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Floor Surface Property Estimation based on Measurement of Hardness and Viscosity Using Wiping-motion and Separating-motion

In this paper, we describe a method of the surface property measurement used for the remote control robot to the internal survey of the afflicted building. In addition to the wiping-motion proposed in the previous work, we propose the separating-motion as a surface condition measurement method and verify its effectiveness. One of the problems with the descriptive feature of surface property proposed in previous work is that feature points with different surface properties are distributed at close positions in feature space. As a solution to this problem, we propose separating-motion that can measure the surface adhesive force. Furthermore, experiments are performed to measure the surface property using separating-motion and wiping-motion for multiple surface properties. A total of 16 surface properties were prepared using 4 types of plates and 3 types of liquids, including the condition where the liquid was not applied to the plates. From the experimental results, separating-motion was able to measure the adhesive force which has a correlation with the viscosity of the surface deposition liquid. In addition, the feature points could be separated for each surface condition by combining with the result of wiping-motion. This demonstrated the effectiveness of separating-motion.