Exploration support device, exploration support method, program, and exploration support system

Abstract

To improve the efficiency of exploration operations. [Solution] The exploration support device 20 includes a CPU (control unit) 21 that estimates the shape of a column (object to be explored) P based on an arrow-shaped light (predetermined information) AL output by a base sensor (exploration device) 10 when a plurality of columns (objects to be explored) P are detected, which are located on the back side of the wall surface (exploration surface) W and cannot be seen by the user.

Description

Technical Field

[0001] The present invention relates to an exploration support device, an exploration support method, a program, and an exploration support system.

Background Art

[0002] Conventionally, a system for non-destructively exploring the position of an embedded object and displaying the position of the embedded object is known. As an example of this system, in Patent Document 1 below, in a processing device, a work support image is created corresponding to a work target area, and a work result image is created corresponding to the work target area based on exploration data for each block area obtained from an exploration device. In a projection device, a position display system for an embedded object that projects and displays the work support image and the work result image created by the processing device on the work target area is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the system disclosed in Patent Document 1 above, it is necessary to generate exploration data for each block area in the exploration device, and further, it is necessary to create a work result image corresponding to the work target area based on the exploration data in the processing device. Therefore, there is a problem that it is difficult to improve the efficiency of the exploration work.

[0005] The present invention has been made in view of such problems, and an object thereof is to improve the efficiency of exploration work.

Means for Solving the Problems

[0006] To solve the above problems, the exploration support device according to the present invention includes a control unit that estimates the shape of a multiple exploration object based on predetermined information output by the exploration device when the exploration object is detected, which is located in a position on the back side of the exploration surface that is not visible to the user. Here, the shape of the exploration object includes its thickness and size. Even if there is a hole in a part of the exploration surface (e.g., a wall) and a part of the exploration object (e.g., a column) on the back side of the exploration surface is visible, the exploration object still falls under the definition of "exploration object" in this invention. In other words, in this invention, it is sufficient that a part of the "exploration object" is not visible; it is not necessary for the entire exploration object to be invisible. [Effects of the Invention]

[0007] According to the present invention, the efficiency of exploration work can be increased. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing the configuration of the exploration support system. [Figure 2] This figure shows an example of a stud detection sensor when a column is detected. [Figure 3] This figure shows an example of an image used for search and rescue. [Figure 4] This is a diagram showing the functional configuration of the exploration support device. [Figure 5] This flowchart shows the control procedure for the projection control process. [Figure 6] This figure shows an example of how to operate a stud finder. [Figure 7] This figure shows an example of how to operate a stud finder. [Figure 8] This figure shows an example of managing the detection locations of identified pillars. [Figure 9] This figure shows an example of how to operate a stud finder. [Figure 10] This figure shows an example of how to operate a stud finder. [Figure 11] This figure shows an example of how to operate a stud finder. [Figure 12] This figure shows an example of how to operate a stud finder. [Figure 13] This figure shows an example of managing the detection locations of identified pillars. [Figure 14] This figure shows an example of the projection of the estimated marker. [Figure 15] This figure shows an example of the projection of the estimated marker. [Figure 16] This figure shows an example of the projection of the estimated marker. [Figure 17] This figure shows an example of construction work based on the results of the column survey. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the configuration of the exploration support system according to an embodiment of the present invention will be described with reference to Figure 1. As shown in Figure 1, the exploration support system 1 comprises a surface sensor 10 and an exploration support device 20.

[0010] The stud sensor (detection device) 10 is a sensor for detecting a column (stud; object to be detected) P located behind a wall surface (detection surface) W that is not visible to the user. In Figure 1, for explanatory purposes, the top and bottom of the column P are shown to be visible, but in reality, the column P is located behind the wall surface W and is not visible. The stud sensor 10 has two electrodes built in, and it detects the column (more precisely, the end of the column) P located behind the wall surface W by utilizing the change in capacitance when an object denser than the wall surface W enters between these two electrodes, that is, when the object moves from a place where there is no object to a place where the object is present. Here, as shown in Figure 2, when the stud sensor 10 detects a column P, an arrow-shaped light AL is shone onto the wall surface W. The tip AL1 of this arrow-shaped light AL indicates the detected position of the column P.

[0011] The exploration support device 20 is a device for enabling the user to grasp the position of the column P disposed on the back side of the wall surface W without damaging the wall surface W. Each time the column (end of the column) P disposed on the back side of the wall surface W is detected by the base sensor 10, the exploration support device 20 specifies the detection position of the column P, and the projection unit 25 (described later) projects a specific marker (for example, specific marker M1; see FIG. 17) indicating the detected position of the specified column P, that is, the position irradiated with the arrow-shaped light AL described above, or an estimated marker (for example, estimated marker M2; see FIG. 17) indicating the position where the column P is estimated to exist onto the wall surface W, thereby enabling the user to grasp the shape of the column P which is the object to be explored.

[0012] Next, the exploration support image G1 will be described with reference to FIG. 3. The exploration support image G1 is projected onto the wall surface W, for example, with a size of 1.6 m in width and 1.0 m in height. As shown in FIG. 3, the exploration support image G1 has reference markers G11 in the form of black circles marked at three corners of the upper left, upper right, and lower left. These reference markers G11 are markers indicating the reference positions used when specifying the position of the tip AL1 of the arrow-shaped light AL irradiated onto the wall surface W when the column P is detected by the base sensor 10, that is, the detection position of the column P, by triangulation. The exploration support image G1 is defined by each dot area where the entire image is composed of 1280 dots in width and 800 dots in height. In the present embodiment, the detection position of the column P specified by the above triangulation is associated with (recorded) the address of the corresponding dot area among the dot area group defined in the exploration support image G1. Note that the grid lines defining each dot area are not included in the exploration support image G1. That is, these grid lines are not projected onto the wall surface W.

[0013] Next, the functional configuration of the exploration support device 20 will be described with reference to FIG. 4. As shown in FIG. 4, the exploration support device 20 includes a CPU (Central Processing Unit) 21, a RAM (Random Access Memory) 22, a storage unit 23, an operation unit 24, a projection unit 25, an imaging unit 26, and a communication unit 27. Each unit of the exploration support device 20 is connected via a bus 28.

[0014] The CPU (control unit) 21 is a processor that controls the operation of the exploration support device 20 by reading and executing the program 231 stored in the storage unit 23 and performing various arithmetic processes. Note that the CPU 21 may be composed of a plurality of processors combined with other processors such as a GPU (Graphics Processing Unit) and a DPU (Data Processing Unit) as necessary. In this case, the plurality of processes executed by the CPU 21 of the present embodiment may be executed by the plurality of processors. Also, the plurality of processors may be involved in common processes, or alternatively, the plurality of processors may independently execute different processes in parallel. The RAM 22 provides a working memory space for the CPU 21 and stores temporary data.

[0015] The storage unit 23 is a non-temporary recording medium readable by the CPU 21 as a computer and stores the program 231 and various data. The storage unit 23 includes, for example, a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The program 231 is stored in the storage unit 23 in the form of program code readable by a computer. The operation unit 24 has at least one of input devices such as physical buttons and a keyboard, and outputs operation information corresponding to an input operation on the input device to the CPU 21. Note that the operation unit 24 may have, for example, a light sensor light receiving unit and a remote control that outputs predetermined light to the light sensor light receiving unit, and may be configured to enable all operations including power ON / OFF by the remote control.

[0016] The projection unit 25 projects (forms) an image (e.g., exploration support image G1; see Figure 1) onto a projection surface (e.g., wall surface W; see Figure 1) by irradiating projection light with a high directivity and intensity distribution corresponding to the image data of the projection image. Specifically, the projection unit 25 includes a light source, a display element such as a digital micromirror element (DMD) that adjusts the intensity distribution of the light output from the light source to form a light image, and a group of projection lenses that collect the light image formed by the display element and project it as an image. The projection unit 25 changes the image to be projected and changes settings related to the projection mode (brightness, hue, etc.) according to control signals transmitted from the CPU 21.

[0017] The imaging unit 26 includes an imaging lens and an image sensor that converts light incident through the imaging lens into a digital signal, and outputs the image data of the captured image to the CPU 21. In this embodiment, the imaging unit 26 continuously captures the exploration support image G1 (see Figure 1) projected onto the wall surface W by the projection unit 25 at a predetermined frame rate. The communication unit 27 is composed of a network card or a communication module, and transmits and receives data with external devices according to a predetermined communication standard.

[0018] Next, the operation of the exploration support system 1 will be described. Specifically, with reference to Figure 5, the projection control process performed by the CPU 21 of the exploration support device 20 will be described. It should be assumed that, when this projection control process is performed, the projection unit 25 projects the aforementioned exploration support image G1 (see Figure 1) onto the wall surface W of the column P, which is the target of the exploration. It should also be assumed that the imaging unit 26 captures the exploration support image G1 at a predetermined frame rate.

[0019] As shown in Figure 5, when projection control processing is started, the CPU 21 determines whether or not a column (more precisely, the end of a column) P has been detected by the substrate sensor 10 (step S1). Specifically, the CPU 21 determines that a column P has been detected if an arrow-shaped light (predetermined information) AL emitted from the substrate sensor 10 is recognized in the frame image acquired from the imaging unit 26. On the other hand, the CPU 21 determines that a column P has not been detected if an arrow-shaped light AL emitted from the substrate sensor 10 is not recognized in the frame image. Here, the CPU 21 has determined whether or not there is irradiation (output) of arrow-shaped light (predetermined information) AL by the substrate sensor (detection device) 10. Note that the recognition process of the arrow-shaped light AL is performed using known image recognition (pattern recognition) technology, so a detailed explanation is omitted.

[0020] For example, as shown in Figure 6, immediately before sliding the stud sensor 10 from left to right across the wall W, the column P is not detected by the stud sensor 10. In other words, no arrow-shaped light AL is emitted from the stud sensor 10 onto the wall W. Therefore, in the frame image captured at that stage, the arrow-shaped light AL is not recognized (image recognition), and the CPU 21 determines that the column P has not been detected by the stud sensor 10, that is, that no arrow-shaped light (predetermined information) AL is emitted (output) by the stud sensor 10. On the other hand, as shown in Figure 7, when the stud sensor 10 is slid from left to right across the wall W and the column P is detected, an arrow-shaped light AL is emitted from the stud sensor 10 onto the wall W. Therefore, in the frame image captured in such a case, an arrow-shaped light AL is recognized (image recognition), and the CPU 21 determines that the column P has been detected by the base sensor 10, that is, that the base sensor 10 has emitted (output) an arrow-shaped light (predetermined information) AL.

[0021] Returning to Figure 5, if in step S1 the substrate sensor 10 determines that the column P has not been detected (step S1; NO), the CPU 21 sequentially acquires frame images captured by the imaging unit 26 and repeats the determination process of step S1 until the substrate sensor 10 determines that the column P has been detected.

[0022] Furthermore, in step S1, if it is determined that the column P has been detected by the substrate sensor 10 (step S1; YES), the CPU 21 identifies the detection position of the column P, that is, the position where the arrow-shaped light (predetermined information) AL was irradiated (output) by the substrate sensor 10, based on the frame image in which the arrow-shaped light AL was recognized (see Figure 7) (step S2). The identification of the detection position of the column P is performed by triangulation using the reference marker G11 (see Figure 3) as described above. Then, as shown in Figure 8, the identified detection position Po1 of the column P is managed (recorded) in association with the address of the corresponding dot region among the group of dot regions defined in the exploration support image G1, and is also managed (recorded) as a specific marker (red triangle (black triangle in the figure)) M1a indicating that the detection position Po1 has been identified. Note that the exploration support image G1 shown in Figure 8 is a schematic diagram, showing a group of dot regions with 25 dots horizontally and 16 dots vertically. However, the actual exploration support image G1 (see Figure 3) is composed of a group of dot regions with 1280 dots horizontally and 800 dots vertically, as described above.

[0023] Next, the CPU 21 projects a specific marker M1a onto the detection position Po1 identified in step S2 on the wall surface W using the projection unit 25, for example, as shown in Figure 9 (step S3). Here, the operation of detecting the column P with the stud sensor 10 is performed repeatedly by the user. For example, after the specific marker M1a is projected onto the wall surface W as shown in Figure 9, the user attempts to detect the column P by moving the stud sensor 10 far to the right and then sliding the stud sensor 10 to the left, as shown in Figure 10. Then, as shown in Figure 11, when the column P is detected by the stud sensor 10 and the detection position Po2 of the column P is identified, the projection unit 25 projects a specific marker M1b onto the detection position Po2, as shown in Figure 12, indicating that the detection position Po2 has been identified. Figure 13 shows that the detection position Po2 of column P, newly identified in Figure 12, is managed (recorded) in association with the address of the corresponding dot region among the group of dot regions defined in the exploration support image G1, and is also managed (recorded) as a specific marker (red triangle (black triangle in the figure)) M1b indicating that the detection position Po2 has been identified.

[0024] Next, the CPU 21 determines whether a specific marker has already been projected in a dot area within 80 dots (first distance) in the vertical direction (directly upward or directly downward) from the specific marker projected in step S3 (the most recent step S3) (step S4).

[0025] In step S4, if it is determined that a specific marker has already been projected in a dot area within 80 dots vertically from the specific marker projected in step S3 (step S4; YES), the CPU 21 estimates that pillars P exist at positions corresponding to each dot area between the relevant specific markers, and projects estimated markers (green diamond marks) at the positions corresponding to each dot area using the projection unit 25 (step S5). Specifically, as shown in Figure 14, in step S4, if it is determined that a specific marker M1c has already been projected in a dot area within 80 dots vertically (directly upward) from the specific marker M1d projected in step S3 (step S4; YES), the CPU 21 estimates that pillars P exist at positions corresponding to each dot area between the relevant specific markers M1c and M1d, and projects estimated markers (green diamond marks (gray diamond marks in the figure)) M2 at the positions corresponding to each dot area using the projection unit 25 (step S5).

[0026] Next, the CPU 21 determines whether the specific marker or estimated marker has already been projected in a dot area within 160 dots (second distance) horizontally from the specific marker projected in step S3 (projected in the most recent step S3) or the estimated marker projected in step S5 (projected in the most recent step S5) (step S7).

[0027] In step S7, if it is determined that the specific marker projected in step S3 or the estimated marker projected in step S5 is not projected within a dot area of ​​160 dots horizontally (step S7; NO), the CPU 21 returns to step S1 and repeats the subsequent processing.

[0028] Furthermore, in step S7, if it is determined that a specific marker or estimated marker has already been projected in a dot area within 160 dots horizontally from the specific marker projected in step S3 or the estimated marker projected in step S5 (step S7; YES), the CPU 21 estimates that pillars P exist at positions corresponding to each dot area between the relevant specific markers, or between the relevant specific marker and the estimated marker, and projects an estimated marker (green diamond shape) at each of the corresponding dot areas using the projection unit 25 (step S8). Specifically, as shown in Figure 15, in step S7, if it is determined that the specific marker M1c and estimated marker M2a have already been projected within a dot area of ​​160 dots horizontally from the specific marker M1e projected in step S3 or the estimated marker M2b projected in step S5 (step S7; YES), the CPU 21 estimates that pillars P exist at positions corresponding to the dot areas between the relevant specific marker M1c and estimated marker M2b, and between the relevant specific marker M1e and estimated marker M2a, and projects the estimated marker (green diamond mark (gray diamond mark in the figure)) M2c at the positions corresponding to each of these dot areas using the projection unit 25 (step S8). Then, the CPU 21 returns to step S1 and repeats the subsequent processing.

[0029] Furthermore, in step S4, if it is determined that the specific marker is not projected in a dot area within 80 dots vertically from the specific marker projected in step S3 (step S4; NO), the CPU 21 determines whether the specific marker or estimated marker is already projected in a dot area within 160 dots horizontally from the specific marker projected in step S3 (the most recent step S3) (step S6).

[0030] In step S6, if it is determined that the specific marker or estimated marker is not projected within a dot area of ​​160 dots horizontally from the specific marker projected in step S3 (step S6; NO), the CPU 21 returns to step S1 and repeats the subsequent processing.

[0031] Furthermore, in step S6, if it is determined that a specific marker or estimated marker has already been projected in a dot area within 160 dots horizontally from the specific marker projected in step S3 (step S6; YES), the CPU 21 estimates that pillars P exist at positions corresponding to each dot area between the relevant specific markers, or between the relevant specific marker and the estimated marker, and projects an estimated marker (green diamond mark) at each of the corresponding dot areas using the projection unit 25 (step S8). Specifically, in step S6, if it is determined that a specific marker M1f has already been projected in a dot area within 160 dots horizontally from the specific marker M1g projected in step S3 (step S6; YES), the CPU 21 estimates that pillars P exist at positions corresponding to each dot area between the relevant specific markers M1f and M1g, and projects an estimated marker (green diamond mark (gray diamond mark in the figure)) M2d at each of the corresponding dot areas using the projection unit 25 (step S8). Then, CPU21 returns the process to step S1 and repeats the subsequent processing.

[0032] As shown in Figures 6 and 10, when the user repeatedly performs the operation (slide operation) to detect the column P using the stud sensor 10, the above projection control process is performed, and as shown in Figure 17, a specific marker M1 and an estimated marker M2 are projected onto the wall surface W. This makes it possible to visualize the shape of the column P, allowing for safe additional work such as drilling holes in a desired area R that avoids the area where the column P is located to add an electrical outlet, or to securely fix a cabinet C by attaching an anti-tipping bracket MF to the location where the column P is located. Furthermore, by using a red triangle for the specific marker M1 and a green diamond for the estimated marker M2, it is easier to distinguish between the specific marker M1 and the estimated marker M2. This makes it possible to grasp the accuracy of column P detection from the color when each of the specific marker M1 and estimated marker M2 is projected. As a result, for example, areas where the estimated markers M2 are clustered will appear darker green. Therefore, if there are concerns about detecting column P, the underlying sensor 10 can attempt to detect column P by focusing on the areas where the green is darker, i.e., where the estimated markers M2 are clustered. The above projection control process is terminated when a predetermined operation to terminate the projection control process is performed via the operation unit 24 at a timing desired by the user (for example, when the shape of column P has been roughly determined).

[0033] As explained above, the exploration support device 20 includes a CPU (control unit) 21 that estimates the shape of multiple pillars (objects to be explored) P, which are located on the back of the wall surface (exploration surface) W and are not visible to the user, based on arrow-shaped light (predetermined information) AL output by the stud sensor (exploration device) 10. Therefore, the exploration support device 20 eliminates the need for the user to mark the detection location on the wall surface W each time a pillar P is detected by the stud sensor 10, thereby increasing the efficiency of the pillar exploration work.

[0034] Furthermore, the CPU 21 determines whether or not the substrate sensor 10 outputs an arrow-shaped light (predetermined information) AL (see Figure 2). If it determines that the substrate sensor 10 has output an arrow-shaped light AL, it identifies the location where the arrow-shaped light AL was output and projects a specific marker M1 onto the identified location using the projection unit 25. Therefore, with the exploration support device 20, the user does not need to mark the location where the arrow-shaped light AL was output, i.e., the detection location of the column P on the wall surface W, and thus the column P exploration work can be performed without damaging the wall surface W.

[0035] Furthermore, when the projection unit 25 projects the exploration support image G1 onto the wall surface W, the CPU 21 projects reference markers G11 at at least three predetermined reference positions. When the substrate sensor 10 determines that an arrow-shaped light (predetermined information) AL has been output, the CPU 21 identifies the detected position of the column P based on the relationship between the position of the reference markers G11 and the position of the substrate sensor 10 when the column P was detected, using the image captured by the imaging unit 26, which includes the substrate sensor 10 when the arrow-shaped light AL was output. Therefore, the exploration support device 20 can accurately identify the position where the arrow-shaped light AL was output by identifying the position of the arrow-shaped light AL based on the relationship between the position of the reference markers G11 and the position of the substrate sensor 10 when the arrow-shaped light AL was output.

[0036] Furthermore, when the CPU 21 identifies a position where an arrow-shaped light (predetermined information) AL is output (for example, the projection position of a specific marker M1d; see Figure 14), if a position where an arrow-shaped light (predetermined information) AL is output (for example, the projection position of a specific marker M1c; see Figure 14) has already been identified in the vertical direction of that position and within a first distance (80 dots) from that position (dot area), the CPU 21 estimates that a column (object to be explored) P exists between those positions. The CPU 21 also projects a predetermined estimation marker (for example, estimation marker M2a; see Figure 14) between each position where the column P is estimated to exist by the projection unit 25. Therefore, with the exploration support device 20, by projecting estimation markers in addition to specific markers, the number of operations (sliding operations) required to detect the column P by the base sensor 10 can be reduced, thereby further improving the efficiency of the column P exploration work.

[0037] Furthermore, when the position where the arrow-shaped light (predetermined information) AL is output is identified, or when the presence of a pillar (object to be explored) P is estimated, the CPU 21 estimates that a pillar (object to be explored) P is located between the positions (dot area) within a second distance (160 dots) from the position where the arrow-shaped light (predetermined information) AL was output (for example, the projection position of the specific marker M1c; see Figure 15), if the position where the arrow-shaped light (predetermined information) AL was output (for example, the projection position of the specific marker M1c; see Figure 15) has already been identified, or if the presence of a pillar P has already been estimated (for example, the estimation marker M2a; see Figure 15). The CPU 21 also projects estimation markers (for example, estimation marker M2c; see Figure 15) between the positions where the pillar P is estimated to be located using the projection unit 25. Therefore, the exploration support device 20 can further reduce the number of operations (sliding operations) required to detect the column P using the substrate sensor 10, thereby further improving the efficiency of the column P exploration work.

[0038] The above description of the embodiment is merely an example of the exploration support device, exploration support method, program, and exploration support system according to the present invention, and is not limited thereto. For example, in the above embodiment, the exploration support device 20 is configured to incorporate a projection unit 25 and an imaging unit 26, but the projection unit 25 and the imaging unit 26 may be provided separately. In other words, the exploration support system 1 may consist of a surface sensor 10, a projection device (not shown), an imaging device (not shown), and an information processing device capable of controlling the projection device and the imaging device.

[0039] Furthermore, in the above embodiment, in the projection control process (see Figure 5), if it is determined that a column P has been detected by the base sensor 10 (step S1; YES), the CPU 21 identifies the detection location of the column P (step S2). Here, the determination of whether or not a column P has been detected in step S1 is based on the presence or absence of output (irradiation) of an arrow-shaped light (predetermined information) AL by the base sensor (surveillance device) 10. However, it may also be based on the presence or absence of output of a signal (predetermined information) indicating that a column P has been detected, which is transmitted from the base sensor 10 to the exploration support device 20 when a column P is detected. When the determination of whether or not a column P has been detected in step S1 is based on the presence or absence of output of the above signal, the exploration support device 20 determines that a column P has been detected by the base sensor 10 (predetermined information has been output) when it receives the signal from the base sensor 10, that is, when the CPU 21 acquires the signal from the base sensor 10 via the communication unit 27 (step S1; YES). As described in the above embodiment, if the determination of whether or not the column P in step S1 is detected is made based on the presence or absence of the output (irradiation) of the arrow-shaped light (predetermined information) AL, the CPU 21 determines that the column P has been detected by the base sensor 10 (the predetermined information has been output) when the arrow-shaped light AL is recognized (image recognition) based on the frame image captured by the imaging unit 26 (step S1; YES).

[0040] Furthermore, in the above embodiment, in step S2 of the projection control process (see Figure 5), control is performed to project a specific marker (specific mark) or an estimated marker (estimated mark) to the detected position of the pillar P each time the detection position is identified. However, for example, instead of projecting the specific marker or estimated marker each time, their position information (the address of the dot region in the group of dot regions defined in the exploration support image G1) may be recorded in memory (storage unit 23), and the specific marker or estimated marker may be projected based on the position information when a predetermined condition is met. Here, a predetermined condition may be, for example, that the number of specific markers and estimated markers for which position information has been recorded exceeds a threshold. Furthermore, in addition to the above number, the condition may also be that position information for a first number of dots has been recorded in the horizontal direction of the exploration support image G1, and position information for a second number of dots has been recorded in the vertical direction.

[0041] Furthermore, in the above embodiment, if the base sensor 10 has a function to detect power lines in addition to the function to detect poles P, the exploration support device 20 may identify the detection position of the power line detected by the base sensor 10 and project a marker (for example, a star) indicating that the power line has been detected at the detection position of the power line using the projection unit 25. In such a case, for example, the base sensor 10 transmits a signal to the exploration support device 20 indicating that a power line has been detected, and when the exploration support device 20 receives the signal, the CPU 21 determines that a power line has been detected by the base sensor 10.

[0042] Furthermore, while the above description discloses examples in which the HDD and SSD of the storage unit 23 are used as computer-readable media for the program according to the present invention, the invention is not limited to these examples. Other computer-readable media that can be used include information recording media such as flash memory and CD-ROM. In addition, a carrier wave can also be used as a medium for providing the program data according to the present invention via a communication line. [Explanation of Symbols]

[0043] 1 Exploration support system, 10 Substrate sensor (exploration device), 20 Exploration support device, 21 CPU (control unit), 25 Projection unit, 26 Imaging unit, M1, M1a~M1g Specific markers, M2, M2a~M2d Estimated markers, P Column (object to be explored), W Wall surface (exploration surface)

Claims

1. A search support device comprising a control unit that estimates the shape of multiple search objects based on predetermined information output by the search device when multiple search objects are detected located in positions on the back side of the search surface that are not visible to the user.

2. The system includes a projection unit that projects an image onto the exploration surface, The control unit, Determine whether or not the aforementioned exploration device outputs the predetermined information, If the exploration device determines that the predetermined information has been output, it identifies the location where the predetermined information was output. The projection unit projects a predetermined specific marker to the identified position. The exploration support device according to claim 1.

3. The system includes an imaging unit for imaging the aforementioned exploration surface, The control unit, When projecting an image onto the exploration surface using the projection unit, reference markers are projected onto at least three predetermined reference positions. If the exploration device determines that the predetermined information has been output, the position where the predetermined information was output is determined based on the relationship between the position of the reference marker and the position of the exploration device at the time the predetermined information was output, using the image of the exploration surface including the exploration device captured by the imaging unit at the time the predetermined information was output. The exploration support device according to claim 2.

4. The control unit, When the location from which the predetermined information was output is identified, if a location from which the predetermined information was output has already been identified in the vertical direction of that location and within a first distance from that location, it is presumed that the object being explored is located between those locations. The projection unit projects predetermined estimation markers between the locations where the object to be explored is estimated to be located. The exploration support device according to claim 2.

5. The control unit, When the location where the predetermined information was output is identified, or when the presence of the object being searched is estimated, if the location where the predetermined information was output has already been identified, or the presence of the object being searched has already been estimated, at a location within a second distance from the location where the predetermined information was output or the location where the object being searched is estimated to be located, then the presence of the object being searched is estimated to be between each of those locations. The projection unit projects the estimated markers between the locations where the object to be explored is estimated to be located. The exploration support device according to claim 4.

6. A method of providing exploration support that is performed by an exploration support device, A method for supporting exploration, which includes the step of estimating the shape of multiple exploration objects based on predetermined information output by an exploration device when multiple exploration objects are detected located in positions on the back side of the exploration surface that are not visible to the user.

7. The computer for the exploration support device, When multiple objects are detected that are positioned on the back of the exploration surface and are not visible to the user, estimation means estimates the shape of the objects based on predetermined information output by the exploration device. A program that makes it function as such.

8. A search support system equipped with an information processing device, The aforementioned information processing device is A search support system comprising a control unit that estimates the shape of multiple search objects based on predetermined information output by a search device when multiple search objects are detected located in positions on the back side of the search surface that are not visible to the user.

Images