JPH0417005A - Self-traveling automatic tracking device, white line drawing device, and white line removing device - Google Patents

Abstract

PURPOSE:To draw an accurate white line without human intervention by controlling the position of a running device by means of a steering controlling section on the basis of the output signal of a guide sensor to make the running device to run along guide markers. CONSTITUTION:A running device is provided with a guide sensor 1 which detects guide markers 11 buried in the ground and a steering controlling section 5 which controls the steering of the device so that the device can run along the markers 11 and the sensor 1 outputs the deviation and deviated direction of the device from the markers 11 as a voltage value with code. The section 5 outputs a steering controlling signal by using the output of the sensor 1 signal in the direction in which the deviation can be corrected. Therefore, the running device can run without deviation form the markers 11 and a highly accurate white line can be drawn without human intervention.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device that automatically lays or removes white lines on an athletic field or the like.

[Prior Art] Generally, multipurpose stadiums have been developed for the purpose of effectively utilizing the ground on the negative side. This type of multipurpose stadium is divided into various competition areas by drawing white lines according to the content of the competition.

Conventionally, as a device for drawing white lines, a tool called a line drawer as shown in Fig. 6 has been used.

In this type of line drawing device, a container 31 is supported by wheels 30, and there is a discharge port 32 at the bottom of the container 3I that can be manually opened and closed.
The structure is such that the stirrer 33 inside rotates and efficiently sends out white powder to the outlet 32 of the container 31.

[Problem to be solved by the invention]

Since conventional line drawing devices are used by hand, it is very difficult to draw straight lines. Moreover, it is very difficult for an amateur to see the curves of the lap track without having something to guide them. As described above, the conventional line drawing device can only be operated by a skilled person, and there is a problem in that it takes a lot of time and effort to draw white lines on a large ground with a small number of people. Furthermore, in order to remove the white line, it is necessary to sweep it away with a broom or scrape it up and remove it, which is also a time-consuming task.

An object of the present invention is to provide an automatic white line installation/removal device that can accurately draw and remove white lines without using human hands.

[Means for Solving the Problems J] In order to achieve the above object, the self-propelled automatic tracking device according to the present invention includes a traveling device, a steering control section, a guide sensor, a movable base, and a position control section. A self-propelled automatic tracking device having a self-propelled vehicle, wherein the traveling device is a self-propelled vehicle, the guide sensor detects a guide marker buried underground, and the steering control unit is a self-propelled vehicle. The position of the traveling device is controlled based on the output signal of the sensor to cause the traveling device to follow the guide marker, and the movable part is mounted on the traveling device and is perpendicular to the traveling direction of the traveling device. The position control section positions the movable section directly above the guide marker based on the output signal of the guide sensor.

Further, in the white line laying device according to the present invention, the white line laying device includes a traveling device, a steering control section, a guide sensor, a movable platform, a position control section, and a line drawing device, the traveling device comprising: , is a self-propelled vehicle, and the guide sensor detects guide markers buried underground. The steering control section controls the position of the traveling device based on the output signal of the guide sensor and causes the traveling device to follow the guide marker, and the movable section is the one that controls the position of the traveling device based on the output signal of the guide sensor. The movable part is mounted on the movable part and moves in a direction perpendicular to the traveling direction of the traveling device, and the position control part positions the movable part to the second position of the guide marker based on the output horn signal of the guide sensor. Yes, the line drawing device is conveyed by a traveling device, sends out white powder from a supply port regulated to a predetermined width, and draws a line on the guide marker. It is supported towards the guide marker and held on the guide marker.

Further, in the white line removal device according to the present invention, the white line removal device includes a traveling device, a steering control section, a guide sensor, a movable platform, a position control section, and a suction device, the traveling device comprising: It is a self-propelled vehicle, and the guide sensor detects guide markers buried underground. The steering control unit controls the position of the traveling device based on the output signal of the guide sensor and causes the traveling device to follow the guide marker, and the movable portion is connected to the traveling device. It is mounted and moves in a direction perpendicular to the traveling direction of the traveling device, and the position control unit positions the movable part directly above the guide marker based on the output signal of the guide sensor. The device is conveyed by a traveling device and sucks up and removes the white powder for line drawing on the guide marker from the suction port, and the suction port of the suction device is supported downward by the movable part.
It is held on the guide marker.

[Effect]

A self-propelled automatic tracking device detects a guide marker that is embedded in the ground in advance at the place where you want to draw a line, and moves along it to accurately spread white powder on the marker. The method is shown below.

The traveling device includes a kite sensor that detects a guide marker embedded in the ground, and a steering control unit that steers the vehicle to run along the guide marker.

The guide sensor outputs the amount of deviation from the guide marker and its direction as a signed voltage value. When it is in the center of the guide marker, the output of the guide sensor is 0■,
If it shifts to the left or right, it indicates an output voltage of 10 or -. The steering control section uses this sensor output to output a steering control signal in a direction to correct the amount of deviation. This operation allows the traveling device to travel without coming off the guide marker. However, there will be some meandering along the way, so in order to draw a more accurate line, do the following.

A movable platform is installed on the traveling device so that it can move at right angles to the traveling direction, and a white powder supply port is attached to this movable platform so that it can be moved together. Then, the movable base is moved so as to offset the meandering of the traveling device, and the movable base is controlled so that the white powder supply port is always in the center of the guide marker. The method of controlling the movable table is as follows.

The guide sensor outputs a signal proportional to the amount of deviation from the guide near the center. If the guide sensor is shifted to the left from the guide marker in the direction of travel, the guide marker is positioned to the right by the same distance from the center of the guide sensor when viewed from the vehicle. Therefore, in this case, by shifting the movable base to the right by an amount proportional to the output signal of the guide sensor, the movable base is positioned substantially directly above the guide marker embedded in the ground.

It is unavoidable that the traveling device will meander to some extent due to its own inertia and the influence of the steering system, but since the movable platform mounted on the traveling device is controlled by a separate drive system, it can move with quick response and good followability. It can be realized.

The same applies when removing white powder. By attaching the suction port to the movable table mentioned above, it is possible to accurately trace over the white powder and remove the white powder cleanly.

This makes it possible to automate both the time-consuming installation and removal of white lines, resulting in significant labor savings.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

(Example 1) FIG. 1 is a configuration diagram showing a first embodiment of the present invention.

In the figure, the present invention uses a self-propelled automatic tracking device to draw or remove white lines in a self-propelled manner. First, the self-propelled automatic tracking device used in the present invention will be explained.

Multi-purpose stadiums are divided into various competition areas by drawing white lines according to the content of the competition. Therefore, the guide markers 11 are buried underground in correspondence with the lines that define the competition areas of the multipurpose stadium.

The traveling device M is a self-propelled traveling vehicle.

The guide sensor 1 is attached to the front position of the traveling device M, and detects the guide marker 11 underground.

The steering control unit 5 controls the left wheel motor driver 7 and the right wheel motor driver 8 based on the output signal of the guide sensor 1, and controls the left and right drive wheels Mll of the traveling device M by the output left wheel motor 9 and right wheel motor 10. M2 rotation speed V
,, It controls the VR and causes the traveling device M to follow the guide marker 11 and travel.

The traveling device M includes two rails 2a, 2a pushed in a direction perpendicular to the traveling direction of the traveling device M.

The movable base 2 is supported by two rails 2a, 2a, and is installed so as to be able to reciprocate in a direction perpendicular to the traveling direction of the traveling device M. There are pulleys 3a on both ends of the rails 2a and 2a.
, 3a are installed, and a pulley wire 3b tied to the movable base 2 is passed between the pulleys 3a, 3a.

An output shaft of a stepping motor 3 is connected to one pulley 3a.

The position control unit 4 drives and controls the stepping motor driver 6 based on the output of the guide sensor 1 to cause the stepping motor 3 to reciprocate the movable base 2 in a direction perpendicular to the traveling direction of the traveling device M, thereby guiding the movable base 2. It is positioned directly above the marker 11.

The output of the guide sensor 1 has a characteristic as shown in FIG. 2, for example, and in the central linear region, the sensor output E of the guide sensor 1 is E=KIXX for the deviation amount X of the guide sensor 1 with respect to the guide marker 11. However, there is a relationship where K1 is a positive proportionality constant.

The output of the guide sensor (2) is connected to both the steering control section 5 for operating the traveling device M and the position control section 4 of the movable platform 2. In the steering control unit 5 of the traveling device M, the guide sensor l
Using the output of , calculate the speed given to the driving wheels M1 + M2. Drive wheels Mt and M2 are driven by motors 9 and 1 independently on the left and right sides.
0, and by creating a difference in rotation between the left and right sides, steering is possible. The speed of drive wheels '1+M2 is given by the following formula.

VL=V, -U VR=Vo+U However, VL: Left wheel speed R: Right wheel speed Vo: Traveling speed U: Steering correction speed The steering correction speed U is proportional to the output IE of the guide sensor 1, and U= 2xE However, there is a relationship between K2 and a positive proportionality constant. Now, consider a case where the traveling device M deviates to the right by X cm from the guide force 11. However, the deviation of Xcm is within the range where the linear relationship near the center shown in FIG. 2 is maintained. A guide sensor l fixed to the traveling device M shows a positive output.

Therefore, when this is substituted into the above equation, U also takes a positive value.

Therefore, the left and right wheel speeds are V,>V.

As a result, the traveling device M can rotate to the left and return to the center of the guide marker 11.

On the other hand, the position control unit 4 of the movable base 2 uses the protrusion of the guide sensor 1 to determine the position of the movable base 2.

As in the previous example, if the traveling device M deviates to the right from the guide marker 11 by Xcm, when looking at the guide marker 11 from the guide sensor 1 on the vehicle, it will deviate to the left by the same amount Xcm. . By shifting the movable base 2 by the same amount Xcm to the left from the center, the movable base 2 can be brought directly above the guide marker 11.

The movable base 2 is placed on rails 2a, 2a with low frictional resistance, and its pulling wire 3b is connected to the rotating shaft of the stepping motor 3, so that the movable base 2 moves on the rails 2a, 2a in accordance with the rotation of the motor 3. to move.

Therefore, the amount of rotation A of the motor 3 is proportional to the amount of movement M of the movable base 2, and M=3XA, where K3 is a positive proportionality constant. Also, the rotation amount A of the motor 3 is proportional to the number of pulses S given, A=4XS However, K4. There is a relationship of positive proportionality constant. Therefore, a stepping motor driving pulse number S proportional to the output E of the guide sensor 1 is generated. The relational expression is: S=5×E where K5 is a positive proportionality constant. Therefore, the moving amount M and the output E of the guide sensor 1 have a proportional relationship as follows: M=KXE K=3XK, 1XK5. By appropriately selecting the proportionality constant, the movable base 2 can be positioned directly above the guide marker 11. In addition to the method described above, it is also possible to move the movable base 2 with a linear motor.

Both in principle and in practice, some meandering is unavoidable due to causes such as the large inertia of the vehicle body and play in the drive transmission system, whereas the movable platform 2 has a light mass and low inertia.
It can be followed at high speed.

(Embodiment 2) FIG. 3 is a structural diagram showing a white line laying device to which the self-propelled automatic tracking device according to the present invention is applied.

In the figure, the guide sensor l must be placed as far forward as possible from the driving wheels M1+M2 in order to facilitate steering control, so it is installed at the bottom of the foremost part of the traveling device M, facing toward T. Furthermore, in order to maintain positional accuracy, the movable base 2 must be placed as close to the guide sensor 1 as possible, so it is installed immediately after the guide sensor 1. A supply port 20 for the white line drawing device 15 is attached to the movable base 2 via a bellows tube 20a, and an operation panel 17
The supply port 20 is opened and closed according to the instruction. White powder is injected into the white line bowing device 15 from the white powder inlet 18 at the top,
It is carried to the supply port 20 by gravity. At this time, in order to maintain a uniform discharge amount, a stirrer 19 whose rotation speed changes in proportion to the moving speed of the vehicle is installed near the supply port 20. This stirrer 19 operates when the supply port 20 is open. The rotation of the stepping motor 3 is transmitted to the movable base 2 through a traction wire 3b. The stepping motor 3 receives drive pulses from the position control section 4. The left and right drive wheel speed of the steering control section 5 and the stepping motor rotation speed of the position control section 4 are 1.
Calculations are performed by software running on two CPUs, and outputs J are sent to separate motor drivers (motor drivers 6, 7, and 8 in FIG. 1) to drive motors 3, 9, and 10, respectively. The output of the guide sensor l is sequentially A/D converted and sent to the CPU as a digital quantity. Drive wheel M of traveling device M
1°M2 is driven by motors 9 and 10 independently on the left and right sides. All operations are entered on the top panel 17.

The traveling device M has a guide sensor 1 that detects a guide marker 11 buried underground, and a steering control section 5 shown in FIG. 1 that steers the vehicle to run along the guide marker 11. The guide sensor 1 outputs the amount of deviation from the guide marker 11 and its direction as a signed voltage value. When the guide marker 11 is at the center, the output of the guide sensor 1 is o■, but when it is shifted to the left or right, it shows an output horn voltage of 10 or -.

The steering control unit 5 uses this sensor output to output a steering control signal in the direction of correcting the amount of deviation. By this operation, the traveling device M can travel without coming off the guide marker 11. However, there will be some meandering along the way, so in order to draw a more accurate line, do the following.

A movable base 2 is installed on the traveling device M, and is controlled by the position control unit 4 shown in Fig. 1 so as to move at right angles to the direction of travel. Make sure you can move it. Then, the movable base 2 is moved so as to offset the meandering of the traveling device M, and the movable base 2, that is, the white powder supply port 20 is controlled to be always in the center of the guide marker 11. The method of controlling the movable base 2 is as follows.

The guide sensor outputs a signal proportional to the amount of deviation from the guide near the center. If the guide sensor 1 is shifted to the left from the guide marker 11 in the direction of travel,
When viewed from above the vehicle, the guide marker 11 is located at the same distance from the center of the guide sensor 1 to the right. Therefore,
In this case, by shifting the movable base 2 to the right by an amount proportional to the output signal of the guide sensor I, the movable base 2 will be located substantially directly above the guide marker 11 embedded in the ground. .

It is inevitable that the traveling device M will meander to some extent due to its own inertia and the influence of the steering system, but since the movable platform 2 mounted on the traveling device M is controlled by a separate drive system, it can follow with quick response. It is possible to achieve good movement.

A highly functional version may include a map function, and in combination with position markers separately embedded in the road surface, it may be possible to draw different boundary lines for each competition. The guide marker embedded in the road surface uses a ferrite marker suitable for outdoor use, and is 5 cm wide and 1 cm thick.
It is buried at a depth of 5 cm. The other configurations are as shown in FIG. 1.

(Embodiment 3) FIG. 4 is a structural diagram showing a white line removal device to which the self-propelled automatic tracking device according to the present invention is applied.

In this embodiment, the traveling device M and the following device of the movable platform 2 are the same as those shown in FIG. 5, but a suction device 25 for removing powder is used instead of the white line drawing device 15. . A suction port 24 of the suction device 25 is attached to the movable base 2 through a bellows tube 25a so as to face downward, and a collection bag 21 is attached to the discharge port. An exhaust port 23 is connected to the collection bag 21 via a filter (not shown). 22 is a collection bag outlet. Other configurations are the first
The structure shown in the figure is adopted.

In this embodiment, the suction port 24 of the suction device 25 is always located above the guide marker 11, and while the traveling device M moves along the guide marker 11, the suction device 25 sucks and removes white powder on the guide marker 11. can do.

Figure 5 shows the amount of deviation X of the guide sensor 1, the amount of movement M of the movable base 2, and the deviation De of the movable base 2 from the guide marker when the self-propelled vehicle runs on the guide marker. It is. It can be seen that the movable base 2 successfully absorbs the amount of deviation of the guide sensor 1, and the movable base 2 follows the guide marker 11 well without deviating much.

The white line installation and removal functions may be combined to form a single device that can perform both installation and removal. In addition, the self-propelled automatic tracking device of this patent can be applied not only to white line installation and removal equipment, but also to robots that lay white lines on general roads, and can be used in road work robots to detect vehicles meandering. Since the workbench is always kept straight and stable without meandering, it is ideal for use as a workbench for work that requires positional accuracy.

[Effects of the Invention] As explained above, by using the white line laying device of the present invention, even when the vehicle body meanders sharply due to unevenness of the road surface,
The white line is drawn exactly at the position of the guide marker under the road surface. Furthermore, curved sections such as lap tracks can cause large meandering, but by using this device, accurate curves can be drawn and white lines can be removed. In addition, once a guide marker is installed, it can be used to accurately draw a line in the same place over and over again, so it is used in competitions that require precision border lines or competitions that require drawing complex geometric patterns. This allows for even more effective use.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an example of the configuration of a self-propelled automatic tracking device according to the present invention, FIG. 2 is a diagram showing an example of the characteristics of a guide sensor for a self-propelled vehicle, and FIG. 3 is a diagram according to the present invention. A diagram showing an example of the configuration of a white line laying device, FIG. 4 is a diagram showing an example of the configuration of a white line removing device according to the present invention, and FIG. 5 is a diagram showing the effect of a self-propelled automatic tracking device. FIG. 6 is a diagram showing a conventional line drawing configuration. 1... Guide sensor 2... Movable base 3...
Stepping motor 5... Steering control unit 14... Traction wire I7... Operation panel 20... Supply port position control unit Guide marker White line drawing device... Stirrer/Suction port

Claims (3)

[Claims] (1) A self-propelled automatic tracking device having a traveling device, a steering control section, a guide sensor, a movable base, and a position control section, the traveling device being a self-propelled traveling vehicle, and a guide. The sensor detects a guide marker buried underground, and the steering control section controls the position of the traveling device based on the output signal of the guide sensor, and causes the traveling device to follow the guide marker. The movable part is mounted on the traveling device and moves in a direction perpendicular to the traveling direction of the traveling device, and the position control section moves the movable part to the guide marker based on the output signal of the guide sensor. A self-propelled automatic tracking device characterized by being positioned directly above the. (2) A white line laying device having a traveling device, a steering control section, a guide sensor, a movable platform, a position control section, and a line drawing device, wherein the traveling device is a self-propelled traveling vehicle. The guide sensor detects guide markers buried underground. The control unit controls the position of the traveling device based on the output signal of the guide sensor and causes the traveling device to travel by following the guide marker, and the movable portion is mounted on the traveling device and controls the traveling device. The position control unit positions the movable part directly above the guide marker based on the output signal of the guide sensor, and the line pulling device moves in a direction perpendicular to the guide marker. White powder is sent out from a supply port regulated to a predetermined width and a line is drawn on the guide marker, and the supply port of the line drawing device is supported downward by a movable part and held on the guide marker. A white line laying device characterized in that: (3) A white line removal device having a traveling device, a steering control section, a guide sensor, a movable platform, a position control section, and a suction device, the traveling device being a self-propelled traveling vehicle, The guide sensor detects guide markers buried underground, and the guide markers are buried underground in correspondence with the lines demarcating the competition areas of the multipurpose stadium. The part controls the position of the traveling device based on the output signal of the guide sensor and causes the traveling device to follow the guide marker, and the movable part is mounted on the traveling device and controls the traveling device in the traveling direction of the traveling device. The position control unit positions the movable part directly above the guide marker based on the output signal of the guide sensor, and the suction device is transported by the traveling device, The white powder for drawing lines on the guide marker is sucked and removed from the suction port, and the suction port of the suction device is supported downward by the movable part.
A white line removal device characterized by being held on a guide marker.