Measurement system, environment system, measurement method, and program

Abstract

Provided are a measurement system, an environment system, a measurement method, and a program that enable easy measurement even when entry by travel is difficult. A measurement system (1) comprises: a main unit (1A) that is configured to be movable within a specific space (4) including measurement areas (41, 42, 43, 44); and a measurement unit (1B) that is detachable from the main unit (1A). The main unit (1A) includes a moving part (10) for moving within the specified space (4). The measurement unit (1B) includes a measurement part (11) that measures a predetermined measurement target with respect to the environment of the measurement areas (41, 42, 43, 44). The measurement part (11) is configured to be able to measure the measurement target when the measurement unit (1B) is detached from the main unit (1A).

Description

Measurement system, environmental system, measurement method, and program

[0001] The present disclosure relates to a measurement system, an environmental system, a measurement method, and a program. More particularly, the present disclosure relates to a measurement system, an environmental system, a measurement method, and a program that measure an environmental measurement target while moving within a specific space.

[0002] Patent Literature 1 describes a measurement system configured to be movable within a specific space. This measurement system includes a moving unit and a measuring unit, and by operating the moving unit, the measuring unit is moved to a target position within the specific space and measures a predetermined measurement target related to the environment.

[0003] Japanese Patent Application Laid-Open No. 2020-194642

[0004] In the measurement system described in Patent Document 1, for example, there are cases where it is difficult for the mobile body that constitutes the measurement system to reach the target position due to the presence of an obstacle in the measurement area.

[0005] An object of the present disclosure is to provide a measurement system, an environmental system, a measurement method, and a program that can easily perform measurements even when intrusion by driving is difficult.

[0006] A measurement system according to one aspect of the present disclosure includes a main unit configured to be movable within a specific space including a measurement area, and a measurement unit detachable from the main unit. The main unit includes a moving unit for moving within the specific space. The measurement unit includes a measurement unit that measures a predetermined measurement object related to the environment of the measurement area. The measurement unit is configured to be able to measure the measurement object when the measurement unit is detached from the main unit.

[0007] An environmental system according to one aspect of the present disclosure includes the measurement system and an environment generating system, the environment generating system including an object including at least one of a generator and a sensor that generates the environment of the specific space.

[0008] A measurement method of one aspect of the present disclosure is a measurement method performed using a measurement system that moves within a specific space in which an object consisting of at least one of a generation unit of an environment generation system that generates an environment in the specific space and a sensor is installed, and includes a movement step in which a main unit moves to a measurement area of ​​the specific space with a measurement unit attached, and a measurement step in which the measurement unit is detached from the main unit after movement and measures a measurement object related to the environment in the measurement area.

[0009] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the measurement method.

[0010] Fig. 1 is a block diagram showing the configuration of a measurement system and an environment generating system according to an embodiment. Fig. 2 is a front view schematically showing the measurement system. Fig. 3 is a side view schematically showing the measurement system. Fig. 4 is a side view schematically showing a measurement state in the measurement system. Fig. 5 is a perspective view schematically showing a position estimation means in the measurement system.

[0011] Hereinafter, a measurement system, an environment generating system, and an environment system according to an embodiment will be described with reference to the accompanying drawings.

[0012] The drawings referred to in the following embodiments are all schematic diagrams, and therefore the ratios of sizes and thicknesses of components in the drawings do not necessarily reflect the actual dimensional ratios.

[0013] (Embodiment) (1) Overview The measurement system 1, environment generating system 2, and environment system 3 of this embodiment will be outlined with reference to the accompanying drawings.

[0014] 1, the environment system 3 of this embodiment includes a measurement system 1 and a plurality of environment generating systems 2. The plurality of environment generating systems 2 are, for example, four environment generating systems 2.

[0015] Each of the multiple environment generating systems 2 is, for example, a system that generates an environment for a specific space 4. The specific space 4 is, for example, the interior space of a non-residential facility such as an office, a store, a school, or a tunnel. The specific space 4 may be the interior space of an apartment building or a detached house, in addition to the interior space of a non-residential facility. A plurality of objects 20 are installed in the specific space 4 (see FIGS. 1 and 4). Each of the multiple objects 20 is composed of at least one of a generation unit 21 and a sensor 22 provided in the environment generating system 2.

[0016] The environment generating system 2 is, for example, a system that generates a lighting environment for a specific space 4. That is, the generating unit 21 in this embodiment is a lighting fixture configured to generate light within the specific space 4.

[0017] The measurement system 1 is a system that autonomously moves within a specific space 4 and measures a predetermined measurement target related to the environment of the specific space 4. The measurement system 1 includes a main unit 1A and a measurement unit 1B that is provided separately from the main unit 1A. The main unit 1A is configured to be movable within the specific space 4, which includes measurement areas 41, 42, 43, and 44. The shapes and sizes of the measurement areas 41, 42, 43, and 44 are not particularly limited. The shapes and sizes of the measurement areas 41, 42, 43, and 44 may be the same as or different from one another. An object 20 is placed in each of the measurement areas 41, 42, 43, and 44. The measurement unit 1B is configured to be detachable from the main unit 1A.

[0018] The main unit 1A includes a moving unit 10. The moving unit 10 is a mechanism for moving within the specific space 4. When the measurement system 1 starts measurement for the specific space 4, the moving unit 10 is operated to move sequentially to measurement areas 41, 42, 43, and 44 within the specific space 4.

[0019] The measurement unit 1B includes a measurement unit 11. The measurement unit 11 measures a predetermined measurement target in each of the measurement areas 41, 42, 43, and 44. In this embodiment, the predetermined measurement target is the illuminance of light generated by the generation unit 21 of the environment generating system 2.

[0020] In the measurement system 1 of this embodiment, the measurement section 11 of the measurement unit 1B can measure a predetermined measurement object when the measurement unit 1B is attached to the main unit 1A. Additionally, in the measurement system 1 of this embodiment, the measurement section 11 of the measurement unit 1B can measure a predetermined measurement object even when the measurement unit 1B is detached from the main unit 1A.

[0021] Therefore, according to the measurement system 1 of this embodiment, even in places where the main unit 1A cannot enter, the measurement unit 1B can be removed from the main unit 1A and measurements can be easily performed, thereby improving work efficiency.

[0022] (2) Configuration The configurations of the measurement system 1, the environment generating system 2, and the environment system 3 of this embodiment will be described in more detail.

[0023] As described above, the environmental system 3 of this embodiment includes the measurement system 1 including the main unit 1A and the measurement unit 1B, and four environment generating systems 2. In this embodiment, the multiple measurement areas 41, 42, 43, and 44 in the specific space 4 correspond one-to-one to the multiple environment generating systems 2.

[0024] (2.1) Main Unit The main unit 1A of this embodiment includes a moving unit 10, a main unit position measuring unit 142, a position estimation unit 145, an output unit 15, a control unit 17, and a memory unit 18, as shown in FIG. 1 etc.

[0025] The moving unit 10 is a mechanism for moving the main unit 1A. The moving unit 10 includes, for example, a plurality of drive wheels 101, a plurality of driven wheels 102, and a motor that drives the plurality of drive wheels 101. In the moving unit 10, the motor rotates in accordance with a command from the control unit 17, and the rotational force of the motor is transmitted to the plurality of drive wheels 101, causing the plurality of drive wheels 101 to rotate. This allows the main unit 1A and the measurement system 1 equipped with it to move to measurement areas 41, 42, 43, and 44 in the specific space 4.

[0026] The main body position measuring unit 142 measures the position of the main body unit 1A. In other words, the main body position measuring unit 142 is configured to acquire three-dimensional self-position data of the main body unit 1A (see FIG. 5 ). The main body position measuring unit 142 is, for example, a unit that uses LiDAR (Light Detection and Ranging) technology (hereinafter referred to as a "LiDAR unit"). The main body position measuring unit 142 can acquire, as self-position data, distance data to structures such as inner walls and obstacles provided within the specific space 4.

[0027] The position estimation unit 145 estimates the position of the measurement unit 1B. As will be described later, the position estimation unit 145 estimates the position of the measurement unit 1B based on the position of the main unit 1A measured by the main unit position measurement unit 142, the relative position of the measurement unit 1B measured by the relative position measurement unit 141, and map information of the specific space 4.

[0028] The output unit 15 outputs correspondence information. This correspondence information is information that associates output information based on the measurement results of the measurement unit 11 with the target object 20. For example, if the target object 20 is the generation unit 21, the correspondence information includes control information as output information and identification information for identifying the generation unit 21. For example, if the target object 20 is a sensor 22, the correspondence information includes adjustment information as output information and identification information for identifying the sensor 22.

[0029] The control unit 17 mainly comprises, for example, a computer system having one or more processors and one or more memories. The functions of the control unit 17 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory. Alternatively, the program may be provided via a telecommunications line such as the Internet, or may be provided recorded on a non-transitory recording medium such as a memory card.

[0030] The control unit 17 controls the moving unit 10, main body position measuring unit 142, position estimating unit 145, and output unit 15 included in the main unit 1A, and also controls the measuring unit 11, relative position measuring unit 141, and communication unit 16 included in the measuring unit 1B. The control unit 17 generates control information for controlling the target object 20 as output information.

[0031] For example, when the object 20 is the generator 21 (a lighting fixture in this embodiment), the control unit 17 generates, as output information, control information for controlling the output of the generator 21 so that the illuminance of the light generated by the generator 21 becomes the set value when the measurement result of the measurement unit 11 differs from a preset value. Specifically, the control unit 17 creates correspondence information including the control information for controlling the output of the generator 21, and causes the output unit 15 to output the created correspondence information. The correspondence information output from the output unit 15 is transmitted to the environment generating system 2 via the communication unit 16 included in the measurement unit 1B. In the environment generating system 2, the control unit 27, described below, controls the output of the generator 21 in accordance with the control information included in the correspondence information.

[0032] The storage unit 18 is configured with a device selected from, for example, a read-only memory (ROM), a random access memory (RAM), and an electrically erasable programmable read-only memory (EEPROM). The storage unit 18 can store self-location data, relative location data, map data, route data, sensor location data, measurement location data, initial setting data, and measurement data. The storage unit 18 can also store the measurement order for the multiple measurement areas 41, 42, 43, and 44.

[0033] The self-position data is position data of the main unit 1A acquired by the main unit position measurement unit 142. The relative position data is data on the relative position of the measurement unit 1B measured by the relative position measurement unit 141. The map data is position data of structures provided within the specific space 4. The route data is data on the route to the destination.

[0034] The sensor position data is position data of the sensor 22 in the specific space 4. The sensor position data includes an X coordinate, which is a coordinate in the X-axis direction, a Y coordinate, which is a coordinate in the Y-axis direction, and a Z coordinate, which is a coordinate in the Z-axis direction, as shown in Fig. 5. The sensor position data is stored in the storage unit 18 in a format linked to identification information for identifying the sensor 22.

[0035] The measurement position data is position data of the point where the measurement unit 11 performs measurement (i.e., the measurement point). One or more measurement points are set in each measurement area 41, 42, 43, 44. The measurement position data is stored in the memory unit 18 in a format linked to identification information for identifying the generation unit 21. The initial setting data is data set in the sensor 22. The initial setting data includes, for example, identification information for identifying the sensor 22 and the operation mode of the sensor 22. The measurement data is light illuminance data that constitutes the measurement result of the measurement unit 11. The measurement data is stored in the memory unit 18 in a format linked to the identification information of the generation unit 21.

[0036] The main unit 1A includes a housing 19 that forms the outer shell of the main unit 1A. A moving unit 10 is provided below the housing 19. The moving unit 10 has a plurality of drive wheels 101 that rotate, causing the housing 19 to move along a traveling surface such as a floor.

[0037] A main body position measuring unit 142 is provided on the upper part of the housing 19. The housing 19 also has a holder 192 for detachably holding the measurement unit 1B. The holder 192 is located, for example, below the portion of the housing 19 where the main body position measuring unit 142 is installed. The position estimation unit 145, the output unit 15, the control unit 17, and the storage unit 18 are housed inside the housing 19.

[0038] (2.2) Measurement Unit The measurement unit 1B of this embodiment includes a measurement section 11 , a support 12 , an operation input section 13 , a relative position measurement section 141 , and a communication section 16 .

[0039] The measurement unit 11 measures a predetermined measurement object related to the environment of the measurement areas 41, 42, 43, and 44. In this embodiment, the predetermined measurement object is the illuminance of light generated by the generation unit 21. The generation unit 21 is a lighting fixture, and the measurement unit 11 measures the illuminance of the light generated by the generation unit 21 as the measurement object. In this embodiment, the measurement unit 11 is an illuminance meter. The measurement unit 11 outputs light illuminance data constituting the measurement result to the control unit 17.

[0040] The measurement unit 1B can be switched between a state where it is attached to the main unit 1A (hereinafter referred to as the "attached state") and a state where it is detached from the main unit 1A (hereinafter referred to as the "detached state"). The measurement unit 11 is configured to be able to measure the measurement target in both the attached state and the detached state. The measurement unit 11 is configured to be able to output light illuminance data that constitutes the measurement result to the control unit 17 in both the attached state and the detached state.

[0041] The support 12 is connected to the measurement unit 11. The support 12 is composed of a rod-shaped member that supports the measurement unit 11. In the attached state, the measurement unit 11 is supported by the main unit 1A via the support 12.

[0042] The support body 12 includes a support portion 121, a grip portion 122, a connecting portion 123, and an attachment portion 125 that is detachably attached to the holding portion 192 of the main unit 1A. The support portion 121 is a portion that supports the measurement portion 11. The grip portion 122 is a rod-shaped portion that can be held by a user. In this case, the user is, for example, a construction worker. The connecting portion 123 is a portion that connects the support portion 121 and the grip portion 122. Via the connecting portion 123, the support portion 121 and the grip portion 122 can be connected so that they form an L-shape overall. The attachment portion 125 is a portion that is detachably attached to the holding portion 192 of the main unit 1A.

[0043] The angle of the support part 121 and therefore the measuring part 11 supported thereby can be changed via the connecting part 123. The support part 12 may be provided with an actuator that changes the angle of the support part 121. In the attached state, the measuring part 11 is supported directly above the main unit 1A via the support part 12.

[0044] The operation input unit 13 is configured to receive operations from a user. The user here is, for example, a construction worker. The operation input unit 13 is installed in a part of the grip unit 122 included in the support body 12. The operation input unit 13 is, for example, an operation switch configured to be operated by the finger of the user holding the grip unit 122. The operation input unit 13 is configured to be able to output the results of operations by the user to the control unit 17 in both the attached state and the detached state.

[0045] The relative position measurement unit 141 is configured to measure the relative position of the measurement unit 1B from the main unit 1A in three dimensions. The relative position measurement unit 141 is, for example, a LiDAR unit supported by the support body 12. The relative position measurement unit 141 is configured to be able to output the measurement results of the relative position of the measurement unit 1B to the control unit 17 in both the attached state and the detached state.

[0046] The measurement unit 1B is electrically connected to the main unit 1A via flexible electric wires 5. The measurement section 11, operation input section 13, relative position measurement section 141, and communication section 16 included in the measurement unit 1B are each connected to the control section 17 of the main unit 1A via the electric wires 5. The electric wires 5 are preferably provided so as to be able to be pulled out from the main unit 1A.

[0047] It is also preferable that the measurement unit 1B is connected to the main unit 1A via wireless communication such as infrared communication, without via the electric wire 5. In this case, the measurement section 11, the support 12, the operation input section 13, the relative position measurement section 141, and the communication section 16 included in the measurement unit 1B are each wirelessly connected to the control section 17 of the main unit 1A.

[0048] The communication unit 16 is, for example, a communication module that performs wireless communication with the environment generating system 2. The communication unit 16 performs, for example, infrared communication with the environment generating system 2. The communication unit 16 receives, for example, initial setting data for the sensor 22 from the environment generating system 2. When the object 20 is the generation unit 21, the communication unit 16 transmits correspondence information, in which control information for controlling the output of the generation unit 21 is used as output information, to the environment generating system 2. When the object 20 is the sensor 22, the communication unit 16 transmits, to the environment generating system 2, initial setting data or correspondence information, in which adjustment information is used as output information. The adjustment information is information for adjusting the state of the sensor 22. The adjustment information is, for example, information for adjusting the sensitivity of the sensor 22.

[0049] 1 , the environment generating system 2 of this embodiment includes a generating unit 21 and a sensor 22 that constitute an object 20, a communication unit 26, a control unit 27, and a storage unit 28. The environment generating system 2 of this embodiment is a sensor-equipped lighting system that includes the generating unit 21 as a lighting fixture that generates light for a specific space 4, and the sensor 22.

[0050] The generator 21 generates an environment for the specific space 4. In this embodiment, the generator 21 is a lighting fixture that generates light for the specific space 4. The operating state of the generator 21 is switched between a state in which light is generated and a state in which light is not generated, based on an output signal based on the detection result of the sensor 22.

[0051] The sensor 22 is, for example, a brightness sensor. The sensor 22 is, for example, a photodiode-type sensor. When the set illuminance of the installation area is, for example, 500 lux, the sensor 22 is used to start the output and operation of the generation unit 21 in order to maintain the illuminance of the installation area at 500 lux regardless of the incidence of external light during the day or dimming at night.

[0052] The communication unit 26 is, for example, a communication module that performs wireless communication with the measurement system 1. The communication unit 26 performs, for example, infrared communication with the measurement unit 1B of the measurement system 1. The communication unit 26 transmits initial setting data of the sensor 22 stored in the storage unit 28 in response to a request from the measurement system 1, for example. When the object 20 is the generation unit 21, the communication unit 26 receives correspondence information including control information for controlling the operation of the generation unit 21 from the measurement system 1. When the object 20 is the sensor 22, the communication unit 26 receives correspondence information including adjustment information for adjusting the state of the sensor 22 from the measurement system 1.

[0053] The control unit 27 mainly comprises, for example, a computer system having one or more processors and one or more memories. The functions of the control unit 27 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory. Alternatively, the program may be provided via a telecommunications line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card. The control unit 27 controls each of the generation unit 21, the sensor 22, and the communication unit 26.

[0054] The storage unit 28 is configured with a device selected from, for example, a ROM, a RAM, an EEPROM, etc. The storage unit 28 is capable of storing identification information for each of the generation unit 21 and the sensor 22. The storage unit 28 is capable of storing a setting value for the illuminance of the light generated by the generation unit 21. In addition, the storage unit 28 is capable of storing initial setting data for the sensor 22.

[0055] (3) Measurement Method The measurement method performed using the measurement system 1 of this embodiment includes a movement step and a measurement step. In the measurement method of this embodiment, the movement step and the measurement step are performed each time a measurement is performed at a set measurement point. The measurement system 1 used here is a measurement system 1 that moves within a specific space 4 in which an object 20 consisting of at least one of a generation unit 21 and a sensor 22 of an environment generating system 2 that generates the environment of the specific space 4 is installed. A program for causing one or more processors to execute the above-mentioned measurement method is stored in the memory unit 18 of the measurement system 1.

[0056] The movement step is a step in which the main unit 1A, with the measurement unit 1B attached, moves to a predetermined position in one of the plurality of measurement areas 41, 42, 43, and 44 in the specific space 4. In the movement step, the main unit 1A moves, for example, toward a predetermined position in the measurement area 41 by driving the movement unit 10 in accordance with a command from the control unit 17. The control unit 17 determines the position of the main unit 1A in the specific space 4 and controls the movement unit 10 using the self-position data acquired by the main unit position measurement unit 142 and the map data and measurement position data read from the memory unit 18.

[0057] The measurement step is a step in which the measurement unit 1B of the measurement system 1, which has been moved in the movement step, measures the measurement object at a predetermined measurement point in any one of the measurement areas 41, 42, 43, and 44.

[0058] For example, if there are no particular obstacles on the travel surface of the measurement area 41 and travel is not hindered, the main unit 1A, with the measurement unit 1B attached, moves to a predetermined measurement point in the measurement area 41. Next, the measurement part 11 of the measurement unit 1B attached to the main unit 1A measures the measurement target at the predetermined measurement point.

[0059] In contrast, for example, if an obstacle is present at a predetermined measurement point in the measurement area 41, the main unit 1A, with the measurement unit 1B attached, moves to a position near the measurement point in the measurement area 41 that is accessible. Next, a user, such as a construction worker, detaches the measurement unit 1B from the moved main unit 1A, holds it, manually moves the measurement unit 1B to the predetermined measurement point, and then inputs a command to start measurement by operating the operation input unit 13 with a finger. This enables the measurement unit 1B, separated from the main unit 1A, to measure the environmental measurement target in the measurement area 41. Similar movement and measurement steps can be performed in other measurement areas 42, 43, and 44 to measure environmental measurement targets. The memory unit 18 of the measurement system 1 stores the position of the measurement unit 1B and data on the measurement target measured by the measurement unit 11 at that position.

[0060] In the measurement step, the control unit 17 compares the measurement result acquired from the measurement unit 11 with the setting value read from the storage unit 18. If the measurement result and the setting value match, the control unit 17 terminates the process. If the measurement result and the setting value differ, the control unit 17 creates correspondence information including control information for the generation unit 21 and identification information of the generation unit 21, and outputs the created correspondence information from the output unit 15. Even if the setting value is stored in the control unit 27, the control unit 17 creates correspondence information including control information for the generation unit 21 and identification information of the generation unit 21 based on the measurement result acquired from the measurement unit 11, and outputs the created correspondence information from the output unit 15.

[0061] The correspondence information output from the output unit 15 is transmitted via the communication unit 16 to the environment generating system 2 including the object 20 associated with the measurement area 41. The control information is information for controlling the output of the generating unit 21 so that the illuminance of the light generated by the generating unit 21 is equal to the set value.

[0062] In the environment generating system 2, when the communication unit 26 receives the correspondence information from the measurement system 1, the control unit 27 controls the output of the generation unit 21 in accordance with the control information included in the correspondence information if the identification information included in the correspondence information matches the identification information of the generation unit 21 associated with itself. As a result, the illuminance of the light generated by the generation unit 21 is adjusted to be equal to the set value.

[0063] In the above, the target object 20 is the generation unit 21, but the target object 20 may also be the sensor 22. In this case, the output information is adjustment information for adjusting the state of the sensor 22. The output information is, for example, information for adjusting the sensitivity of the sensor 22.

[0064] (4) Estimation of the position of the measurement unit The position of the measurement unit 1B detached from the main unit 1A is estimated by the position estimation unit 145 included in the main unit 1A. The position estimation unit 145 estimates the position of the measurement unit 1B based on self-position data, relative position data, and map data. The self-position data is position data of the main unit 1A. The relative position data is the relative position of the measurement unit 1B with respect to the main unit 1A. The map data is data of map information of the specific space 4.

[0065] The position of the main unit 1A is measured by a main unit position measuring unit 142 included in the main unit 1A, and the measurement results are stored in the memory unit 18. The relative position of the measurement unit 1B with respect to the main unit 1A is measured by a relative position measuring unit 141 included in the measurement unit 1B, and the measurement results are stored in the memory unit 18.

[0066] According to the measurement system 1 of this embodiment, in response to various situations, such as when an obstacle is present, the measurement unit 1B can be separated from the main unit 1A and the measurement target can be measured, and the measurement results can be stored in the memory unit 18 together with the position data of the measurement unit 1B at the time of measurement. According to the measurement system 1 of this embodiment, the user can perform measurements by holding the measurement unit 1B separated from the main unit 1A in their hand and moving it within the specific space 4, so that measurement data of any position within the specific space 4 can be easily obtained and stored in the memory unit 18 together with the data of the measurement position.

[0067] (5) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved.

[0068] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0069] The measurement system 1 and the environment generating system 2 in the present disclosure include a computer system, for example, in the control unit 17 and the control unit 27. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the functions of the measurement system 1 and the environment generating system 2 in the present disclosure. The program may be pre-recorded in the memory of the computer system. The program may also be provided via a telecommunications line, or may be provided recorded on a non-transitory recording medium. The non-transitory recording medium may be, for example, a memory card, optical disk, or hard disk drive readable by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0070] At least some of the functions of the measurement system 1 (e.g., the control unit 17) may be realized by the cloud (cloud computing), etc. Also, at least some of the functions of the environment generating system 2 (e.g., the control unit 27) may be realized by the cloud (cloud computing), etc.

[0071] In the above embodiment, the main body position measurement unit 142 is configured as a LiDAR unit, but the main body position measurement unit 142 is not limited to a LiDAR unit. The main body position measurement unit 142 may be configured to detect the position of the mobile unit 10, for example, from the rotation speed of a motor included in the mobile unit 10. For example, if the measurement system 1 is equipped with a camera, the main body position measurement unit 142 may be configured to detect the position of the main body unit 1A based on an image from the camera. The main body position measurement unit 142 may include, for example, an acceleration sensor or a gyro sensor, and may be configured to detect the position of the mobile unit 10 based on acceleration information or angular velocity information.

[0072] Similarly, in the above embodiment, the relative position measurement unit 141 is configured as a LiDAR unit, but the relative position measurement unit 141 is not limited to a LiDAR unit. For example, if the measurement unit 1B is equipped with a camera, the relative position measurement unit 141 may be configured to detect the relative position of the measurement unit 1B based on an image from the camera. The relative position measurement unit 141 may include, for example, an acceleration sensor or a gyro sensor and be configured to detect the relative position of the relative position measurement unit 141 based on acceleration information or angular velocity information.

[0073] In the above embodiment, the relative position measuring unit 141 is installed in the measurement unit 1B, but the installation location of the relative position measuring unit 141 is not limited to this. The relative position measuring unit 141 may be installed in, for example, the main unit 1A. In this case, the relative position measuring unit 141 included in the main unit 1A may be configured as a LiDAR unit, or if the main unit 1A is equipped with a camera, it may be configured to detect the relative position of the measurement unit 1B based on an image from the camera.

[0074] In the above embodiment, the number of measurement areas 41, 42, 43, and 44 included in the specific space 4 is four, but the number here is not limited to four, and may be, for example, one, two, three, or five or more.

[0075] In the above embodiment, the measurement unit 11 is configured to measure the illuminance of the light generated by the generation unit 21, but the measurement unit 11 may also be configured to measure, for example, the color temperature of the light generated by the generation unit 21.

[0076] In the above embodiment, the sensor 22 is a pyroelectric infrared sensor, but the sensor 22 is not limited to a pyroelectric infrared sensor, and for example, the sensor 22 may be an ultrasonic sensor, a visible light sensor, or an image sensor.

[0077] In the above embodiment, the generation unit 21 is a lighting fixture. However, the generation unit 21 is not limited to a lighting fixture as long as it generates the environment of the specific space 4. The generation unit 21 may be, for example, an air conditioner, a heater, etc. In these cases, the measurement unit 11 may measure, for example, at least one of the temperature, humidity, and air volume in each of the measurement areas 41, 42, 43, and 44 as the measurement object. The generation unit 21 may be, for example, an air purifier, a ventilation fan, etc. In these cases, the measurement unit 11 may measure, for example, the air quality in each of the measurement areas 41, 42, 43, and 44 as the measurement object. The control unit 17 may determine the degree of air pollution in each of the measurement areas 41, 42, 43, and 44 based on, for example, an air quality index (AQI).

[0078] In the above embodiment, one environment generating system 2 is provided in each of the measurement areas 41, 42, 43, and 44, but two or more environment generating systems 2 may be provided in each of the measurement areas 41, 42, 43, and 44. The number of environment generating systems 2 provided in each of the measurement areas 41, 42, 43, and 44 may be the same or different.

[0079] In the above embodiment, the communication unit 16 of the measurement system 1 and the communication unit 26 of the environment generating system 2 communicate via infrared rays, but the communication unit 16 and the communication unit 26 may also communicate wirelessly via radio waves, for example.

[0080] In the above embodiment, the communication unit 16 is installed in the main unit 1A, but the communication unit 16 may be installed in the measurement unit 1B. In this case, the correspondence information output from the output unit 15 of the main unit 1A is transmitted to the environment generating system 2 via the communication unit 16 included in the main unit 1A.

[0081] In the above embodiment, correspondence information including control information for the generation unit 21 is transmitted to the environment generating system 2 including the generation unit 21, but the data transmitted to the environment generating system 2 is not limited to this. For example, initial setting data for the sensor 22 may be transmitted to the environment generating system 2 including the sensor 22.

[0082] (Summary) As described above, the measurement system (1) of the first aspect includes a main unit (1A) configured to be movable within a specific space (4) including measurement areas (41, 42, 43, 44), and a measurement unit (1B) detachable from the main unit (1A). The main unit (1A) includes a moving section (10) for moving within the specific space (4). The measurement unit (1B) includes a measurement section (11) that measures a predetermined measurement object related to the environment of the measurement areas (41, 42, 43, 44). The measurement section (11) is configured to be able to measure the measurement object when the measurement unit (1B) is detached from the main unit (1A).

[0083] According to this aspect, even if it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44) due to circumstances such as the presence of an obstacle on the running surface of the measurement area (41, 42, 43, 44), measurement can be easily performed by detaching the measurement unit (1B) from the main unit (1A).

[0084] In the measurement system (1) of the second aspect, the measurement unit (1B) of the first aspect further includes a support (12) connected to the measurement section (11). With the measurement unit (1B) attached to the main unit (1A), the measurement section (11) is supported by the main unit (1A) via the support (12).

[0085] According to this aspect, when the measurement unit (1B) is attached to the main unit (1A), the measurement part (11) can be supported at a predetermined position via the support (12). When the measurement unit (1B) is detached from the main unit (1A), the measurement part (11) can be moved to a target position by, for example, gripping the support (12).

[0086] The measurement system (1) of the third aspect is the first or second aspect, wherein the measurement unit (1B) further includes an operation input section (13) that accepts human operations related to the measurement.

[0087] According to this aspect, the user can operate the operation input unit (13) at hand while the measurement unit (1B) is detached from the main unit (1A), and can input commands to start measurement at the desired position, etc. Therefore, measurements can be performed even in places where it is difficult for the main unit (1A) to enter.

[0088] The measurement system (1) of the fourth aspect is any one of the first to third aspects, wherein the measurement unit (1B) further includes a relative position measurement section (141) that measures the relative position of the measurement unit (1B) from the main unit (1A).

[0089] According to this aspect, the relative position of the measurement unit (1B) detached from the main unit (1A) with respect to the main unit (1A) can be measured by the relative position measurement section (141) provided on the side of the measurement unit (1B).

[0090] The measurement system (1) of the fifth aspect is the first to third aspects, in which the main unit (1A) further includes a relative position measurement section (141) that measures the relative position of the measurement unit (1B) from the main unit (1A).

[0091] According to this aspect, the relative position of the measurement unit (1B) detached from the main unit (1A) relative to the main unit (1A) can be measured by the relative position measurement section (141) provided on the side of the main unit (1A).

[0092] The measurement system (1) of the sixth aspect is the fourth or fifth aspect, wherein the main unit (1A) further includes a memory unit (18) that stores the relative position of the measurement unit (1B) measured by the relative position measurement unit (141).

[0093] According to this aspect, the measured relative position of the measurement unit (1B) removed from the main unit (1A) can be stored in the memory unit (18).

[0094] The measurement system (1) of the seventh aspect is any one of the first to third aspects, and further includes a relative position measurement unit (141) that measures the relative position of the measurement unit (1B) from the main unit (1A), a main unit position measurement unit (142) that measures the position of the main unit (1A), and a position estimation unit (145) that estimates the position of the measurement unit (1B). The position estimation unit (145) estimates the position of the measurement unit (1B) based on the relative position of the measurement unit (1B) measured by the relative position measurement unit (141), the position of the main unit (1A) measured by the main unit position measurement unit (142), and map information of the specific space (4).

[0095] According to this aspect, it is possible to accurately estimate the position of the measurement unit (1B) detached from the main unit (1A) within the specific space (4).

[0096] The measurement system (1) of the eighth aspect, in any one of the first to fifth and seventh aspects, further comprises a memory section (18) that stores the position of the measurement unit (1B) and data of the measurement object measured by the measurement section (11) at that position.

[0097] According to this aspect, measurement data can be easily obtained at any position within the specific space (4) by performing measurements while moving the measurement unit (1B) detached from the main unit (1A) within the specific space (4).

[0098] An environmental system (3) of a ninth aspect includes the measurement system (1) of any one of the first to eighth aspects and an environment generating system (2). The environment generating system (2) includes an object (20) consisting of at least one of a generator (21) that generates an environment of a specific space (4) and a sensor (22).

[0099] According to this aspect, even if it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44) due to circumstances such as the presence of an obstacle on the running surface of the measurement area (41, 42, 43, 44), the measurement unit (1B) can be detached from the main unit (1A) to easily measure a specified measurement object related to the object (20).

[0100] The measurement method of the tenth aspect is a measurement method performed using a measurement system (1) that moves within a specific space (4) in which an object (20) consisting of at least one of a generation unit (21) and a sensor (22) of an environment generation system (2) that generates the environment of the specific space (4) is installed, and includes a movement step in which a main unit (1A) moves to a measurement area (41, 42, 43, 44) in the specific space (4) with a measurement unit (1B) attached, and a measurement step in which the measurement unit (1B) is detached from the main unit (1A) after movement to measure a measurement object related to the environment in the measurement area (41, 42, 43, 44).

[0101] According to this aspect, for example, when it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44) due to the presence of an obstacle on the running surface of the measurement area (41, 42, 43, 44), the measurement unit (1B) can be detached from the main unit (1A) to easily measure a specified measurement object related to the object (20).

[0102] A program according to an eleventh aspect is a program for causing one or more processors to execute the measurement method according to the tenth aspect.

[0103] According to this aspect, when it is difficult for the main unit (1A) to enter the measurement area (41, 42, 43, 44), the measurement unit (1B) can be detached from the main unit (1A) to easily measure a specified measurement object related to the object (20).

[0104] The configurations of the second to eighth aspects are not essential for the measurement system (1) and can be omitted as appropriate.

[0105] REFERENCE SIGNS LIST 1 Measurement system 1A Main unit 1B Measurement unit 10 Moving unit 11 Measurement unit 12 Support 13 Operation input unit 141 Relative position measurement unit 142 Main unit position measurement unit 145 Position estimation unit 18 Memory unit 2 Environment generation system 20 Object 21 Generation unit 22 Sensor 3 Environment system 4 Specific space 41 Measurement area 42 Measurement area 43 Measurement area 43 Measurement area

Claims

1. a main unit configured to be movable within a specific space including a measurement area; a measurement unit detachable from the main unit, the main body unit includes a moving part for moving within the specific space, the measurement unit includes a measurement section that measures a predetermined measurement target related to the environment of the measurement area, The measurement unit is configured to be able to measure the measurement object when the measurement unit is detached from the main unit. Measurement system.

2. The measurement unit further includes a support connected to the measurement portion, When the measurement unit is attached to the main unit, the measurement section is supported by the main unit via the support body. The measurement system of claim 1 .

3. The measurement unit further includes an operation input unit that accepts human operations related to measurement. The measurement system of claim 1 .

4. The measurement unit further includes a relative position measurement unit that measures a relative position of the measurement unit from the main unit. The measurement system of claim 1 .

5. The main unit further includes a relative position measurement unit that measures a relative position of the measuring unit from the main unit. The measurement system of claim 1 .

6. The main unit further includes a storage unit that stores the relative position of the measuring unit measured by the relative position measurement unit.

6. The measurement system according to claim 4 or 5.

7. a relative position measurement unit that measures the relative position of the measurement unit from the main unit; a main body position measurement unit that measures the position of the main body unit; a position estimation unit that estimates the position of the measurement unit, the position estimation unit estimates the position of the measuring unit based on the relative position of the measuring unit measured by the relative position measurement unit, the position of the main unit measured by the main body position measurement unit, and map information of the specific space; The measurement system of claim 1 .

8. The apparatus further includes a storage unit that stores the position of the measurement unit and data of the measurement object measured by the measurement unit at that position. The measurement system of claim 1 .

9. The measurement system of claim 1; an environment generating system; The environment generating system includes an object including at least one of a generator and a sensor that generates the environment of the specific space. Environmental systems.

10. A measurement method using a measurement system that moves within a specific space in which an object comprising at least one of a generation unit of an environment generating system that generates an environment of the specific space and a sensor is installed, a moving step in which the main unit moves to a measurement area in the specific space with the measurement unit attached; a measurement step of measuring a measurement target related to the environment in the measurement area by the measurement unit detached from the main unit after movement, Measurement method.

11. 11. The method of claim 10, wherein one or more processors are configured to execute the method. program.