JP6443976B2 - Line drawing device - Google Patents

Description

The present invention relates to an apparatus for drawing a straight line on an athletic field, a road, a parking lot, or the like.

In addition to many public sports facilities nationwide, the Ministry of Education, Culture, Sports, Science and Technology has formulated a basic sports promotion plan with the goal of developing at least one comprehensive regional sports club in each municipality. In sports policy, it is necessary not only to construct facilities, but also to train leaders and improve the exercise environment. However, with the increase of sports facilities and the aging of society, there is a shortage of personnel to operate and manage facilities. Concerned.

Line drawing in an athletic field plays an important role and requires a high level of skill. Before a professional sports game, a line drawing is performed by a ground keeper, for example, using lime powder. In addition to the increase in athletic stadiums in recent years and the increase in professional sports leagues and professional sports teams, Because of the aging of the country, there is a shortage of skilled groundkeepers.
In this regard, specific examples are disclosed in Patent Documents 1 and 2 as apparatuses for accurately drawing a line.
The device described in Patent Document 1 can cancel the deviation of the powder outlet by a gyro sensor, and the device described in Patent Document 2 adopts a design with four wheels to suppress camera shake. In addition, the stability when drawing a straight line is improved.

In addition, the conventional line drawing is generally performed by manually pushing the line car along a rope or a tape measure stretched between the start point and the end point of the line. Therefore, in order to draw a line, in addition to a person pushing a line car, a person who puts a rope or a tape measure is required.
On the other hand, Patent Documents 3 and 4 disclose specific examples of an apparatus that can draw a line without stretching a rope or a tape measure. The apparatus described in Patent Document 3 includes a direction indicator using a mirror surface, and is designed to allow an operator to draw a line while simultaneously viewing both the front and the powder outlet. The apparatus described in Patent Document 4 adjusts the position using a laser and radiation.

JP 2010-240213 A JP 2006-305027 A JP 2006-109868 A Special table 2009-525793

However, the devices described in Patent Documents 1 and 2 have a problem that it is necessary to stretch a rope or a tape measure, and the device described in Patent Document 3 has a problem that accuracy of drawing a line is low. And the apparatus of the cited reference 4 had the subject that the irradiated laser might hit a human eye.
The present invention has been made in view of such circumstances, and provides a line drawing device that can draw a line safely and accurately without the need for a rope or a tape measure and without using a laser. The purpose is to do.

The line drawing apparatus according to the present invention that meets the above-described object is the line drawing apparatus that draws a line by attaching a line material to a target surface. The line material is drawn from an imaging means, a marker imaged by the imaging means, and an outlet. A self-propelled vehicle that has a line material container to be taken out and a steering wheel that switches a traveling direction and travels on the target surface toward the imaging unit; and one of the markers in the captured image of the imaging unit by detecting the position with respect to one predetermined portion of the captured image of the predetermined positions, as one predetermined portion of the marker approaches the one predetermined portion of the captured image, while adjusting the orientation of the steering wheel, the And a control means for advancing the self-propelled vehicle.
As the line material, powder (for example, lime powder) or liquid (for example, synthetic resin paint) can be employed.

In the line drawing apparatus according to the present invention, the imaging unit includes a zoom adjustment unit that adjusts an imaging range, and the control unit controls the zoom adjustment unit while the self-propelled vehicle is in progress. It is preferable to keep the size of the marker in the captured image within a predetermined range.

In the line drawing apparatus according to the present invention, it is preferable that the marker has a structure through which air passes.

In the line drawing apparatus according to the present invention, it is preferable that the steered wheel is in contact with the target surface on the rear side in the traveling direction of the self-propelled vehicle from a portion imaged by the imaging unit of the marker.

In the line drawing apparatus according to the present invention, it is preferable that the air outlet is arranged on the rear side in the traveling direction of the self-propelled vehicle from a portion of the marker imaged by the imaging means.

The line drawing apparatus according to the present invention preferably further includes a stirrer that stirs the line material accommodated in the line material accommodating portion or a vibrator that vibrates the line material accommodating portion.

The line drawing device according to the present invention adjusts the direction of the steering wheel based on the position of the marker in the captured image of the imaging means, and is self-propelled in the direction in which the marker is arranged at a predetermined position in the captured image. Since the car is advanced, it is possible to draw the line with high accuracy by preventing the self-propelled vehicle from greatly deviating from the line to be drawn without using a rope or tape measure and without using a laser. .

(A), (B) is the side view and top view of the line drawing apparatus which concern on one embodiment of this invention, respectively. It is a block diagram of the line drawing apparatus. It is explanatory drawing of a self-propelled vehicle. (A) and (B) are the front view and side view of a marker, respectively. It is explanatory drawing which shows the experimental result which compares the deviation | shift amount of the line and the virtual line which were actually drawn | pulled.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1A, 1B, 2 and 3, a line drawing apparatus 10 according to an embodiment of the present invention includes (1) an imaging means 11 and (2) an air outlet 12. A self-propelled vehicle 14 that has a line material accommodating portion 13 for taking out the line material and travels on the target surface G toward the imaging means 11; and (3) a control means 15 that determines the traveling direction of the self-propelled vehicle 14. It is an apparatus which draws the line L by attaching the line material in the line material accommodating part 13 to the object surface G from the blower outlet 12. Details will be described below.

As shown in FIGS. 1A, 1 </ b> B, and 2, the imaging unit 11 includes a lens unit 16 that can optically adjust the imaging range, and a zoom that operates the lens unit 16 to adjust the imaging range. An adjustment unit 17 is provided. In the present embodiment, the zoom adjustment unit 17 includes a servo motor, and the servo motor moves an operation button that operates the lens unit 16 to enlarge or reduce the imaging range.
Further, as shown in FIGS. 1A and 1B, the imaging unit 11 includes a leg portion 18 that can adjust the height of the lens portion 16 from the target surface G and the imaging direction of the lens portion 16. As shown in FIG. 2, a memory 19 is provided for storing captured images and images being captured.

As shown in FIGS. 1A, 1 </ b> B, and 3, the self-propelled vehicle 14 is a steered wheel that switches the traveling direction of the marker 20, the line material accommodating portion 13, and the self-propelled vehicle 14 that are imaged by the imaging unit 11. 21 and a servo motor 22 that changes the direction of the steering wheel 21.
As shown in FIGS. 4A and 4B, the marker 20 according to the present embodiment includes four triangles (more specifically, isosceles triangles) fixed to the support member 24 by a plurality of metal fittings 23, respectively. ) Plate members 25-28.
The plate members 25 to 28 are arranged in such a manner that the plate members 26, 27, and 28 are sequentially arranged in a clockwise direction from the plate member 25 disposed on the upper side when the marker 20 is viewed from the front (viewed from the imaging unit 11). 28 is arranged in a horizontally long rectangular shape.

The plate members 25 and 27 have the same shape, and the plate member 27 is arranged below the plate member 25 so as to be vertically symmetrical with respect to the plate member 25, and the lower end (vertical angle) of the plate member 25 and the upper end of the plate member 27. (Vertical angle) is in contact. Both the plate members 25 and 27 are colored black on the entire surface (the surface on the side imaged from the imaging means 11).
The plate members 26 and 28 have the same shape, and the plate member 28 is arranged on the left side of the plate member 26 so as to be symmetrical with respect to the plate member 26, and the left end (vertical angle) of the plate member 26 is the right end of the plate member 28. In contact with (vertical angle). The entire surface of the plate material 26 (surface on the side imaged from the image pickup means 11) is colored white, and the entire surface of the plate material 28 (the surface on the side imaged from the image pickup means 11) is colored red. Yes. Needless to say, the coloring pattern on each surface of the plate members 25 to 28 may be different from the present embodiment.

As shown in FIG. 4B, the plate members 25 and 27 are provided at the same position along the traveling direction (front-rear direction) of the self-propelled vehicle 14, and the plate member 26 is located behind the plate members 25 and 27. 28 at the same position. As shown in FIGS. 4A and 4B, the support member 24 is mainly fixed to the rectangular frame 29, a vertically long bar 30 fixed to the frame 29, and the frame 29. The left and right bars 30a are long, and a space through which air passes is provided. In the present embodiment, the bar 30 connects the center portions of the upper and lower long sides facing the frame body 29, and the bar 30 a connects the center portions of the left and right short sides facing the frame body 29. Yes.

The pair of plate members 25, 27 and the pair of plate members 26, 28 are arranged with a space in the front and rear, and further, a space through which air passes is provided in the support member 24. , Has a structure through which air passes (a flow path through which air passes is formed). For this reason, even in the situation where the wind is blowing, the wind pressure applied to the marker 20 can be suppressed, and the self-propelled vehicle 14 can travel stably. In addition, you may employ | adopt the design different from this Embodiment as a structure through which the marker air passes.

As shown in FIG. 3, the marker 20 is fixed in a standing state on the front side of a plate-like base member 32 that is kept horizontal, and a frame that fixes the line material accommodating portion 13 on the rear side of the base member 32. The body 33 is connected.
A blower outlet 12 composed of a plurality of through holes is formed on the lower side of the line material accommodating portion 13, and the line material (powdered lime in the present embodiment) stored in the line material accommodating portion 13 is blown out. It falls from the outlet 12 and adheres to the target surface G. In this embodiment, as shown in FIGS. 2 and 3, a stirrer 34 for stirring the line material stored in the line material storage unit 13 is provided in the line material storage unit 13. A design is adopted in which the line material smoothly falls from the outlet 12. In addition, you may provide the vibrator which gives a vibration with respect to the line material accommodating part 13 instead of the stirrer 34, and also when providing a vibrator, the line material in the line material accommodating part 13 is supplied from the blower outlet 12. It can be dropped smoothly.

As shown in FIG. 3, paired wheels 35 and 35 a that function as rear wheels in the self-propelled vehicle 14 are rotatably attached to the line material accommodating portion 13. The wheels 35 and 35a are driven by the operation of the servo motor 36 shown in FIG. 2, and the self-propelled vehicle 14 moves forward at a predetermined speed by driving the wheels 35 and 35a. In FIG. 3, the description of the servo motor 36 is omitted.
A hand pressing arm 37 is fixed to the line material accommodating portion 13.

A wheel bracket 38 that rotatably supports the steering wheel 21 is rotatably attached to the front side of the base member 32. The wheel bracket 38 is connected to the servo motor 22 via the left joint material 39 and the right joint material 39a, and the steering wheel 21 is rotated about the vertical axis together with the wheel bracket 38 by the operation of the servo motor 22. Then, the traveling direction of the self-propelled vehicle 14 is switched. In the present embodiment, there is only one steering wheel. However, the present invention is not limited to this, and it goes without saying that, for example, two steering wheels may be provided.
The servo motors 22 and 36 and the stirrer 34 are powered by a secondary battery (not shown) and operate.

Further, the line drawing apparatus 10 includes a control unit 15 connected to a zoom adjustment unit 17 and a memory 19 as shown in FIG. The control means 15 can be configured with, for example, a microcomputer, a memory, and a program (software), and controls the traveling of the self-propelled vehicle 14. In the present embodiment, the control means 15 is attached to the imaging means 11, but is not limited to this, and may be attached to the self-propelled vehicle 14.
The control unit 15 can acquire a captured image being captured by the imaging unit 11 from the memory 19 and can transmit a command signal for adjusting the imaging range of the lens unit 16 to the zoom adjustment unit 17.

The control means 15 and the self-propelled vehicle 14 can transmit and receive signals by wireless communication using the wireless communication device 40 attached to the control means 15 and the wireless communication device 41 mounted on the self-propelled vehicle 14.
The wireless communicator 41 is connected to the servo motors 22 and 36 and the stirrer 34, and the servo motors 22 and 36 and the stirrer 34 transmit the signal transmitted from the control unit 15 via the wireless communicator 40 via the wireless communicator 41. Receive.
In the present embodiment, the control means 15 is wired to the imaging means 11 and wirelessly connected to the self-propelled vehicle 14, but is not limited to this.

Next, a method of drawing a straight line L on the target surface G using the line drawing device 10 will be described.
First, as illustrated in FIGS. 1A and 1B, the imaging unit 11 and the self-propelled vehicle 14 are arranged on the target surface G on both sides of a line segment to be drawn. At this time, the self-propelled vehicle 14 is disposed so that the surfaces of the plate members 25 to 28 (the surface of the marker 20) face the imaging unit 11.

Then, the imaging direction of the imaging means 11 is adjusted so that the center of the marker 20 (that is, the apex angle of each of the plate members 25 to 28 when the marker 20 is viewed in front) is positioned at the center of the captured image. At the same time, the lens unit 16 is operated to adjust the imaging range so that the entire marker 20 is imaged to a predetermined size in the captured image.
Thereafter, imaging of the marker 20 by the imaging unit 11 is started, and a signal for starting the operation of the servo motor 36 and the stirrer 34 is transmitted from the control unit 15 to the self-propelled vehicle 14, and the self-propelled vehicle is directed toward the imaging unit 11. 14 starts running.

After the traveling of the self-propelled vehicle 14 starts, the control unit 15 acquires the captured image captured by the imaging unit 11 from the memory 19 of the imaging unit 11 and, as necessary, based on the position of the marker 20 in the captured image. Then, a command signal for operating the servo motor 22 is transmitted to the self-propelled vehicle 14.
When the center of the marker 20 is located to the right of the center of the captured image, it means that the self-propelled vehicle 14 is going to the left from the imaging unit 11 toward the imaging unit 11. When the center is located on the left side of the center of the captured image, it means that the self-propelled vehicle 14 is going to the right from the imaging unit 11 toward the imaging unit 11.

For this reason, when the control means 15 detects that the center of the marker 20 is located to the right of the center of the captured image, the control means 15 moves the center of the marker 20 closer to the center of the captured image. A signal for turning the traveling direction to the right is transmitted to the self-propelled vehicle 14. On the contrary, when the control unit 15 detects that the center of the marker 20 is located to the left of the center of the captured image, the control unit 15 sets the center of the marker 20 close to the center of the captured image. A signal to turn left in the traveling direction is transmitted to the self-propelled vehicle 14. The servo motor 22 operates based on a signal sent from the control means 15 to the self-propelled vehicle 14 and corrects the traveling direction of the self-propelled vehicle 14.

That is, the control means 15 adjusts the direction of the steering wheel 21 based on the position of the marker 20 in the captured image, and the self-propelled vehicle in the direction in which the marker 20 is arranged at a predetermined position in the captured image. 14 is advanced. Therefore, the self-propelled vehicle 14 can draw the line L without greatly deviating from the line segment to be drawn (hereinafter simply referred to as “virtual line”).
Here, the position of the surface of the marker 20 (part imaged by the imaging means 11) is P1, the position of the axis (vertical axis) for switching the traveling direction of the steering wheel 21 is P2, and the steering wheel 21 contacts the target surface G. If the position to perform is P3 and the position of the blowout port 12 is P4, the self-propelled vehicle 14 will be in the order of P1, P2, P3, P4 from the front of the traveling direction of the self-propelled vehicle 14, as shown in FIG. Is arranged.

Since the self-propelled vehicle 14 is arranged on the rear side in the traveling direction of the self-propelled vehicle 14 from P1, the self-propelled vehicle 14 has a smaller deviation amount of the outlet 12 with respect to the virtual line than the deviation amount of the marker 20 with respect to the virtual line. be able to. Furthermore, since P3 is arranged on the rear side in the traveling direction of the self-propelled vehicle 14 with respect to P1, it is possible to suppress the air outlet 12 from being largely deviated from the virtual line.
Moreover, since P4 is arranged behind P2 in the traveling direction of the self-propelling vehicle 14, when the traveling direction of the self-propelling vehicle 14 is corrected to an appropriate direction, the air outlet 12 is shifted from the virtual line. Can be suppressed.

In addition, since the distance between the imaging unit 11 and the marker 20 is gradually shortened while the self-propelled vehicle 14 is traveling toward the imaging unit 11, if the imaging range of the imaging unit 11 is fixed, the entire captured image is corrected. The size of the marker 20 gradually increases, and the detection of the center position of the marker 20 in the captured image by the control means 15 becomes unstable. Therefore, in the present embodiment, the control unit 15 transmits a signal to the zoom adjustment unit 17 to control the zoom adjustment unit 17 while the self-propelled vehicle 14 is traveling, and controls the size of the marker 20 in the captured image. It keeps in the predetermined range.
And since the stirrer 34 is act | operating while the self-propelled vehicle 14 is progressing, the line material in the line material accommodating part 13 can be smoothly dropped to the target surface G from the blower outlet 12. FIG.
The self-propelled vehicle 14 stops when it travels to the end point of the virtual line.

Next, an experiment conducted for confirming the effect of the present invention will be described.
In the experiment, a line drawing device of the present invention was used when a person pulled a line by manually pushing a well-known line car with a straight rope as a mark (this is a comparative example). In the case (this is taken as an example), the amount of deviation between the actually drawn line and the virtual line was compared.

In FIG. 5 showing the results of the experiment, the two straight dotted lines marked in the “line” column of each of the comparative example and the example indicate the left and right ends of the imaginary lines, respectively. Solid lines indicate the left and right ends of the actually drawn line. In the “line” column of FIG. 5, the vertical axis indicates the amount of line shift, and the horizontal axis indicates the length of the virtual line.
From the experimental results, the error (deviation amount) of the drawn line relative to the virtual line is 2.5 cm in the comparative example and 0.8 cm in the example, and it is confirmed that the example can draw the line more accurately than the comparative example. It was.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, the marker only needs to be able to detect the marker in the captured image by the control means, and does not need to include four plate members whose surfaces are colored. Further, depending on the size of the marker and the usage environment of the line drawing device, it is not necessary to provide the marker with a structure through which air passes.
And a stirrer and a vibrator are not necessarily required.
Further, when the control means includes an algorithm capable of detecting the center position of the marker corresponding to the gradually different size of the marker in the captured image, the zoom adjustment unit may not be provided.
Further, the line material is not limited to powder, and may be liquid, for example.

DESCRIPTION OF SYMBOLS 10: Line drawing apparatus, 11: Imaging means, 12: Air outlet, 13: Line material accommodating part, 14: Self-propelled vehicle, 15: Control means, 16: Lens part, 17: Zoom adjustment part, 18: Leg part, 19: Memory, 20: Marker, 21: Steering wheel, 22: Servo motor, 23: Metal fitting, 24: Support member, 25-28: Plate material, 29: Frame body, 30, 30a: Bar material, 32: Base member, 33: Frame body, 34: Stirrer, 35, 35a: Wheel, 36: Servo motor, 37: Arm, 38: Wheel fitting, 39: Left joint material, 39a: Right joint material, 40, 41: Wireless communication device, G : Target surface, L: Line

Claims (6)

In a line drawing device that draws a line by attaching a line material to the target surface,
Imaging means;
A self-propelled vehicle that has a marker imaged by the imaging means, a line material accommodating portion that takes out the line material from an outlet, and a steering wheel that switches a traveling direction, and travels on the target surface toward the imaging means. Car,
Detecting the position of one predetermined location of the marker in the captured image of the imaging means with respect to the predetermined location of the captured image so that the predetermined location of the marker approaches the predetermined location of the captured image And a control means for advancing the self-propelled vehicle while adjusting the direction of the steered wheels. The line drawing apparatus according to claim 1, wherein the imaging unit includes a zoom adjustment unit that adjusts an imaging range, and the control unit controls the zoom adjustment unit while the self-propelled vehicle is traveling, A line drawing apparatus, wherein a size of the marker in the captured image is maintained within a predetermined range. 3. The line drawing apparatus according to claim 1, wherein the marker has a structure through which air passes. The line drawing device according to any one of claims 1 to 3, wherein the steering wheel is located on a rear side in a traveling direction of the self-propelled vehicle with respect to a portion of the marker imaged by the imaging unit. A line drawing device, wherein the line drawing device is in contact with the wire. 5. The line drawing device according to claim 1, wherein the air outlet is arranged on a rear side in the traveling direction of the self-propelled vehicle from a portion of the marker imaged by the imaging unit. A line drawing device. The line drawing apparatus according to any one of claims 1 to 5, wherein a stirrer that stirs the line material accommodated in the line material accommodating portion, or a vibrator that applies vibration to the line material accommodating portion, A line drawing apparatus, further comprising:

Images