JP2022177285A - Tracking device, plotting system, plotting method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tracking device, a plotting system, a plotting method and a program capable of electronically managing marking points by a writing instrument.

SOLUTION: A tracking device 1 comprises: a marking unit 11 for marking an object; a detection unit 15 for detecting that the marking has started or ended; and a position information generation unit 13 for generating position information and transmitting it to a plotting device. The position information generation unit 13 starts at least one of generation or transmission of the position information when the detection unit detects that the marking has started.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a tracking device, a plotting system, a plotting method and a program, and more particularly to technology for electronically managing locations marked by writing instruments.

Conventionally, in the inspection work of structures such as tunnels, bridges, and buildings, people recognize deformed places by visual inspection, hammering, and palpation of walls, mark the deformed places with a writing instrument, and sketch the marked places. Then, based on the sketches, work was done to reflect them in the drawings. For example, in the case of a tunnel inspection, a lining development drawing is created by marking the lining surface with chalk, sketching the marking positions on paper, and tracing the sketch with CAD.

However, in the conventional method, it is necessary to transfer information such as sketching the marking position and taking the sketch back and converting it into data. Such transcription work is very complicated and requires time and effort. In addition, since transcription work is performed manually by humans, mistakes and errors may occur. Therefore, if the coordinates of the deformed portion can be grasped electronically by some method, the transcription work can be omitted and the efficiency and accuracy can be improved.

Patent Literatures 1 and 2 describe a system for photographing the inner wall surface of a tunnel or the like and analyzing the photographed image to identify a deformed portion.

WO2019/021719 JP 2017-211314 A

However, the technique of specifying a deformed portion by image analysis, such as the techniques described in Patent Documents 1 and 2, has a problem that the amount of data to be processed becomes enormous. In addition, there is a possibility that a deformed portion, which has conventionally been discovered not only by visual information but also by tapping sound or palpation, may be overlooked. Therefore, it would be convenient if the coordinate data of the location marked by the writing instrument could be electronically grasped while maintaining the process of recognizing the altered location by a person.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems, and it is an object of the present invention to provide a tracking device, a plotting system, a plotting method, and a program capable of electronically managing marking points by a writing instrument. do.

One aspect of the present invention includes a marking unit for marking an object, a detection unit for detecting the start or end of the marking, and a position information generation unit for generating position information and transmitting it to a plotting device. and wherein the position information generator is a tracking device that starts at least one of generating or transmitting position information when the detection unit detects the start of the marking.
In another aspect of the present invention, the detection unit is attachable to and detachable from the marking unit, and includes a sensor at a point of contact with the marking unit or the user's body. is detected by the sensor to detect the start or end of the marking.
In another aspect of the invention, the position information is coordinates with the plotting device as an origin.
One aspect of the present invention is a tracking device that is worn on the upper limbs of a user who marks an object, and includes a detection unit that detects that the marking has started or ended, and a position information that is generated and sent to a plotting device. and a position information generator that transmits by using the tracking device, wherein the position information generator is a tracking device that starts at least one of generating or transmitting position information when the detection unit detects the start of the marking.
In another aspect of the present invention, the detection unit detects changes in sensor output information including sound, speed or acceleration, or input of user information including taps, gestures or voice to start or end the marking. detect.
In another aspect of the present invention, the position information is coordinates with a marker placed in the physical space as an origin, and the position information generation unit recognizes the position of the marker using a camera.
One aspect of the present invention is a tracking device worn on the head of a user who marks an object, comprising a detection unit for detecting that the marking has started or ended, and marking the object. and a position information generation unit that generates position information of the tool for transmission to the plotting device, and the position information generation unit generates the position information when the detection unit detects the start of the marking. or a tracking device that initiates at least one of the transmissions.
In another aspect of the present invention, the detection unit detects the start or end of the marking by detecting input of user information including gestures or voice.
In another aspect of the invention, the location information is expressed in the coordinate system of the tracking device.
In another aspect of the present invention, the position information generating section ends at least one of generating or transmitting the position information when the detection section detects the end of the marking.
An aspect of the present invention includes the tracking device and a plotting device, wherein the plotting device includes a position information receiving unit that receives the position information and a position information accumulation unit that accumulates the received position information. and a plotting unit that displays the accumulated position information.
An embodiment of the present invention includes a marking step of marking an object, a detection step of detecting the start or end of the marking, a position information generation step of generating position information and transmitting it to a plotting device, and in the position information generating step, the plotting method starts at least one of generating or transmitting the position information when the detection unit detects the start of the marking.
One form of the present invention is a program for causing a computer to execute a detection step of detecting the start or end of marking, and a position information generation step of generating position information and transmitting it to a plotting device. In the position information generating step, the program starts at least one of generating or transmitting the position information when the detection unit detects the start of the marking.

According to the present invention, it is possible to provide a tracking device, a plotting system, a plotting method, and a program that are capable of electronically managing locations marked by a writing instrument.

2 is a block diagram showing the configuration of the plotting system 100; FIG. 1 is a block diagram showing the configuration of a plotting system 100 according to a first embodiment; FIG. 1 is a diagram showing an example of the appearance of a tracking device 1 according to Embodiment 1. FIG. FIG. 2 is a block diagram showing the configuration of a plotting system 100 according to a second embodiment; FIG. FIG. 10 is a diagram showing an example of the appearance of plotting system 100 according to Embodiment 2; FIG. 10 is a diagram showing an example of the appearance of plotting system 100 according to Embodiment 2; FIG. 11 is a block diagram showing the configuration of a plotting system 100 according to a third embodiment; FIG. FIG. 10 is a diagram showing an example of the appearance of plotting system 100 according to Embodiment 3; FIG. 10 is a diagram showing an example of the appearance of plotting system 100 according to Embodiment 3;

An embodiment of the present invention will be described with reference to the drawings. First, the configuration of a plotting system 100 according to an embodiment of the present invention will be described using FIG. The plotting system 100 includes a tracking device 1 that acquires a drawing or writing trajectory with a writing instrument as time-series coordinate data, and a plotting device 2 that plots the time-series coordinate data.

<Embodiment 1>
FIG. 2 is a block diagram showing the configuration of the plotting system 100 according to the first embodiment. In Embodiment 1, a tracking device 1 is configured by attaching a module having a position information acquisition function and a communication function to a writing utensil or the like for marking, and a plotting device 2 is provided outside the tracking device 1 to perform marking. It manages the coordinate data of

The tracking device 1 has a marking section 11 , a position information generating section 13 and a detecting section 15 .

The marking unit 11 is a tool for marking an object, and includes, for example, writing implements such as chalk, pen, pencil, and marker, as well as an inkjet printer, spray, stamp, and the like. An inspector uses the marking unit 11 to directly mark the deformed portions of the walls of structures such as tunnels, bridges and buildings.

The position information generator 13 acquires the position information of the tracking device 1 and transmits it to the plotting device 2 .

For example, the position information generator 13 may receive and analyze signals emitted by the plotting device 2 from a plurality of radio wave sources, and detect the relative position with the plotting device 2 as the origin by three-point positioning or the like. In this case, for example, signals such as Wi-Fi, Bluetooth (registered trademark), electromagnetic waves including light, or sound waves can be used. Alternatively, the position information generator 13 may detect the relative position with the plotting device 2 as the origin by autonomous navigation using an acceleration sensor, a gyro sensor, a magnetic sensor, or the like. According to these methods, it is possible to grasp the position information of the tracking device 1 as long as the plotting device 2 is visible even in an indoor environment. Alternatively, the position information generator 13 may acquire its own position information by receiving and analyzing positioning signals transmitted from a plurality of transmission sources. One typical technique is the Global Navigation Satellite System (GNSS), such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, QZSS (Quasi-Zenith Satellite), etc. be.

The position information acquired by the position information generator 13 is typically three-dimensional coordinate data. The location information generator 13 can acquire location information continuously, that is, at predetermined time intervals over a predetermined period. The position information generator 13 transmits the acquired position information to the plotting device 2 in real time or at a predetermined timing using any wireless or wired communication method.

The detection unit 15 detects the start and end of marking by the marking unit 11 . For example, when the marking unit 11 is a writing tool such as chalk or a stamp, the detection unit 15 includes a pressure sensor, and can detect the start and end of marking by detecting pressure changes when writing is performed with the writing tool. Alternatively, if the marking unit 11 is an inkjet printer, a sprayer, or the like, the detection unit 15 can detect the start and end of marking by detecting a trigger operation of the inkjet printer, the sprayer, or the like.

FIG. 3 is a diagram showing an example of the appearance of the tracking device 1 in this embodiment. In this example, the tracking device 1 is configured by attaching a unit in which the position information generating section 13 and the detecting section 15 are mounted to the end portion of the chalk as the marking section 11 or around it. The choke and the unit are detachable, and the chalk is held inside the unit by frictional force. A pressure sensor or the like is arranged at the contact point between the choke and the unit or the contact point between the user's hand and the unit, and the detection unit 15 detects the start and end of marking by analyzing the output of these sensors. be able to.

The position information generation unit 13 can start providing position information, that is, acquisition and transmission, or any one of these when the detection unit 15 detects the start of marking. In addition, the position information generation unit 13 can terminate the acquisition and transmission of the position information, or either one of them, when a predetermined time has elapsed after the start of acquisition or transmission of the position information. More preferably, the position information generation unit 13 can end acquisition and transmission of the position information, or any one of these when the detection unit 15 detects the end of marking. As a result, the position information can be obtained and transmitted only while the marking is being performed, so that the marking position can be grasped more accurately. For example, the position information generator 13 starts acquiring position information when it detects the start of marking, accumulates the position information in a storage area (not shown), and accumulates the accumulated position information when communication with the plotting device 2 becomes possible. may be configured to transmit

The plotting device 2 is a device for managing positional information, and has a positional information receiving section 21 , a positional information accumulating section 23 and a plotting section 25 . The plotting device 2 can typically be implemented in a PC (personal computer), smart phone, total station, or the like.

The positional information receiving section 21 receives the positional information transmitted from the positional information generating section 13 . The positional information accumulation unit 23 accumulates the positional information received by the positional information receiving unit 21 . The location information storage unit 23 can store the location information in association with information indicating acquisition, transmission or reception time or acquisition, transmission or reception order.

The plot unit 25 displays the position information accumulated in the position information accumulation unit 23. FIG. The position information may be plotted in a three-dimensional space, or may be displayed as two-dimensional information projected onto a predetermined plane. If time or order information is associated with the position information, a trajectory connecting the points indicating the position information in chronological order may be plotted. The position information plotted by the plotting unit 25 is basically expressed in a coordinate system with the plotting device 2 as the origin. You may plot by the coordinate system which the production|generation part 13 uses. Alternatively, when the coordinate system of the plotting device 2 is expressed as a relative coordinate system with another base point (AR marker, total station, etc.) as the origin, plotting is performed in the coordinate system with the other base point as the origin. Also good.

According to the present embodiment, the plot system 100 electronically obtains and manages the positional information of the place marked by a person, so that the marked place can be grasped efficiently and accurately.

<Embodiment 2>
FIG. 4 is a block diagram showing the configuration of the plotting system 100 according to the second embodiment. Embodiment 2 provides a tracking device 1 and a plotting device 2 outside a writing instrument or the like for marking.

FIG. 5A is a diagram showing an example of the appearance of the plot system 100 in this embodiment. In this example, some or all of the functions of the tracking device 1 and the plotting device 2 are implemented within the housing of the upper-limb wearable device. Upper-limb wearable devices are typically small devices such as smartphones and smart watches, and are worn on the upper limbs (for example, wrists, arms, fingers, etc.) where the user holds a writing instrument or the like and performs marking.

The tracking device 1 has a position information generator 13 and a detector 15 . The plotting device 2 has a positional information receiving section 21 , a positional information accumulating section 23 and a plotting section 25 .

The position information generator 13 acquires the position information of the tracking device 1 and transmits it to the plotting device 2 .

For example, it is assumed that the position information generation unit 13 has a camera, and a reference point such as an AR marker is set in advance within the field of view of the camera. The position information generator 13 captures an image including the AR marker with a camera, and analyzes the angle, size, etc. of the AR marker to calculate its own coordinates with the AR marker as the origin. The position information generation unit 13 can also detect changes in its own position by autonomous navigation using an acceleration sensor, a gyro sensor, a magnetic sensor, or the like.

The detection unit 15 can detect the start and end of marking by detecting, through various sensors, changes in sound, speed, acceleration, or the like generated when marking is performed with a writing instrument or the like. In this case, it is preferable that the upper-limb wearable device as the plotting system 100 is worn on the arm of the user holding the writing instrument or the like. Alternatively, the detection unit 15 can detect the start and end of marking by detecting a user operation indicating the start or end of marking, such as a predetermined tap operation, gesture, voice, or the like.

As in the first embodiment, the position information generation unit 13 can start acquiring and transmitting position information or either of them when the detection unit 15 detects the start of marking.
In addition, the position information generation unit 13 can terminate the acquisition and transmission of the position information, or either one of them, when a predetermined time has elapsed after the start of acquisition or transmission of the position information.
Alternatively, the position information generation unit 13 can end acquisition and transmission of position information, or any one of these when the detection unit 15 detects the end of marking.

Note that the position information generating unit 13 holds a preset offset (difference in coordinates) between the tracking device 1 and the writing instrument or the like in advance, and adds the offset to the position information of the tracking device 1 to generate the writing instrument or the like. location information may be generated and transmitted.

The position information receiving section 21 of the plotting device 2 acquires the position information generated by the position information generating section 13 at any time or at a predetermined timing, and accumulates it in the position information accumulating section 23 as in the first embodiment. The plotting unit 25 displays the position information accumulated in the position information accumulation unit 23 on the display of the head-mounted device.

Note that, as shown in FIG. 5B, some or all of the processing units of the plotting device 2 may be implemented in an external information processing device (such as a PC) instead of the upper-limb wearable device. For example, when only the plotting unit 25 is installed in an external PC, the plotting unit 25 reads the position information accumulated in the position information accumulation unit 23 of the upper-limb wearable device by wired or wireless communication means and performs plotting.

Also according to the present embodiment, the plot system 100 electronically acquires and manages the position information of the place marked by a person, so that the marked place can be efficiently and accurately grasped. In particular, it is easy to introduce because the system can be configured using only general-purpose devices such as smartphones.

<Embodiment 3>
FIG. 6 is a block diagram showing the configuration of plot system 100 according to the third embodiment. Also in the third embodiment, a tracking device 1 and a plotting device 2 are provided outside a writing instrument or the like for marking.

FIG. 7A is a diagram showing an example of the appearance of the tracking device 1 in this embodiment. In this example, some or all of the functions of the tracking device 1 and the plotting device 2 are implemented inside the housing of the head-mounted device. A head-mounted device is typically an HMD (Head Mounted Display) having a camera, a depth sensor, and a transmissive display, and includes, for example, Hololens (registered trademark). A depth sensor can acquire three-dimensional point cloud data representing the shape of an object at a short distance by scanning the physical space. A transmissive display allows a user to visually recognize real space and arbitrary information at the same time.
This can be achieved, for example, by superimposing any information on an optical or video transmission display. A head-mounted device is worn on the head of a user who holds a writing implement or the like to perform marking.

The tracking device 1 has a position information generator 13 and a detector 15 . The plotting device 2 has a positional information receiving section 21 , a positional information accumulating section 23 and a plotting section 25 .

The position information generation unit 13 detects the position of the user's writing instrument or the like for marking, and transmits the detected position to the plotting device 2 .

For example, the position information generator 13 has a camera and a depth sensor, and can continuously acquire image data with depth information. The position information generation unit 13 detects the writing instrument or the like by analyzing the image data. This detection can be accomplished using various known techniques.
In addition, the position information generation unit 13 acquires three-dimensional point cloud data of the detected writing instrument, etc., generates the coordinates of the representative point, and sets the position of the writing instrument, etc., as the coordinates. The position of the writing instrument or the like is expressed as a relative position from an arbitrary origin in the head-mounted device-specific coordinate system.

When a reference point such as an AR marker is set in advance within the field of view of the camera, the position information generation unit 13 captures an image including the AR marker with the camera, analyzes the angle and size of the AR marker, and generates an AR marker. The coordinates of the position of the self (head-mounted device) with the marker as the origin can be calculated. In this case, the position information generator 13 can convert the position information of the writing instrument or the like in the coordinate system unique to the head-mounted device into position information in the coordinate system with the AR marker as the origin.

The position information generator 13 can also detect changes in its own position by autonomous navigation using an acceleration sensor, a gyro sensor, a magnetic sensor, or the like.

The detection unit 15 can detect the start and end of marking based on image data that can be acquired by the camera. For example, the detection unit 15 can detect the start and end of marking by detecting a user's gesture or voice indicating the start or end of marking.

As in the first embodiment, the position information generation unit 13 can start acquiring and transmitting position information or either of them when the detection unit 15 detects the start of marking.
In addition, the position information generation unit 13 can terminate the acquisition and transmission of the position information, or either one of them, when a predetermined time has elapsed after the start of acquisition or transmission of the position information.
Alternatively, the position information generation unit 13 can end acquisition and transmission of position information, or any one of these when the detection unit 15 detects the end of marking.

The position information receiving unit 21 acquires the position information generated by the position information generating unit 13 at any time or at a predetermined timing, and accumulates it in the position information accumulating unit 23 as in the first embodiment. The plotting unit 25 displays the position information accumulated in the position information accumulation unit 23 on the display of the head-mounted device.

Note that, as shown in FIG. 7B, some or all of the processing units of the plotting device 2 may be implemented in an external information processing device (such as a PC) instead of the head-mounted device. For example, when only the plotting unit 25 is installed in an external PC, the plotting unit 25 reads the position information accumulated in the position information accumulation unit 23 of the head-mounted device by wired or wireless communication means and plots.

Also according to the present embodiment, the plot system 100 electronically acquires and manages the position information of the place marked by a person, so that the marked place can be efficiently and accurately grasped. In particular, since the system can be configured only with general-purpose devices such as an HMD with a depth sensor, introduction is easy.

It should be noted that the present invention is not limited to the above embodiments, and can be modified as appropriate without departing from the scope of the invention. For example, the method of implementing the various processing means by software or hardware shown in the above embodiments is merely an example, and other methods may be substituted. For example, a plurality of processing means, which are implemented in the same housing in the embodiment, can be provided as a plurality of different pieces of hardware. Alternatively, a plurality of processing means, which are implemented in different hardware in the embodiment, can be implemented in one piece of hardware. In addition, arbitrary processing means or a part of the functions of the processing means may be realized by technologies such as cloud computing, edge computing, and fog computing.

Also, the communication method and sensing method shown in the above-described embodiments are merely examples, and may be replaced by other methods having equivalent functions.

Further, each processing means constituting the present invention may be configured by hardware, or may be implemented by causing a CPU to execute a computer program to perform arbitrary processing. Computer programs may also be stored and provided to computers using various types of transitory or non-transitory computer-readable media. Transitory computer-readable media include, for example, electromagnetic signals supplied to a computer by wire or wirelessly.

REFERENCE SIGNS LIST 100 plotting system 1 tracking device 11 marking unit 13 position information generating unit 15 detection unit 2 plotting device 21 position information receiving unit 23 position information storage unit 25 plotting unit

Claims (13)

a marking unit for marking an object;
a detection unit that detects that the marking has started or ended;
a position information generator that generates position information and transmits it to the plotting device;
The tracking device, wherein the location information generator starts at least one of location information generation and transmission when the detection unit detects the start of the marking. The detection unit is attachable to and detachable from the marking unit, and has a sensor at a point of contact with the marking unit or the user's body. , detecting the start or end of the marking. The tracking device according to claim 1, wherein the position information is coordinates with the plotting device as an origin. A tracking device worn on the upper limb of a user who marks an object, the detection unit detecting the start or end of the marking;
a position information generator that generates position information and transmits it to the plotting device;
The tracking device, wherein the location information generator starts at least one of location information generation and transmission when the detection unit detects the start of the marking. 5. The detection unit detects the start or end of the marking by detecting changes in sensor output information including sound, speed or acceleration, or input of user information including taps, gestures or voice. tracking device. The position information is coordinates with a marker set in the physical space as an origin,
The tracking device according to claim 4, wherein the position information generator recognizes the position of the marker using a camera. A tracking device worn on the head of a user who marks an object, the detection unit detecting the start or end of the marking;
a position information generating unit that generates position information of a tool for marking the object and transmits the position information to a plotting device;
The tracking device, wherein the location information generator starts at least one of location information generation and transmission when the detection unit detects the start of the marking. The tracking device according to claim 7, wherein the detection unit detects the start or end of the marking by detecting input of user information including gestures or voice. 8. The tracking device according to claim 7, wherein the position information is expressed in the coordinate system of the tracking device. The tracking device according to any one of claims 1 to 9, wherein the position information generation section ends at least one of generation or transmission of position information when the detection section detects the end of the marking. The tracking device according to any one of claims 1 to 9;
a plotting device;
The plotting device
a location information receiving unit that receives the location information;
a location information storage unit that stores the received location information;
a plotting unit that displays the accumulated position information. a marking step for marking an object;
a detection step of detecting that the marking has started or ended;
a position information generating step of generating position information and transmitting it to the plotting device;
The plotting method, wherein in the position information generation step, at least one of generation or transmission of position information is started when the detection unit detects the start of the marking. to the computer,
a detection step of detecting that marking has started or ended;
a position information generating step of generating position information and transmitting it to a plotting device, wherein
The program, in the position information generating step, starting at least one of generating or transmitting the position information when the detecting unit detects the start of the marking.

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