160 detects that the running object 110 is stopped.

[0045] (Height difference memorization means) The elevation difference storage means 180 is a means for storing the elevation difference calculated by the elevation difference calculation means 170. Normally, when measuring floor level, multiple measurements are performed using the inclinometer 120, i.e., multiple elevation differences are obtained. When an abnormal elevation difference is detected, its location must be ascertained, and therefore the measurement occasion at which it was obtained must be identified. Therefore, the elevation difference storage means 180 may store an elevation difference in association with a "measurement identifier (ID)" that identifies one of the measurements taken by the inclinometer 120. This elevation difference storage means 180 may be mounted, for example, on a tablet PC placed on the mounting table 113C.

[0046] (Example of use) 6 is a plan view showing the situation in which the floor surface height difference is measured using the floor surface measuring device 100 of the present invention. When measuring the floor surface height difference using the floor surface measuring device 100, it is advisable to set the positions to be measured (hereinafter referred to as "measurement points MP") in advance. For example, in this figure, the entire floor surface is divided into 5x5 meshes MS, and the center of each mesh MS is set as a measurement point MP (white dots in the figure). In addition, measurement lanes (first measurement lane L01 to fifth measurement lane L05) that pass through the five meshes MS lined up vertically are also set.

[0047] In this case, the length of the mesh MS (particularly the vertical length in the figure) is the measurement section. Therefore, the measurer adjusts the position of the wheels 112 (for example, the front wheels 112F) so that the wheel-to-wheel length LW is the length of the mesh MS (measurement section). Then, the measurer places the floor surface measuring device 100 on the first mesh MS (bottom right in the figure) and performs measurement using the inclinometer 120. After the first measurement is completed, the measurer moves the running object 110 forward along the first measurement lane L01. At this time, if an irradiation means 150 is installed on the base body 111 of the running object 110, the running object 110 can be moved in the appropriate direction while being guided by visible light.

[0048] The measurer stops the running object 110 after moving it the wheel-to-wheel length LW. At this time, the floor surface measuring device 100 measures the distance traveled by the running object 110, and the traveled distance measuring means 130 outputs the traveled distance, allowing the measurer to reliably cause the running object 110 to travel the wheel-to-wheel length LW. Furthermore, when the stopped state detecting means 160 detects that the running object 110 is stopped, and the stop information output means 142 outputs the stop information, the measurer can carry out measurement using the inclinometer 120 in a stable state. By performing this series of operations while going back and forth for each measurement lane, the height difference of the entire floor surface can be determined exactly.

[0049] 3. Floor measurement method Next, the floor surface measurement method of the present invention will be explained with reference to the drawings. The floor surface measurement method of the present invention is a method for measuring height differences on a floor surface using the floor surface measurement device 100 explained so far. Therefore, we will avoid explanations that overlap with the content explained for the floor surface measurement device 100, and will mainly explain content that is unique to the floor surface measurement method of the present invention. In other words, content not described here is the same as that explained in "2. Floor surface measurement device."

[0050] Figure 7 is a flow diagram showing the main steps of the floor surface measurement method of the present invention. When measuring the height difference of a floor surface using floor surface measurement device 100, first a "measurement section" is determined as shown in Figure 7 (Step 201 in Figure 7). For example, as shown in Figure 6, by dividing the entire floor surface into multiple meshes MS (5 x 5 in the figure), the length of the meshes MS can be determined as the measurement section.

[0051] After determining the measurement section, the measurer adjusts the position of the wheels 112 so that the wheel-to-wheel length LW is the measurement section (Step 202 in FIG. 7). The measurer then places the floor surface measuring device 100 at the initial measurement position (Step 203 in FIG. 7) and performs measurement using the inclinometer 120 (Step 204 in FIG. 7). After completing the first measurement, the measurer causes the traveling object 110 to travel along the measurement lane for the wheel-to-wheel length LW (Step 205 in FIG. 7). After checking the travel distance output by the travel distance measuring means 130, the measurer stops the traveling object 110 (Step 206 in FIG. 7). Next, after checking the stop information output by the stop information output means 142, the measurer performs a second measurement using the inclinometer 120 (Step 207 in FIG. 7). If measurements using the inclinometer 120 have been performed on all measurement sections (e.g., mesh MS) (Yes in Step 208 in FIG. 7), floor level measurement of the entire floor surface is completed. On the other hand, if there are any measurement sections remaining where measurements have not been performed by the inclinometer 120 (No in Step 208 in FIG. 7), the series of operations (Steps 205 to 207) are repeatedly performed. [Industrial Applicability]

[0052] The floor surface measuring device and floor surface measuring method of the present invention can be effectively used to measure floor levels in a variety of buildings equipped with floors, including logistics warehouses, factories, parking lots, indoor stadiums such as gymnasiums, theaters, event venues, etc. Considering that the present invention will promote the introduction of work robots such as automatic transport robots and automatic forklifts, which will ultimately lead to an improvement in Japan's urgent labor shortage issue, the present invention can be said to be an invention that can be expected to not only be used industrially but also make a significant contribution to society. [Explanation of symbols]

[0053] 100 Floor surface measuring device of the present invention 110 (Floor surface measuring device) running body 111 (Running body) base body 112 (vehicle) wheels 112F (front wheels) 112R (of the wheels) rear wheel 113 (of a running body) gripper 113A (Grip) Support Frame 113B (gripping body) handle 113C (for gripping body) mounting base 120 Inclinometer (floor surface measuring device) 130 (Floor surface measuring device) distance measurement means 140 Display means (of floor surface measuring device) 141 (Floor surface measuring device) travel distance output means 142 (Floor surface measuring device) stop information output means 150 (Floor surface measuring device) irradiation means 160 (Floor surface measuring device) stop state detection means 170 (floor surface measuring device) height difference calculation means 180 (floor surface measuring device) height difference storage means AL Auto Level LW Interring length MP measurement point MS Mesh PF front wheel point PR rear wheel point ST Box Shake TA tilt angle

Claims

1. A device capable of measuring the height difference of a floor surface for each predetermined measurement section, a running body having a base body and three or more wheels attached to the base body, the running body running on the floor surface; an inclinometer installed on the base body, the three or more wheels include a front wheel and a rear wheel located behind the front wheel in the traveling direction of the traveling body, The mounting positions of the front wheels and / or the rear wheels are changeable so that the "wheel-to-wheel length" formed by two points obtained by projecting the positions of the front wheels and the rear wheels in the traveling direction can be expanded or contracted, The inclinometer measures the inclination angle between a "measurement plane" formed by the point where the wheel contacts the floor surface and a horizontal plane, The mounting positions of the front wheels and / or the rear wheels are adjusted so that the wheel-to-wheel length falls within the measurement section, and the running body is then run, and the running body runs until it reaches the measurement section and stops, and the elevation difference for each measurement section can be measured based on the inclination angle measured by the inclinometer of the running body and the measurement section. A floor surface measuring device characterized by:

2. a travel distance measuring means for measuring the distance traveled by the traveling object; and a mileage output means for outputting the distance measured by the mileage measurement means.

2. The floor surface measuring device according to claim 1.

3. Further provided with an irradiation means for irradiating visible light in the traveling direction, 2. The floor surface measuring device according to claim 1.

4. a stop state detection means for detecting a stop state of the moving body; and a stop information output means for outputting stop information indicating that the moving body has stopped when the stop state detection means detects that the moving body has stopped.

2. The floor surface measuring device according to claim 1.

5. an elevation difference calculation means for calculating the elevation difference for each measurement section based on the tilt angle measured by the inclinometer and the measurement section; an elevation difference storage means for storing the elevation difference calculated by the elevation difference calculation means, the elevation difference storage means stores the elevation difference in association with a measurement identifier that identifies one of the measurements taken by the inclinometer; 2. The floor surface measuring device according to claim 1.

6. A method for measuring a height difference on a floor surface using a floor surface measuring device, comprising: The floor surface measuring device includes a base body, a traveling body having three or more wheels attached to the base body, and an inclinometer installed on the base body, the three or more wheels include a front wheel and a rear wheel located behind the front wheel in the traveling direction of the traveling body, a wheel adjustment process of adjusting the mounting positions of the front wheels and / or the rear wheels so that a "wheel-to-wheel length" formed by two points obtained by projecting the positions of the front wheels and the rear wheels in the traveling direction falls within a predetermined measurement section; an apparatus moving step of moving the traveling body by the measurement section from the previous measurement position; an inclination angle measuring step of measuring, with the inclinometer, an inclination angle between a "measurement plane" formed by the point where the wheel touches the floor surface and a horizontal plane while the traveling body is stopped; The elevation difference for each measurement section can be measured based on the inclination angle and the measurement section. A floor surface measurement method characterized by:

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