Buried object detection device

Abstract

To provide a buried structure investigation device that allows attachment and detachment of an attachment part including detection units according to uses with respect to a body part.SOLUTION: A buried structure investigation device 10 comprises a body part 11, an attachment part 20a, an investigation image conversion processing unit 35, and an attachment and detachment mechanism 50. The attachment part 20a is attached to the body part 11 in a detachably attachable state, and has an electromagnetic induction sensor 14 that detects a buried structure 91. The investigation image conversion processing unit 35 converts a result of detection from the electromagnetic induction sensor 14 into an investigation image. In the attachment and detachment mechanism 50, the attachment part 20a is attached to the body part 11 in a detachably attachable state.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to an embedded object detection device for detecting embedded objects such as metals and woods contained in, for example, walls and concrete.

Background Art

[0002] In recent years, for example, as a device for detecting embedded objects such as reinforcing bars contained in concrete, a device for detecting an embedded object based on a change in a reflected wave of an electromagnetic wave radiated toward the surface of concrete while moving on the surface of the concrete has been used. For example, Patent Document 1 discloses an embedded object detection device including: an input unit that inputs data obtained by acquiring signal values of reflected waves of electromagnetic waves reflected by an embedded object along a side line; a generation unit that generates a virtual waveform template having a spread of a reflection waveform according to a propagation depth of the electromagnetic wave; and a display unit that displays both the data signal value and the virtual waveform template having a shape according to the propagation depth.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above conventional embedded object detection device has the following problems. That is, in the embedded object detection device disclosed in the above publication, for example, when the types of embedded objects to be detected are different or when the detection sensitivity ranges are different, a dedicated embedded object detection device according to the application is required.

[0005] An object of the present invention is to provide an embedded object detection device capable of attaching and detaching an attachment unit including a detection unit according to an application to a main body unit.

Means for Solving the Problem

[0006] The buried object detection device according to the first invention is a buried object detection device that detects a buried object contained in an object, and includes a main body portion, an attachment portion, a detection image conversion processing portion, and a detaching mechanism. The attachment portion is attached to the main body portion in a detachable state and has a detection portion for detecting a buried object. The detection image conversion processing portion converts the detection result in the detection portion into a detection image. The detaching mechanism attaches the attachment portion to the main body portion in a detachable state.

[0007] Here, the main body portion and the attachment portion having a detection portion that is detachable from the main body portion and detects a buried object are attached to each other via a detaching mechanism. Here, the buried object detection device of the present invention may adopt various methods such as a capacitance type using a capacitance sensor that detects a change in capacitance to detect a buried object, an electromagnetic induction type, etc. as the detection portion.

[0008] The types of the attachment portion include at least one of, for example, differences in the method of detecting a buried object (capacitance type, electromagnetic induction type, etc.), differences in the types of buried objects to be detected (wood, metal, heat, etc.), and differences in detection sensitivity. Thereby, for example, even when the types of buried objects to be detected are different or the ranges of detection sensitivity are different, the attachment portion including a detection portion corresponding to the use can be detached from and attached to the main body portion. As a result, the attachment portion including a detection portion corresponding to the use can be detached from and attached to the main body portion.

[0009] The buried object detection device according to the second invention is the buried object detection device according to the first invention, and the detaching mechanism includes a floating substrate including a guide pin formed along the attachment direction of the attachment portion to the main body portion, and a guide hole provided in the main body portion into which the guide pin is inserted. By inserting the floating substrate on the attachment part side so that the guide pin is inserted into the guide hole provided on the main body part side, the attachment part can be attached to the main body part at a predetermined position.

[0010] The buried object exploration device according to the third invention is the buried object exploration device according to the first or second invention, and the attachment / detachment mechanism includes a guide mechanism for guiding the attachment part to the connection position where the detection part of the attachment part and the main body part are connected to each other. As a result, since the attachment part is guided to the position where the detection part on the attachment part side and the main body part are connected to each other, the attachment part can be attached to the main body part at a predetermined position.

[0011] The buried object exploration device according to the fourth invention is the buried object exploration device according to the third invention, and the guide mechanism includes a guide rib provided on the attachment part side or the main body part side, and a guide groove provided on the main body part side or the attachment part side and engaged with the guide rib. As a result, since the attachment part is guided to the position where the detection part on the attachment part side and the main body part are connected to each other by the engagement with the guide rib and the guide groove, the attachment part can be attached to the main body part at a predetermined position.

[0012] The buried object exploration device according to the fifth invention is the buried object exploration device according to the fourth invention, and the guide rib and the guide groove are provided substantially parallel to the mounting direction of the attachment part with respect to the main body part. As a result, by moving the guide rib along the guide groove, the attachment part can be guided along the direction in which it is attached to the main body part.

[0013] The buried object exploration device according to the sixth invention is the buried object exploration device according to any one of the first to fifth inventions, and the attachment / detachment mechanism includes a locking mechanism for holding the connection of the attachment part to the main body part so as not to be released at the connection position where the detection part of the attachment part and the main body part are connected to each other. As a result, at the connection position where the detection unit and the main body unit of the attachment unit are connected to each other, the locking mechanism can hold the attachment unit so as not to separate from the main body unit.

[0014] The buried object exploration device according to the seventh invention is the buried object exploration device according to the sixth invention, wherein the locking mechanism includes a locking claw provided on the main body unit or the attachment unit and a locked portion provided on the attachment unit or the main body unit and engaged with the locking claw at the connection position. As a result, by configuring the locking mechanism by combining the locking claw and the locked portion, the attachment unit and the main body unit can be held in a connected state with a simple configuration.

[0015] The buried object exploration device according to the eighth invention is the buried object exploration device according to the seventh invention, wherein the locking mechanism further includes a biasing member that biases the locking claw in a direction intersecting the mounting direction of the attachment unit with respect to the main body unit, and an operation unit that is operated on the side opposite to the biasing direction of the biasing member when removing the attachment unit. As a result, since the locking claw locked to the non-locking portion is biased in a direction intersecting the mounting direction, by operating the operation unit on the side opposite to the biasing direction, the locking state between the locking claw and the locked portion can be released, and the attachment unit can be easily removed from the main body unit.

[0016] The buried object exploration device according to the ninth invention is the buried object exploration device according to any one of the first to eighth inventions, wherein the attachment / detachment mechanism includes a suction unit that sucks the attachment unit with respect to the main body unit at the connection position where the detection unit of the attachment unit and the main body unit are connected to each other. As a result, for example, by using a suction unit such as a magnet to connect the main body unit and the attachment unit, the attachment unit can be made detachable from the main body unit with a simple configuration.

[0017] The buried object detection device according to the tenth invention is the buried object detection device according to the second invention, wherein the attachment / detachment mechanism is attached to the surface of the floating substrate on the connection side with the main body portion, and further includes a screw for restricting the movement range of the floating substrate. As a result, within the range of freedom set by the screw, the floating substrate can move, so that the connection of the attachment portion to the main body portion can be facilitated.

[0018] The buried object detection device according to the eleventh invention is the buried object detection device according to any one of the first to tenth inventions, and further includes a display unit for displaying the detection image converted by the detection image conversion processing unit.

[0019] As a result, by displaying the detection image converted from the detection result in the detection unit, the user can perform the operation while looking at the display unit provided in the buried object detection device.

Effect of the Invention

[0020] According to the buried object detection device of the present invention, an attachment portion including a detection unit according to the application can be attached to and detached from the main body portion.

Brief Description of the Drawings

[0021]

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Embodiments for Carrying Out the Invention

[0022] The buried object exploration device 10 and its identification method according to an embodiment of the present invention will be described as follows with reference to FIGS. 1 to 25. (1) Configuration of the buried object exploration device 10 As shown in FIG. 1, the buried object exploration device 10 according to the present embodiment detects changes in sensor values by moving along a wall surface (object) 90 and using a capacitance sensor 13 (see FIG. 7) or an electromagnetic induction sensor 14 (see FIG. 7) described later, thereby detecting buried objects 91 such as wood (pipe columns 91a, intermediate columns 91b) and metal contained in the wall surface 90.

[0023] As shown in FIGS. 2 to 4, in the buried object exploration device 10 of the present embodiment, for example, a plurality of attachment parts 20a, 20b, 20c prepared according to the type, detection method, detection sensitivity, etc. of the buried object 91 to be detected are detachably attached to a common main body part 11. The attachment part 20a shown in FIG. 2 includes an electromagnetic induction type detection part (second detection part), and for example, detects embedded objects 91 such as reinforcing bars in concrete. Further, the attachment part 20a has an electromagnetic induction sensor 14 including a sensor value acquisition part 14a and an identification terminal (coil) 14b (see FIG. 7).

[0024] The attachment part 20b shown in FIG. 3 includes a capacitance type detection part (first detection part), and while moving the buried object exploration device 10 along the wall surface 90, detects a change in capacitance to detect, for example, an embedded object 91 such as wood behind a gypsum board. Further, the attachment part 20b has a capacitance sensor 13 including a sensor value acquisition part 13a and an identification terminal (capacitance) 13b (see FIG. 7).

[0025] The attachment part 20c shown in FIG. 4 includes an IR sensor that detects heat, and when the embedded object 91 is a pipe or the like that becomes hot, by detecting heat while moving the buried object exploration device 10 along the wall surface 90, the embedded object 91 is detected. Thereby, for example, by selecting a suitable attachment part according to the type of the embedded object 91 to be detected, the detection method, the detection sensitivity, etc., and attaching it to the main body part 11, only the attachment part having the necessary functions can be prepared and used, so that a buried object exploration device 10 that can be used in various scenes can be obtained.

[0026] Note that the configuration of the attachment / detachment mechanism 50 for detachably attaching the attachment parts 20a and 20b to the main body part 11 will be described in detail later. Also, the identification method for identifying the types of the attachment parts 20a and 20b attached to the main body part 11 will be described in detail later. As shown in FIGS. 2 to 4, the buried object exploration device 10 includes a main body part 11 (display part 12, optical sensor 16 (see FIG. 7) and operation input part 15), and a plurality of attachment parts 20a, 20b, 20c that are detachably attached to the main body part 11.

[0027] Note that the wall surface 90 includes, for example, those with interior materials such as wallpaper pasted on the surface of gypsum board or wooden plywood. In addition, the embedded objects 91 include, for example, frames made of wood or metal such as columns, beams, and crossbars. As shown in FIG. 2, the main body 11 is a resin member having a substantially rectangular parallelepiped shape. A display unit 12 and an operation input unit 15 are provided on the surface (front surface) on the user side during use, and an optical sensor 16 is provided on the surface (back surface) on the side of the wall surface 90 opposite to the user. Further, as shown in FIG. 5, attachment parts 20a to 20c including a plurality of types of detection parts (sensors) having different detection methods, etc., are detachably attached to the upper end part of the main body 11.

[0028] The display unit 12 is, for example, a liquid crystal display device, and is arranged on the surface of the main body 11 as shown in FIG. 2. The display unit 12 displays, for example, the setting of the buried object exploration device 10, a exploration image showing the detection result of the buried object 91, etc. (see FIG. 6), and the display content is switched according to the operation content input to the operation input unit 15. The capacitance sensor 13 is arranged on the back surface side of the attachment part 20b, and detects a change in capacitance when the buried object exploration device 10 is moved along the wall surface 90 in order to detect the buried object 91 existing in the wall surface 90.

[0029] The electromagnetic induction sensor 14 is arranged on the back surface side of the attachment part 20a, and detects a change in the impedance of a coil (see FIG. 10) detected when the buried object exploration device 10 is moved along the wall surface 90 in order to detect the buried object 91 existing in the wall surface 90. The optical sensor 16 is arranged on the back surface side of the main body 11, and receives, for example, the reflected light of infrared rays irradiated onto the wall surface 90 to acquire the position information of the buried object exploration device 10.

[0030] As shown in FIGS. 2 to 4, the operation input unit 15 is arranged on the surface of the main body 11. The operation input unit 15 includes a power button 15a, a grid display button 15b, a scale switching button 15c, and a selection / scroll button 15d. The power button 15a is arranged on the upper right side of the operation input unit 15. For example, when it is long-pressed, the power of the buried object detection device 10 is turned on or off.

[0031] The grid display button 15b is arranged on the upper left side of the operation input unit 15 and is pressed when a grid layer with a plurality of grid lines arranged in a grid pattern is to be displayed overlaid on the detection image on the display screen 12a of the display unit 12. Further, when the grid display button 15b is pressed again in a state where the grid layer is overlaid on the detection image and displayed on the display screen 12a, a measurement grid (grid line) is displayed on the display screen 12a.

[0032] The scale switching button 15c is arranged in the center of the upper section of the operation input unit 15 and is pressed, for example, when enlarging and displaying the overlaid detection image and grid layer. The selection / scroll button 15d is arranged on the lower section side of the operation input unit 15, and operations in the four directions of up, down, left, and right are input. The selection / scroll button 15d is pressed when executing a command or the like selected by scrolling.

[0033] Further, as shown in FIG. 7, the buried object detection device 10 includes a sensor value acquisition unit 30, a position information acquisition unit 31, a storage unit 32, a buried object presence / absence determination unit 33, a dimension calculation processing unit 34, a detection image conversion processing unit 35, a buried object estimation unit 36, an input reception unit 37, a detection image call unit 38, a data transfer unit 39, a display control unit 40, and an attachment identification unit (identification unit) 41 inside the main body unit 11.

[0034] The sensor value acquisition unit 30, position information acquisition unit 31, storage unit 32, buried object presence / absence determination unit 33, dimension calculation processing unit 34, detection image conversion processing unit 35, buried object estimation unit 36, input reception unit 37, detection image call unit 38, data transfer unit 39, display control unit 40, and attachment identification unit 41 generated inside the buried object detection device 10 are generated as control blocks by the CPU reading various control programs stored in the memory.

[0035] The sensor value acquisition unit 30 acquires, for example, the sensor value output from the electromagnetic induction sensor 14 disposed on the back side of the attachment unit 20a or the sensor value output from the capacitance sensor 13 disposed on the back side of the attachment unit 20b, and transmits it to the storage unit 32. More specifically, each time the buried object exploration device 10 reaches a predetermined movement amount along the wall surface 90 using the position information acquired by the position information acquisition unit 31, the sensor value acquisition unit 30 detects a change in the sensor value in order to determine the presence or absence of the buried object 91 in the moved range. As a result, in the exploration image conversion processing unit 35 described later, an exploration image in the movement area can be generated for each predetermined movement amount using the output result from the capacitance sensor 13.

[0036] The position information acquisition unit 31 acquires the output from the optical sensor 16 disposed on the back side of the main body unit 11 and transmits it to the storage unit 32. Thereby, based on the position information acquired by the position information acquisition unit 31, the position, movement amount, and movement direction of the buried object exploration device 10 on the wall surface 90 can be detected. The storage unit 32 stores the data of the sensor value and the data of the position information received from the sensor value acquisition unit 30, a buried object table (see FIG. 22) including the dimension information of the buried object 91 in the scanning direction of the buried object exploration device 10, an exploration image converted from capacitance data in the exploration image conversion processing unit 35, a grid layer, a reference point display layer, etc. that are displayed overlaid on the exploration image. Then, the storage unit 32 transmits the exploration image etc. called by the exploration image calling unit 38 to the data transfer unit 39 and the display control unit 40.

[0037] Note that the exploration images stored in the storage unit 32 are stored in a grouped state in units of one scan, together with the time information of scanning the wall surface 90. And in this embodiment, exploration images corresponding to a plurality of scans are stored in the storage unit 32. In addition, the exploration images converted for each predetermined movement amount are, for example, accumulated and stored since the power of the buried object exploration device 10 is turned on, and are stored in a grouped state with a plurality of exploration images in units of one scan.

[0038] The buried object presence / absence determination unit 33 determines the presence or absence of the buried object 91 in the wall surface 90 according to whether the detected sensor value exceeds a predetermined threshold value (edge determination process). Thus, based on the output results of the capacitance sensor 13, the electromagnetic induction sensor 14, etc., it is possible to determine the presence or absence of the buried object 91. The dimension calculation processing unit 34 calculates an estimated value of the dimension (width, etc.) of the buried object 91 in the wall surface 90 based on the sensor values detected by the capacitance sensor 13, the electromagnetic induction sensor 14, etc. Specifically, the dimension calculation processing unit 34 detects the edge portions at both ends where the output signal of the capacitance sensor 13 changes, and calculates an estimated value of the dimension with the interval therebetween as the buried object 91.

[0039] The exploration image conversion processing unit 35 converts the sensor values detected by the capacitance sensor 13, the electromagnetic induction sensor 14, etc. into an exploration image indicating the presence or absence of the buried object 91. More specifically, the exploration image conversion processing unit 35 generates an exploration image using the sensor values acquired each time the movement amount of the buried object exploration device 10 along the wall surface 90 reaches a predetermined distance, based on the position information of the buried object exploration device 10 detected by the position information acquisition unit 31 described above.

[0040] The buried object estimation unit 36 compares the estimated value of the dimension (width) of the buried object 91 in the scanning direction calculated by the dimension calculation processing unit 34 with the width dimension for each type of the buried object 91 included in the buried object table (see FIG. 22) stored in the storage unit 32, and estimates the type of the corresponding buried object 91. The input reception unit 37 receives the operation content from the user input to the operation input unit 15 including the power button 15a, the grid display button 15b, the scale switching button 15c, the selection / scroll button 15d, etc. described above.

[0041] The exploration image calling unit 38 calls the exploration image stored in the storage unit 32 based on, for example, the operation content from the user input via the operation input unit 15, and transmits it to the data transfer unit 39 and the display control unit 40. Note that after the exploration image is stored in the storage unit 32, the display control unit 40 may control the display unit 12 so that the exploration image is displayed in real time during the scanning of the buried object exploration device 10 regardless of the operation content from the user input to the operation input unit 15.

[0042] The data transfer unit 39 transmits the exploration image, the detection result of the buried object 91, etc. to an external device, a server, etc. The display control unit 40 causes the exploration image (see FIG. 6 etc.) indicating the presence or absence of the buried object 91 generated by the above-described exploration image conversion processing unit 35 to be displayed on the display screen 12a of the display unit 12. Further, the display control unit 40 causes the exploration image, the grid layer and the reference point display layer stored in the storage unit 32, to be superimposed and displayed on the display screen 12a of the display unit 12.

[0043] In the exploration image, as shown in FIG. 6, the buried object 91 is displayed by combining a plurality of exploration images generated from the sensor values acquired along the trajectory of the buried object exploration device 10 scanned along the wall surface 90. Further, in the exploration image, as shown in FIG. 6, for example, the position where the buried object 91 is present is displayed in a different color or different gradation such as black, and the position where the buried object 91 is not present is displayed in white.

[0044] The attachment identification unit 41 identifies the types of the attachment units 20a, 20b attached to the main body unit 11. More specifically, the attachment identification unit 41 detects the combination of the outputs of the identification terminals different for each type of the attachment units 20a, 20b, and identifies the types of the attachment units 20a, 20b. Note that the method for identifying the attachment units 20a, 20b by the attachment identification unit 41 will be described in detail in the following section.

[0045] <Detachment mechanism 50> As shown in FIG. 8, in the buried object exploration device 10 of the present embodiment, a plurality of attachment units 20a to 20c of different types are attached to the common main body unit 11 via the detachment mechanism 50. Here, for the sake of convenience of explanation, the detaching and attaching mechanism 50 will be described by taking as an example the configuration in which the attachment part 20a including the electromagnetic induction type sensor 14 is attached to the main body part 11. However, the same applies to the other attachment parts 20b and 20c.

[0046] As shown in FIG. 9, the main body part 11 includes an upper case 51, a lower case 52, and a control board 53. The upper case 51 is a housing that covers the upper surface side of the main body part 11, and is provided with the operation input part 15 described above. Further, at the end of the upper case 51 on the connection side with the attachment part 20a, a locked part (locking mechanism) 51a to which a locking claw 67a (see FIG. 10) described later is locked is provided.

[0047] The lower case 52 is a housing that covers the lower surface side of the main body part 11, and is fixed to the upper case 51 by four screws 55b so as to sandwich the control board 53 between the upper case 51. Guide ribs (guide mechanism) 52a formed substantially parallel to the mounting direction of the attachment part 20a are provided inside both side surfaces of the lower case 52. The guide rib 52a is a convex portion formed so as to protrude inward from both side surfaces of the lower case 52, and engages with a guide groove 64a on the attachment part 20a side described later.

[0048] The control board 53 includes a display part 12, a connector 53a that is electrically connected to the electromagnetic induction type sensor 14 on the attachment part 20a side, and a guide hole 53b into which a guide pin 65a on the attachment part 20a side described later is inserted. The control board 53 is fixed to the upper case 51 by four screws 55a. The connector 53a obtains sensor values and the like detected on the attachment part 20a side by being connected to the connector 65c of the floating board 65 on the attachment part 20a side.

[0049] The guide holes 53b are provided on both sides of the connector 53a and are holes formed substantially parallel to the mounting direction of the attachment portion 20a. Guide pins 65a on the attachment portion 20a side, which will be described later, are inserted into the guide holes 53b. As shown in FIG. 10, the attachment portion 20a has a cover 61, a lower housing portion 62, a coil 63, an upper housing portion 64, a floating substrate 65, a spring (biasing member) 66, and an operation portion 67.

[0050] As shown in FIG. 10, the cover 61 is attached to the upper surface of the upper housing portion 64 so as to cover the floating substrate 65, the spring 66, and the operation portion 67, which will be described later, from above. The lower housing portion 62 is a base member that forms the lower surface side of the attachment portion 20a and has a substantially annular coil housing portion 62a as shown in FIG. 10. The coil 63 is disposed in the coil housing portion 62a of the lower housing portion 62 and generates a magnetic field when an exciting current is supplied. When an embedded object 91 such as metal approaches in a state where such a magnetic field is generated, the impedance of the coil 63 changes due to the eddy current generated in the embedded object 91 by electromagnetic induction, and thus the embedded object 91 can be detected.

[0051] The upper housing portion 64 is a housing that encloses the coil 63 together with the lower housing portion 62 and is joined to the lower housing portion 62 on the lower surface side. Further, the cover 61 is attached to the upper surface side of the upper housing portion 64, and the floating substrate 65, the spring 66, and the operation portion 67, which will be described later, are enclosed. As shown in FIG. 10, the upper housing portion 64 has a guide groove (guide mechanism) 64a, a fixing plate 64b, and screw holes 64c.

[0052] The guide groove (guide mechanism) 64a engages with the guide rib 52a of the lower case 52 described above and guides the attachment portion 20a in the mounting direction with respect to the main body portion 11. Further, the guide groove 64a is formed substantially parallel to the mounting direction of the attachment portion 20a with respect to the main body portion 11 on the outer sides of both side surfaces of the upper housing portion 64. The fixed plate 64b is a plate-shaped member erected on the upper surface of the upper housing portion 64, and the floating substrate 65 is fixed by two step screws 65b.

[0053] The screw holes 64c are respectively provided near both ends of the fixed plate 64b, and the step screws 65b are screwed therein. As shown in FIG. 10, the floating substrate 65 has guide pins 65a, step screws 65b, and connectors 65c, and is connected to the connector 53a on the main body portion 11 side in a state where the attachment portion 20a is attached to the main body portion 11.

[0054] The guide pin 65a is a rod-shaped member provided so as to protrude from the surface of the floating substrate 65 on the mounting side to the main body portion 11, and is arranged so as to reach the main body portion 11 side before the connector 65c when the attachment portion 20a is mounted on the main body portion 11. Thereby, when the attachment portion 20a is attached to the main body portion 11, the connector 65c of the floating substrate 65 is connected to the connector 53a on the main body portion 11 side in an aligned state by inserting the tip of the guide pin 65a into the guide hole 53b on the main body portion 11 side.

[0055] The step screw 65b is attached to the surface of the floating substrate 65 on the connection side with the main body portion 11, and restricts the movement range of the floating substrate 65. Thereby, within the range of freedom set by the step screw 65b, the floating substrate 65 is mounted in a state where it can move to some extent, so that the attachment portion 20a can be easily connected to the main body portion 11.

[0056] When the attachment portion 20a is attached to the main body portion 11, the connector 65c is connected to the connector 53a on the main body portion 11 side. Thereby, data such as sensor values such as impedance changes of the coil 63 are transmitted to the main body portion 11 side. As shown in FIG. 10, the spring 66 is installed in the space formed by the cover 61 and the upper housing portion 64 together with the operation portion 67, and applies a biasing force that biases the operation portion 67 upward in the figure.

[0057] The operation portion 67 is a member that forms a locking mechanism for holding the state in which the attachment portion 20a is attached to the main body portion 11. As shown in FIG. 10, it has a locking claw (locking mechanism) 67a and a tapered portion 67b. As shown in FIG. 10, the locking claw 67a is provided at the upper end of the operation portion 67. In the state where the attachment portion 20a shown in FIG. 11(a) is attached to the main body portion 11, as shown in FIG. 11(b), it is locked to the locked portion 51a of the upper case 51 on the main body portion 11 side. Thereby, since the attachment portion 20a cannot move in the direction away from the main body portion 11, the attachment portion 20a can be fixed to the main body portion 11.

[0058] Here, in the state where the locking claw 67a shown in FIG. 11(b) is locked to the locked portion 51a, the operation portion 67 is biased upward by the spring 66. Therefore, when attaching and detaching the attachment portion 20a from the main body portion 11, by operating the operation portion 67 downward, the locking state between the locking claw 67a and the locked portion 51a is released. As shown in FIG. 11(c), the tapered portion 67b is an inclined surface that slopes downward toward the main body portion 11, and is provided at the upper part of the operation portion 67.

[0059] Here, when attaching the attachment part 20a to the main body part 11, as the attachment part 20a is brought closer to the main body part 11 in the attachment direction, it abuts against the engaged part 51a of the upper case 51 at the lower part of the inclined surface of the tapered part 67b. When the attachment part 20a is further brought closer to the main body part 11 from there, the engaged part 51a presses down the operation part 67 against the urging force of the spring 66 while abutting along the inclined surface of the tapered part 67b. When the attachment part 20a is attached to the main body part 11, the engaged part 51a climbs up the inclined surface of the tapered part 67b, the operation part 67 moves upward by the urging force of the spring 66, and the locking claw 67a is in a locked state.

[0060] Thereby, the attachment part 20a can form a locked state fixed to the main body part 11. In the buried object exploration device 10 of the present embodiment, as described above, a detaching and attaching mechanism 50 is provided between the main body part 11 and the attachment part 20a detachably attached to the main body part 11. The detaching and attaching mechanism 50 includes a floating substrate 65 including a guide pin 65a formed along the attachment direction of the attachment part 20a to the main body part 11, and a guide hole 53b provided in the main body part 11 into which the guide pin 65a is inserted.

[0061] Thereby, by inserting the floating substrate 65 on the attachment part 20a side so that the guide pin 65a is inserted into the guide hole 53b provided on the main body part 11 side, the attachment part 20a is positioned with respect to the main body part 11. Therefore, in the state where the attachment part 20a shown in Fig. 12(a) is attached to the main body part 11, as shown in Fig. 12(b), the connector 65c of the floating substrate 65 on the attachment part 20a side can be easily connected to the connector 53a on the main body part 11 side.

[0062] At this time, since the floating substrate 65 is attached in a state where it can move within the range restricted by the set screw 65b, the connector 65c of the floating substrate 65 on the attachment unit 20a side can be more easily connected to the connector 53a on the main body unit 11 side. Furthermore, the attachment / detachment mechanism 50 includes a guide mechanism that guides the attachment unit 20a to the connection position where the electromagnetic induction type sensor 14 included in the attachment unit 20a and the main body unit 11 are connected to each other.

[0063] The guide mechanism includes guide ribs 52a provided inside both side surfaces of the lower case 52 on the main body unit 11 side, and guide grooves 64a provided outside both side surfaces of the upper housing unit 64 on the attachment unit 20a side and engaged with the guide ribs 52a. Thereby, since the attachment unit 20a is guided to the position where the electromagnetic induction type sensor 14 on the attachment unit 20a side and the main body unit 11 are connected to each other by the engagement with the guide ribs 52a and the guide grooves 64a, the attachment unit 20a can be attached to the main body unit 11 at a predetermined position. Also, the guide ribs 52a and the guide grooves 64a are provided substantially parallel to the mounting direction of the attachment unit 20a with respect to the main body unit 11. Thereby, by moving the guide rib 52a along the guide groove 64a, the attachment unit 20a can be guided along the direction in which it is attached to the main body unit 11.

[0064] <Identification processing of attachment units 20a and 20b> In the buried object exploration device 10 of the present embodiment, as described above, the attachment units 20a to 20c including a plurality of types of detection units (sensors) according to the type and usage purpose of the buried object 91 are used in a state where they are detachably attached to the common main body unit 11.

[0065] At this time, the attachment identification unit 41 provided on the main body unit 11 side automatically identifies the types of the attached attachment units 20a to 20c. Here, for example, regarding the identification process in the attachment identification unit 41 when the attachment unit 20a including the electromagnetic induction sensor 14 and the attachment unit 20b including the capacitance sensor 13 are each attached to the main body unit 11, the explanation using FIGS. 13 to 15 is as follows.

[0066] When the attachment unit 20a including the electromagnetic induction sensor 14 is attached to the main body unit 11, as shown in FIG. 13, the attachment identification unit 41 provided on the main body unit 11 side acquires signals obtained from the identification terminals 21a, 21b, 21c included in the attachment unit 20a. In the example shown in FIG. 13, at the input ports 1, 2, 3 on the main body unit 11 side, signals of High / High / Low are detected in the order of the identification terminals 21a, 21b, 21c.

[0067] On the other hand, when the attachment unit 20b including the capacitance sensor 13 is attached to the main body unit 11, as shown in FIG. 14, the attachment identification unit 41 provided on the main body unit 11 side acquires signals obtained from the identification terminals 22a, 22b, 22c included in the attachment unit 20b. In the example shown in FIG. 14, at the input ports 1, 2, 3 on the main body unit 11 side, signals of Low / High / High are detected in the order of the identification terminals 22a, 22b, 22c.

[0068] Thereby, when the attachment identification unit 41 stores a table or the like indicating which attachment units 20a, 20b each output of which identification terminal is in advance, by checking which attachment units 20a, 20b the output of the identification terminal identified by the attachment identification unit 41 corresponds to, the types of the attachment units 20a, 20b attached to the main body unit 11 can be automatically recognized.

[0069] Here, the method for identifying the attachment units 20a, 20b in the buried object exploration device 10 of the present embodiment is executed according to the flowchart of FIG. 15. That is, in step S1, it is determined whether either one of the attachment parts 20a and 20b is attached to the main body part 11. Here, when it is detected that either one of the attachment parts 20a and 20b is attached to the main body part 11, the process proceeds to step S2.

[0070] Next, in step S2, in a state where the attachment parts 20a and 20b are attached to the main body part 11, the attachment identification unit 41 on the main body part 11 side acquires the input states at the input ports 1, 2, and 3. Next, in step S3, a determination of the connection state is performed. Specifically, the attachment identification unit 41 detects the output from the above-described identification terminals and determines whether it is High / High / Low, Low / High / High, or otherwise. Here, if the detected signal is High / High / Low, the process proceeds to S4; if it is Low / High / High, the process proceeds to S5; and if it is otherwise, the process proceeds to S6.

[0071] Next, in step S4, since it is determined in step S3 that a High / High / Low signal has been detected, it is determined that the attachment part 20a including the electromagnetic induction type sensor 14 is the attachment part corresponding thereto, and the process ends. Next, in step S5, since it is determined in step S3 that a Low / High / High signal has been detected, it is determined that the attachment part 20b including the capacitance sensor 13 is the attachment part corresponding thereto, and the process ends.

[0072] Next, in step S6, since it is determined in step S3 that a signal other than High / High / Low and Low / High / High has been detected, it is determined that the attachment part includes an undefined sensor, and the process ends. In the buried object exploration device 10 of the present embodiment, as described above, the attachment identification unit 41 on the main body unit 11 side detects the combination of outputs from different identification terminals for each type of the attachment units 20a and 20b, and identifies the types of the attachment units 20a and 20b. Thereby, the types of the attachment units 20a and 20b attached to the main body unit 11 can be identified by, for example, the difference in the combination of outputs of the identification terminals that output High / Low signals.

[0073] <From generation to storage of exploration image> In the buried object exploration device 10 of the present embodiment, with the above configuration, based on the change in the sensor values obtained as a result of scanning along the wall surface 90, an exploration image indicating the presence or absence of the buried object 91 in the wall surface 90 is generated.

[0074] Here, the generation process of the exploration image will be described as follows with reference to the flowchart of FIG. 16. That is, in step S11, the sensor value acquisition unit 30 acquires the sensor values detected by the capacitance sensor 13 or the electromagnetic induction sensor 14 attached to the main body unit 11. Next, in step S12, the position information acquisition unit 31 acquires the position information of the buried object exploration device 10 detected by the optical sensor 16.

[0075] Next, in step S13, it is determined whether the buried object exploration device 10 has moved from the position information of the buried object exploration device 10 acquired by the position information acquisition unit 31 along the wall surface 90. Here, if it is determined that the device has moved, the process proceeds to step S14, and if it is determined that the device has not moved, step S13 is repeated until it is determined that the device has moved. Next, in step S14, since it is determined in step S13 that the buried object exploration device 10 has moved, the coordinates (relative coordinates) indicating the current position of the buried object exploration device 10 are calculated and acquired.

[0076] Next, in step S15, the sensor value acquired in step S11 is stored in the storage unit 32, and the process proceeds to step S16. Thereby, for example, every time the position information acquisition unit 31 detects that the position of the buried object exploration device 10 detected by the optical sensor 16 has reached a predetermined movement amount, the sensor value acquisition unit 30 can save the sensor value it has acquired.

[0077] Next, in step S16, the buried object presence / absence determination unit 33 performs a process of determining the presence or absence of the buried object 91 in the scanning range based on the acquired sensor value. Next, in step S17, the buried object presence / absence determination unit 33 determines whether or not there is a buried object 91. If there is, the process proceeds to step S18; if not, the process proceeds to step S19.

[0078] Next, in step S18, since it is determined in step S17 that there is a buried object 91, the dimension calculation processing unit 34 calculates an estimated value of the dimension (width) of the buried object 91 in the scanning direction of the buried object exploration device 10. Next, in step S19, regardless of the presence or absence of the buried object 91, the exploration image conversion processing unit 35 performs a process of converting the sensor value acquired by the sensor value acquisition unit 30 into an exploration image.

[0079] Next, in step S20, the exploration image generated in step S19 is displayed on the display unit 12 and also saved in the storage unit 32. In the present embodiment, through the above steps, an exploration image is generated using the sensor value detected by the capacitance sensor 13 or the electromagnetic induction sensor 14, displayed on the display unit 12, and saved in the storage unit 32.

[0080] <From Scanning Start to Image Storage> Next, the detailed steps from the start of scanning along the wall surface 90 to the storage process of the exploration image in the buried object exploration device 10 of the present embodiment will be described as follows with reference to the flowcharts of FIGS. 17 to 21. (a) Coordinate Acquisition Processing Regarding the coordinate acquisition process in S14 of FIG. 16 implemented in the buried object exploration device 10 of this embodiment, it will be described in detail below with reference to the flowchart of FIG. 17.

[0081] In this embodiment, when starting the scanning along the wall surface 90 using the buried object exploration device 10, as shown in FIG. 17, in step S21, the position information detected by the optical sensor 16 is acquired as the coordinate change amount (X, Y). Next, in step S22, the coordinate change amount acquired in step S21 is added to the cumulative coordinates. Next, in step S23, the cumulative coordinates obtained in step S22 are set as the current position of the buried object exploration device 10.

[0082] (b) Detection process for presence or absence of buried objects Regarding the determination process for the presence or absence of the buried object 91 in S17 of FIG. 16 implemented in the buried object exploration device 10 of this embodiment, it will be described in detail below with reference to the flowchart of FIG. 18.

[0083] First, in step S31, an offset process is performed by obtaining the difference from the reference value (minimum value) for each of the capacitance sensor 13 or the electromagnetic induction sensor 14. Next, in step S32, the smaller data of the center - left and center - right of the difference data obtained in step S31 is calculated as the determination value. Next, in step S33, it is determined whether the determination value is equal to or greater than a predetermined threshold. Here, if the determination value is equal to or greater than the predetermined threshold, the process proceeds to step S34, and if it is less than the predetermined threshold, the process proceeds to step S35. Next, in step S34, since it is determined in step S33 that the determination value is equal to or greater than the predetermined threshold, it is determined that there is a buried object 91 in the scanning area, and the process ends. On the other hand, in step S35, since it is determined in step S33 that the determination value is less than the predetermined threshold, it is determined that there is no buried object 91 in the scanning area, and the process ends.

[0084] (c) Embedded object estimation process Regarding the estimation process of the embedded object 91 in S18 of FIG. 16 implemented in the embedded object exploration device 10 of the present embodiment, it will be described in detail below using the flowchart of FIG. 19.

[0085] First, in step S41, the continuous width (length) in the scanning direction of the embedded object 91 before and after the current position of the embedded object exploration device 10 is acquired from the acquired data storage table shown in FIG. 23. Here, as shown in FIG. 23, the acquired data storage table includes acquisition time, coordinates (X, Y), detection results of the capacitance sensor, results of embedded object determination, types of embedded objects, and dimension information.

[0086] Note that the type of the embedded object included in the acquired data storage table shown in FIG. 23 is obtained as a result of estimating the type of the embedded object 91 by referring to the width dimension among the name, width, and thickness information for each type of the embedded object 91 shown in FIG. 22 and comparing the estimated value of the dimension of the detected embedded object. Next, in the processes of steps S42 to S46, the embedded object table shown in FIG. 22 is referred to (S43), and materials (base, through column, pipe column, intermediate column, beam, cross bar, edge, body edge, etc.) that match the continuous width (length) in the scanning direction of the embedded object 91 acquired in step S41 are repeatedly confirmed for the number of them (S44).

[0087] Then, in step S44, when the width dimension substantially matches any of the embedded objects 91 included in the embedded object table, the process proceeds to step S46 to estimate the type of the embedded object 91. Then, the embedded object table is returned so as to reflect the estimation result, and the process ends. On the other hand, in step S44, when the width dimension does not match any of the embedded objects 91 included in the embedded object table, the processes of steps S42 to S46 are repeated until all the types in the embedded object table are confirmed, and the process ends.

[0088] (d) Exploration image conversion process Regarding the exploration image conversion process in S19 of FIG. 16 implemented in the buried object exploration device 10 of this embodiment, it will be described in detail below using the flowchart of FIG. 20. Here, using the flowchart shown in FIG. 20, a process of always expanding the drawing range in the vertical direction (vertical direction) regardless of the moving direction of the buried object exploration device 10 will be described.

[0089] In step S51, the determination value calculated in S32 of the buried object presence / absence determination process shown in FIG. 18 is converted into 255 gradations of brightness. Next, in step S52, in the display buffer area, the position coordinates included in the acquisition data storage table shown in FIG. 23 are drawn with the converted brightness, and an exploration image is generated.

[0090] Note that in the display buffer area, as shown in FIG. 24, the coordinates (X, Y) and the corresponding R·G·B values are each stored. Next, in step S53, it is determined whether the dimensions of the buried object 91 have been determined. Here, if the determination has been made, the process proceeds to step S54, and if the determination cannot be made, the process ends. Next, in step S54, the buried object 91 whose dimensions have been determined and its dimensions (scanning direction) are stored in the acquisition data storage table shown in FIG. 23, and the process ends.

[0091] (e) Exploration image storage process Regarding the storage process of the exploration image in S20 of FIG. 16 implemented in the buried object exploration device 10 of this embodiment, it will be described in detail below using the flowchart of FIG. 21.

[0092] First, in step S61, it is determined whether an image clear operation such as the user pressing the exploration start button has been received. Here, if the image clear operation has been received, the process proceeds to step S62, and if not, the process ends as it is. Next, in step S62, the exploration image in the display buffer area shown in FIG. 24 is registered in the exploration image storage table shown in FIG. 25 before the screen is cleared.

[0093] Here, as shown in FIG. 25, in the exploration image storage table, the date and time when the exploration image was generated are stored in a state associated with the image data ID assigned to each exploration image. Note that the exploration images stored in the exploration image storage table are stored as image data corresponding to one operation. Next, in step S63, the display buffer area is cleared and the process ends.

[0094] [Other Embodiments] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention. (A) In the above embodiment, an example of realizing the present invention as a buried object exploration device and an identification method has been described. However, the present invention is not limited to this.

[0095] For example, the present invention may be realized as an identification program that causes a computer to execute the identification method of the buried object exploration device described above. This identification program is stored in a memory (storage unit) mounted on the buried object exploration device, and the CPU reads the identification program stored in the memory and causes the hardware to execute each step. More specifically, by the CPU reading the identification program and executing the above-described wearing detection step and identification step, the same effects as described above can be obtained. Further, the present invention may be realized as a recording medium storing the identification program of the buried object exploration device.

[0096] (B) In the above-described embodiment, an example has been described in which the attachment portions 20a to 20c are attached and held to the main body portion 11 by a locking mechanism including a locking claw 67a and a locked portion 51a. However, the present invention is not limited to this. For example, instead of the locking mechanism described in the above embodiment, a configuration may be adopted in which an attachment portion is adsorbed and held to the main body portion by using an adsorption portion such as a magnet.

[0097] (C) In the above-described embodiment, an example has been described in which a buried object detection device that detects buried objects such as wood and metal is used as an object to be detected by the buried object detection device 10. However, the present invention is not limited to this. For example, as another detection target, a buried object detection device to which an attachment portion capable of detecting both heat and wood / metal is attached may be used.

[0098] (D) In the above-described embodiment, an example has been described in which the types of the attachment portions 20a and 20b attached to the main body portion 11 are identified by detecting the output signals of the identification terminals. However, the present invention is not limited to this. As a method for identifying the attachment portion attached to the main body portion, instead of detecting the output of the identification terminal, for example, a configuration may be adopted in which an RFID (Radio Frequency Identification) tag provided on the attachment portion side and a communication portion on the main body portion side transmit and receive data via wireless communication to identify the type of the attachment portion.

[0099] (E) In the above-described embodiment, an example has been described in which three types of attachment portions having different detection methods, namely, an attachment portion 20a including an electromagnetic induction type sensor 14, an attachment portion 20b including a capacitance sensor 13, and other undefined attachment portions, are identified. However, the present invention is not limited to this. For example, a configuration capable of identifying two types or four or more types of attachment portions may be adopted.

[0100] (F) In the above embodiment, an example was described in which a guide mechanism was configured by combining a guide rib 52a provided on the main body part 11 side and a guide groove 64a provided on the attachment part 20a side. However, the present invention is not limited to this. For example, the guide mechanism may be configured such that the guide rib and the guide groove are provided on opposite members. That is, the guide rib may be provided on the attachment part side and the guide groove may be provided on the main body part side.

[0101] (G) In the above embodiment, an example was described in which a floating substrate 65 whose movement range is restricted by a step bolt 65b is provided on the attachment part 20a side. However, the present invention is not limited to this.

[0102] For example, instead of the floating substrate, a general substrate may be provided.

Industrial Applicability

[0103] Since the buried object exploration device of the present invention has the effect that an attachment part including a detection part according to the application can be attached to and detached from the main body part, it is widely applicable to buried object exploration devices for detecting various buried objects.

Explanation of Signs

[0104] 10 Buried object exploration device 11 Main body part 12 Display part 12a Display screen 13 Capacitance sensor (first detection part) 13a Sensor value acquisition part 13b Identification terminal 14 Electromagnetic induction type sensor (second detection part) 14a Sensor value acquisition part 14b Identification terminal 15 Operation input part 15a Power button 15b Grid display button 15c Scale switching button 15d Selection / scroll button 16 Optical sensor 20a Attachment part 20b Attachment part 20c Attachment part 21a~21c Identification terminals 22a~22c Identification terminals 30 Sensor value acquisition part 31 Position information acquisition part 32 Memory part 33 Presence / absence determination part of buried object 34 Dimension calculation processing part 35 Exploration image conversion processing part 36 Buried object estimation part 37 Input reception part 38 Exploration image calling part 39 Data transfer part 40 Display control part 41 Attachment identification part (identification part) 50 Detachable mechanism 51 Upper case 51a Locked part (locking mechanism) 52 Lower case 52a Guide rib (guide mechanism) 53 Control board 53a Connector 53b Guide hole 55a, 55b Screws 61 Cover 62 Lower housing part 62a Coil storage part 63 Coil 64 Upper housing part 64a Guide groove (guide mechanism) 64b Fixed plate 64c Screw hole 65 Floating board 65a Guide pin 65b Step screw 65c Connector 66 Spring (biasing member) 67 Operation part 67a is a locking claw (locking mechanism) 67b is a tapered portion 90 is a wall surface (object) 91 is an embedded object 91a is a pipe column 91b is an intermediate column

Claims

1. An embedded object exploration device for detecting an embedded object contained in an object, comprising: a main body part; an attachment part that is detachably attached to the main body part and has a detection part for detecting the embedded object; an exploration image conversion processing part that converts a detection result in the detection part into an exploration image; a detachment and attachment mechanism by which the attachment part is detachably attached to the main body part; and is provided with: The detachment and attachment mechanism includes a floating substrate including a guide pin formed along the attachment direction of the attachment part to the main body part, and a guide hole provided in the main body part into which the guide pin is inserted. Embedded object exploration device.

2. The detachment and attachment mechanism includes a guide mechanism for guiding the attachment part to a connection position where the detection part of the attachment part and the main body part are connected to each other. The embedded object exploration device according to claim 1.

3. The guide mechanism includes a guide rib provided on the attachment part side or the main body part side, and a guide groove provided on the main body part side or the attachment part side and engaged with the guide rib. The embedded object exploration device according to claim 2.

4. The guide rib and the guide groove are provided substantially parallel to the attachment direction of the attachment part to the main body part. The embedded object exploration device according to claim 3.

5. The detachment and attachment mechanism includes a locking mechanism that holds the attachment of the attachment part to the main body part so as not to be released at a connection position where the detection part of the attachment part and the main body part are connected to each other. The embedded object exploration device according to any one of claims 1 to 4.

6. The locking mechanism includes a locking claw provided on the main body part or the attachment part at the connection position, and a locked part provided on the attachment part or the main body part and locked by the locking claw. The buried object detection device according to claim 5.

7. The locking mechanism further includes a biasing member that biases the locking claw in a direction intersecting the mounting direction of the attachment part with respect to the main body part, and an operating part that is operated in a direction opposite to the biasing direction when the attachment part is removed. The buried object detection device according to claim 6.

8. The attachment / detachment mechanism includes a suction part that sucks the attachment part with respect to the main body part at a connection position where the detection part of the attachment part and the main body part are connected to each other. The buried object detection device according to any one of claims 1 to 7.

9. The attachment / detachment mechanism is attached to a surface of the floating substrate on the connection side with the main body part, and further includes a stud bolt that restricts the movement range of the floating substrate. The buried object detection device according to claim 1.

10. The device further includes a display part that displays the detection image converted by the detection image conversion processing part. The buried object detection device according to any one of claims 1 to 9.

Images