JPH07160856A - Locus acquiring device of moving object - Google Patents

Abstract

PURPOSE:To exactly and quickly recognize the locus of a moving object moving on a plane. CONSTITUTION:This device has a video camera 3 which is capable of acquiring the status of a contestant 43 as video data RDAT on a prescribed video coordinate (x, y) and is provided with a mobile object location detector 5 which is capable of calculating a moving object location Pn where cast laser lights 7a and 8a are reflected on the reflection tape 45 of the contestant and outputting the location as moving object location data PDAT, a moving object location correction part calculating the moving object correcting location Cn of the moving object on a video coordinate based on moving object location data, a locus data memory which is capable of successively storing the time-sequential moving object correcting location calculated by the moving object location correction part and forming and storing the location as moving object locus data CLDAT, a data synthesizing part which is capable of superposing the contestant in video data and moving object locus data and forming them as moving object locus video data PRDAT and a synthetic data output part which is capable of outputting moving object locus video data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a locus capturing device for a moving body suitable for grasping a locus on a plane of a moving body which moves on a plane, such as an athlete in a competition such as figure skating and rotary skiing. .

[0002]

2. Description of the Related Art Conventionally, in competitions such as figure skating and rotary skiing, a scene where a competitor performs on a skating rink or a scene where a skier descends a downhill course on a slope can be used as a competitor, a director, a spectator, a judge, etc. It was recorded in the human head or recorded as an image on a video camera. Then, in order to evaluate the above-mentioned performance or the results of the skiing down, based on the memory in these heads and the images recorded on the video camera, etc., the course is taken on the track drawn on the link by the athlete or on the slope. The trajectory that was done was known.

[0003]

However, human memory is uncertain, and the scene of the performance or the downhill competition cannot be accurately reproduced. On the other hand, recording by a video camera or the like is accurate. Although the scene of the competition can be accurately reproduced, the trajectory of the competition is not recorded as an image. Therefore, in order to grasp the trajectory, replay it repeatedly and keep the scene throughout the competition in memory. It is difficult to grasp the trajectory of the competition accurately and quickly by any means that requires a troublesome method such as remembering. In other words, accurately and quickly grasping the trajectory of the competition makes it possible for the athlete to accurately evaluate the competition results and practice results of the athlete himself or his rivals, and to help improve their skills. ,Also,
For the spectators, it is possible to watch the competition more interesting by comparing the trajectories of each athlete in the video that is being broadcast, and for the judges in figure skating, etc. It has a great advantage that it can be an effective judgment material for strict evaluation, and it is desired much.

In view of the above circumstances, an object of the present invention is to provide a locus capturing device for a moving body which can accurately and quickly grasp the locus of a moving body moving on a plane.

[0005]

That is, according to the present invention, the situation of the moving body (43, 53) is determined by a predetermined image coordinate ((x, y)).
An image acquisition device (3) capable of acquiring image data (RDAT) is provided above, and a detection position (P) where the irradiated laser light (7a, 8a) is reflected by the reflection member (45) of the moving body.
n) is provided, and a position detecting device (5) capable of detecting and calculating and outputting it as moving body position data (PDAT) is provided, and based on the moving body position data calculated by the position detecting device, the coordinates of the moving body on the video coordinates. A moving body position data calculating means (19) for calculating the position (Cn) is provided, and the time-dependent coordinate position of the moving body calculated by the moving body position data calculating means is sequentially accumulated to form trajectory data (CLDAT). A locus data memory means (15) capable of storing is provided, and the locus data in the locus data in the locus data memory means and the locus data in the locus data memory means are overlapped with each other, and locus data in the locus data memory (PRDAT) is provided. ) Is provided, and an output means (16) capable of outputting the moving body locus image data formed by the data synthesizing means is provided. Composed of Te.

The numbers in parentheses are for convenience of showing the corresponding elements in the drawings, and the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0007]

According to the present invention, the position detecting device (5) detects the position (Pn) of the moving body (43, 53).
By detecting and calculating, the detection position of the moving body can be accurately and quickly grasped. Further, the detected position of the moving body, which has been detected and calculated, is calculated by the moving body position data calculating means (19) as the coordinate position (Cn) on the image coordinates ((x, y)), and the locus data memory means (15).
By sequentially accumulating and storing the locus data (CLDAT) therein, the detection position of the moving body can be accurately grasped as the locus drawn by the moving body. Further, the trajectory data memory means (1) is added to the video data (RDAT) indicating the state of the moving body acquired by the video acquisition device (3).
The locus data (CLDAT) in 5) is overlapped by the data synthesizing means (13) and output to the output means (16), whereby the locus drawn by the moving body can be grasped as an image together with the current state of the moving body. Acts like.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic view showing an embodiment in which the trajectory capturing device to which the trajectory capturing device for a mobile body according to the present invention is applied is used in a skating rink, and FIG. 2 is an embodiment of the trajectory capturing device shown in FIG. FIG. 3 is a block diagram showing the output of the trajectory capturing device shown in FIG. 1. FIG. 4 is a schematic diagram showing an example of using the trajectory capturing device shown in FIG. 5
FIG. 5 is a diagram showing an example of an output of the trajectory capturing device shown in FIG. 4.

As shown in FIGS. 1 and 2, a trajectory capturing apparatus 1 to which the trajectory capturing apparatus for a moving body according to the present invention is applied,
It is composed of a video camera 3, a moving body position detection device 5, a trajectory analysis device 10, and the like. That is, the video camera 3
As shown in FIG. 1, an athlete 43 performing at a skating rink 40 and an athlete 5 competing at a ski rink 50.
3 and the like can be acquired as video data RDAT on a predetermined video coordinate (x, y), and the video camera 3 can acquire the video data RDAT acquired by the video camera 3.
Is connected to the trajectory analysis device 10 in a form capable of being output to the trajectory analysis device 10 described later. Further, the image coordinates (x, y) have an image origin RO corresponding to the projection center of the image acquired by the video camera 3.

Further, the moving body position detecting device 5 has a first laser angle detector 7 and a second laser angle detector 8, and the first and second laser angle detectors 7 and 8 are movable. The body position calculation unit 6 is connected. That is, as shown in FIG. 1, the first laser angle detector 7 radiates continuously and radially from a laser oscillating unit (not shown) around a surveying origin PO within a predetermined plane having a first reference axis CTA. The first laser angle detector 7 is formed so as to be able to irradiate the light 7a, and the first laser angle detector 7 detects the position where the laser light 7a emitted by the first laser angle detector 7 is reflected by the first reference axis CTA. The detection angle SA is provided so that it can be detected. Further, the moving body position calculation unit 6 is connected to the first laser angle detector 7, and the first laser angle detector 7 is connected.
Indicates the detected first detection angle SA as the first angle data AD
It is output to the moving body position calculation unit 6 as AT. Further, the above-mentioned survey origin PO of the moving body position detecting device 5 is set in the first laser angle detector 7. In addition, the second laser angle detector 8 moves from a laser oscillator (not shown) to an oscillation point PX within a predetermined plane having the second reference axis CTB.
Is formed so that the laser beam 8a can be emitted radially and continuously around the
Is the laser beam 8a emitted by the second laser angle detector 8.
The position reflected by is detected as the second detection angle SB with respect to the second reference axis CTB. Also,
The moving body position calculation unit 6 is connected to the second laser angle detector 8, and the second laser angle detector 8 uses the detected second detected angle SB as the second angle data BDAT to move the moving body position. Output to the calculation unit 6. Therefore, the first and second laser angle detectors 7 and 8 have the first irradiation angle IA, which is the angle formed by the laser beam 7a emitted by the first laser angle detector 7 with the horizontal plane, and the second laser angle detector. Second irradiation angle I which is an angle formed by the laser beam 8a irradiated by
By matching B with those laser lights 7a, 8
a is irradiated on the same plane, and these laser lights 7a and 8a
It is possible to form a predetermined irradiation plane SP for surveying using. Further, the moving body position calculation unit 6 is
And first and second angle data ADAT and BDAT (first and second detection angles SA and SB) detected and output by the second and second laser angle detectors 7 and 8, and the first and second laser angle detectors. Based on the distance between the emission centers of the laser beams 7 and 8, that is, the installation distance L that is the distance between the survey origin PO and the oscillation point PX (that is, based on the two corners of the triangle and the length of the sandwiched side). ), The position where the laser beams 7a and 8a are reflected with respect to the surveying origin PO set in the first laser angle detector 7 (that is, the position where the laser beams 7a and 8a are reflected on the reflection tape 45 attached to the athletes 43 and 53 described later) is The moving body position Pn (n = 1, 2, 3 ...) With respect to the surveying origin PO on the irradiation plane SP is calculated, and the moving body position Pn is moved body position data PD.
As an AT, it is output to the trajectory analysis device 10 described later.

Further, the trajectory analysis device 10 includes a main control unit 11
The main control unit 11 includes an input unit 12, a data synthesizing unit 13, a trajectory data memory 15, a synthetic data output unit 16, a comparison data memory 17, a moving body position correcting unit 19,
The video data input unit 21, the moving body position data input unit 22 and the like are connected. In addition, the composite data output unit 16
A display unit 16a such as a monitor CRT is connected,
Further, in the combined data output unit 16, the transmission unit 16b causes the moving body locus image data P, which will be described later, to be transmitted to broadcasting equipment (not shown) or the like.
It is provided so that RDAT can be output and transmitted. Furthermore,
The video camera 3 is connected to the video data input section 21 so that the video data RDAT can be freely input, and the mobile body position detection device 5 is freely connected to the mobile body position data PDAT to the mobile body position data input section 22. Has been done. Further, the moving body position correction unit 19 is provided with a buffer memory 19a.

Since the present invention has the above-mentioned configuration, when the trajectory capturing device 1 acquires the trajectory of the athlete 43 on the skating rink 41 of the skating rink 40,
The trajectory capturing device 1 is installed on the skating rink 40 in the following manner. First, as shown in FIG. 1, the video camera 3 is installed on a ceiling (not shown) of the skating rink 40 so that an image can be acquired over the entire skating rink 41, and the image captured by the video camera 3 is projected. The projection center axis CTR passing through the center becomes perpendicular to the running surface 41a of the skating rink 41 of the skating rink 40 (that is, the image coordinate (x, y) plane and the running surface 41a are parallel), and the acquired image. Positioning is performed so that the x axis of the image coordinates (x, y) and the installation side 41b of the skating rink 41 on which the moving body position detection device 5 is installed are substantially parallel. Next, the moving body position detection device 5 is configured to form a large triangle by the laser beams 7a and 8a emitted by the first and second laser angle detectors 7 and 8, that is, to perform accurate surveying. , First and second
The laser angle detectors 7 and 8 are installed at both ends (left and right direction in FIG. 1) of the installation side 41b of the skating rink 41. Further, the first and second laser angle detectors 7 and 8 are the laser beams 7a and 8a emitted by the first and second laser angle detectors 7 and 8 and the sliding surface 41 of the skating rink 41.
The laser beam 7a is irradiated so that a is parallel to a predetermined height (that is, the irradiation plane SP on which the laser beams 7a and 8a are irradiated is parallel to the image coordinate (x, y) plane). The first irradiation angle IA and the second irradiation angle IB with which the laser beam 8a is irradiated are matched with the angle formed by the sliding surface 41a with the horizontal plane, and the emission center of the laser beam 7a of the first laser angle detector 7 is measured. It is installed so that it coincides with the origin PO and the emission center of the laser beam 8a of the second laser angle detector 8 coincides with the oscillation point PX. In addition, the first laser angle detector 7
Reference axis CTA and second reference axis C of second laser angle detector 8
Positioning is performed so that TB coincides with the same axis and is parallel to the x axis of the image coordinates (x, y) of the installed video camera 3. As a result, the surveying point PO is set on the irradiation plane SP.
Is set as the origin, and an XY survey coordinate plane is formed in which the X-axis direction is set parallel to the reference axes CTA and CTB.

In this way, the video camera 3 and the first and second
After the laser angle detectors 7 and 8 are installed on the skating rink 41, the installation distance L between the installed first and second laser angle detectors 7 and 8 is measured. (Note that
When the installation distance L between the surveying origin PO and the oscillation point PX is known, it is not necessary to measure. ) Further, on the image coordinates (x, y) of the image acquired by the video camera 3, on the irradiation plane SP measured by the moving body position detection device 5, that is, X
In order to coordinate-convert the moving body position Pn on the Y surveying coordinate plane, at the projection point 41c where the projection center axis CTR of the video camera 3 intersects the sliding surface 41a of the skating rink 41, as shown in FIG. The surveying pole 60 that reflects the lights 7a and 8a is erected perpendicularly to the sliding surface 41a to operate the moving body position detecting device 5 to measure the position of the surveying pole 60 on the XY survey coordinate plane. As a result, the position of the survey pole 60 on the measured projection point 41c is adjusted so that the projection center axis C of the video camera 3 is aligned with the irradiation plane SP of the moving body position detecting device 5.
Point where TR intersects, that is, image origin R on irradiation plane SP
Since it becomes O, the position of the surveying pole 60 concerned is
The reference position PC is used for the coordinate conversion. Then, the video camera 3, the moving body position detecting device 5, and the trajectory analyzing device 10 are operated to cause the moving body position calculating unit 6 of the moving body position detecting device 5 to set the installation distance L via an input unit (not shown). input. Further, the trajectory analysis device 10 includes an input unit 12
The reference position PC is input via, and the reference position PC is stored in the buffer memory 19a of the moving body position correction unit 19. Of course, the surveying pole 60 that has completed the required surveying is cleaned up from the skating rink 41 so as not to hinder the performance of the athlete 43 in the future. It should be noted that the trajectory that the athlete 43 wants to compare with the trajectory drawn on the skating rink 41 from now on, for example, the trajectory of the athlete 43 in the past performance, the trajectory of the performance of other athletes, the prescribed trajectory in the regular competition, etc. Is input as the comparison data CDAT via the input unit 12 as necessary, and the comparison data memory 17
To store. In addition, the competitors 43 are provided with laser beams 7a, 8
A retro-reflective tape 45 that reflects a only in the direction in which the laser beams 7a and 8a are irradiated is attached.

After the trajectory capturing device 1 is installed, necessary data is input, and the athlete 43 is prepared, the trajectory of the athlete 43 is captured via the input unit 12 of the trajectory analyzer 10. A trajectory capture command is input to the main controller 11. Then, at the same time as or after the command input,
The player 43 starts acting on the skating rink 41. Then, the video camera 3 has a skating rink 4
The situation of the athlete 43 acting on 1 is acquired as image data RDAT on the image coordinates (x, y), and the trajectory analysis device 10 uses the image data RDAT obtained by the video camera 3 as the trajectory analysis device. It is input through the video data input unit 21 of 10.

Further, in the moving body position detecting device 5, the first and second laser angle detectors 7 and 8 are provided with laser light 7 respectively.
Since a and 8a are radiated at a predetermined height in parallel with the sliding surface 41a over the entire skating rink 41, the laser beams 7a and 8a emitted from the first and second laser angle detectors 7 and 8 are , The player 43 performing on the skating rink 41 is always irradiated. And those competitors 4
The laser beams 7a and 8a radiated to 3 are reflected by the reflection tape 45 attached to the athlete 43, and the first and second laser angle detectors 7 that radiate the laser rays 7a and 8a to the athlete 43. , 8 respectively. As a result, the first and second laser angle detectors 7 and 8 change the position of the player 43 to the first detection angle S with respect to the first reference axis CTA, respectively.
The first and second detected angles SA and SB are sequentially detected as the second detected angle SB with respect to A and the second reference axis CTB, and the detected first and second detected angles SA and SB are used as the first and second angle data ADAT and BD.
The AT is sequentially output to the mobile body position calculation unit 6. Receiving this, the moving body position calculating unit 6 receives the first and second angle data ADAT and BDAT output from the first and second laser angle detectors 7 and 8 and the first and second lasers that have already been input. Based on the installation distance L, which is the distance between the angle detectors 7 and 8, on the irradiation plane SP (X, which is the position of the player 43 that has reflected the laser beams 7a and 8a with respect to the surveying origin PO of the moving body position detection device 5). The moving body position Pn (on the Y surveying coordinate plane) is calculated and output to the trajectory analysis device 10 as moving body position data PDAT. Then, the trajectory analysis device 10
The mobile body position data PDAT calculated by the mobile body position detection device 5 is input to the mobile body position data input unit 22 of the trajectory analysis device 10.

Further, the main control unit 11 which has received the trajectory capture command
Is the moving body position data PDA input to the moving body position correcting unit 19 via the moving body position data input unit 22.
Instructing the coordinate conversion of T onto the video coordinates (x, y), and sending the video data input unit 2 to the data synthesizing unit 13.
The moving body position correction data PD obtained by coordinate-converting the moving body position correcting unit 19 into the video data RDAT input via
Instruct to overlap ATC. Receiving this, the mobile unit position correction unit 19 reads the mobile unit position data PDAT input through the mobile unit position data input unit 22, and based on the reference position PC stored in the buffer memory 19a, the mobile unit position data PDAT. Video coordinates of PDAT (x,
y) Perform coordinate transformation up. On the other hand, the data synthesizer 1
3, the moving body position correcting unit 19 sets the moving body position correction data P.
It is in a waiting state until it outputs DATC.

That is, the moving body position correcting section 19 determines the moving body position data PDAT whose origin is the read surveying origin PO.
On the basis of the reference position PC, the coordinates of the skating rink 41 are coordinate-converted on the image coordinates (x, y) having the origin of the image origin RO of the video camera 3 for obtaining the coordinates on the image coordinates (x, y). As the moving body correction position Cn (n = 1, 2, 3, ...) On the image coordinates (x, y) of the athlete 43 at each time point, the image coordinates (x, y) of the moving body position data PDAT.
The coordinate conversion is performed upward (that is, a converted coordinate system X′-Y ′ whose origin is the reference position PC on the XY surveying coordinate plane corresponding to the image origin RO of the image coordinates (x, y) is X−. The moving body position Pn on the XY surveying coordinate plane obtained by setting the surveying origin PO as the origin by setting it on the Y surveying coordinate plane is calculated as a new moving body position, and on the coordinate system X′-Y ′. The new position of the moving body is converted from the scale on the irradiation plane SP to a scale on the image coordinates (x, y) by appropriately enlarging or reducing the scale to perform coordinate conversion. That is, the moving body position correction unit 19
Calculates the moving body correction position Cn on the image coordinates (x, y) based on the moving body position data PDAT calculated by the moving body position detecting device 5. In addition, in this coordinate conversion,
Image coordinate (x, y) plane and laser light 7 from which the image is acquired
Since a and 8a are parallel to the irradiation plane SP on which the irradiation is performed, it is not necessary to consider the rotation of the image coordinate (x, y) plane with respect to the irradiation plane SP, and the image on which the irradiation plane SP is reduced (or enlarged) is projected. Irradiation plane S on coordinates (x, y)
It suffices to project the moving body position Pn on P and obtain the coordinates at that time on the video coordinates (x, y). As a result, the moving body position data PDAT is subjected to coordinate conversion with the image origin RO converted on the image coordinates (x, y) as the origin, and the moving body position correcting unit 19 moves the moving body position data PDA.
When T is coordinate-converted on the image coordinates (x, y), the conversion result (the moving body correction position Cn (n
= 1, 2, 3 ...)) as the mobile unit position correction data PDAT
As C, it is sequentially stored in the trajectory data memory 15 and is also sequentially output to the data synthesizing unit 13.

Then, the locus data memory 15 sequentially stores the locomotion unit position correction data PDATC (moving body correction position Cn) output by the coordinate transformation of the locomotive position correction unit 19, and the locus data memory 15 stores the locus data memory 15. , A plurality of mobile body position correction data PDAT that are sequentially stored and accumulated.
Mobile locus data CLDAT consisting of C is formed.
That is, the mobile body correction position Cn (n = 1, 2, 3, ...) On the video coordinates (x, y) of the athlete 43 moving on the skating rink 41, which is sequentially calculated by the mobile body position correcting unit 19.
The moving body position correction data PDATAC, which is ...), is sequentially accumulated in the locus data memory 15 over time, and the locus data is set as the moving body locus data CLDAT which is the locus drawn by the athlete 43 on the skating rink 41. It is formed and stored in the memory 15.

In addition, the data synthesizing unit 13 in the waiting state
Is activated by receiving the mobile body position correction data PDATC output from the mobile body position correction unit 19, and the data synthesis unit 13
Mobile object trajectory data C formed in the trajectory data memory 15
Along with reading LDAT, the video data RDAT input through the video data input unit 21 is read, and a plurality of moving body position correction data PDAT are added to the video data RDAT.
The moving body locus image data PRDAT is formed by superimposing the moving body locus data CLDAT of C on the image coordinates (x, y) of the image data RDAT and the moving body position correction data PDATAC that is coordinate-converted with the image origin RO as a reference. Are formed and output to the combined data output unit 16. That is, the data synthesizing unit 13 determines that the video data R acquired by the video camera 3
In the scene where the athlete 43 in DAT is acting, the moving object trajectory data CLDA stored in the trajectory data memory 15 as the trajectory drawn by the athlete 43 on the skating rink 41.
T is overlapped to form the moving body locus image data PRDAT, and the moving body locus image data PRDAT is output to the combined data output unit 16.

Then, for example, the moving body trajectory image data P
The RDAT is output from the combined data output unit 16 to the display unit 16a and displayed on the display unit 16a as shown in FIG. 3, and the moving object trajectory image data PRDAT is transmitted from the combined data output unit 16 to the transmission unit. It is output to 16b, transmitted to a television station or the like, and broadcast on a home television. Note that FIG. 3 shows an image of the display unit 16a when a predetermined time has elapsed after the start of the performance. On the image, the solid line in the figure shows the skates acquired by the video camera 3. The present situation of the performance of the athlete 43 on the link 41 is equivalent to the image of the athlete 43 shown by the solid line in FIG. In addition, what is indicated by a small circle with a broken line in FIG. 3 is each moving body correction position Cn (C1, C2, C3, ...) On the image coordinate (x, y) of the athlete 43 who has already performed.
, Cn-1) are schematically described for explanation,
On the actual image of the display unit 16a, for example, these moving body correction positions Cn (C1, C1) as indicated by broken lines in FIG.
2, C3, ..., Cn−1), that is, the moving body locus ML, which is the locus of the competitor 43 who has performed. That is, on the image of the display unit 16a, the television of the home, or the like, the trajectory of the athlete 43 who has performed (moving body locus data CLDAT) is the moving body locus ML indicated by the broken line in FIG.
Is displayed together with the performance of the athlete 43 on the skating rink 41 acquired by the video camera 3.

Further, the trajectory capturing device 1 is used in the skating rink 40.
It is possible to use without being limited to, for example,
In order to acquire the trajectory of the athlete 53 who performs a revolving competition on the slope 51 of the ski resort 50, it is necessary to install the trajectory capturing device 1 in association with the slope of the downhill surface 51a of the ski 51 of the ski resort 50. That is, when the trajectory capturing device 1 is installed on the slope 51 of the ski resort 50, first, as shown in FIG. 4, the video camera 3 captures an image of a desired range of the slope 51 of the ski resort 50 (in the example of FIG. 4, , So that the images of the areas where the gates 52A, 52B, 52C, 52D are installed on the slope 51) can be acquired, the gate-shaped camera installation turret 65 is straddled across the slope 51 so as not to hinder the competition. Installed in a predetermined position on the ski resort 50, and the projection center axis CTR of the video camera 3 is set on the ski resort 50.
Is vertical to the downhill surface 51a of the slope 51 (that is, the image coordinate (x, y) plane is substantially parallel to the downhill surface 51a), and the x axis of the image coordinate (x, y) of the acquired image. And the setting line 51b on the slope 51 are positioned substantially parallel to each other. Next, the first and second laser angle detectors 7 and 8 of the moving body position detecting device 5 are connected to the slope 51.
At both ends of the setting line 51b (left and right in FIG. 4) of the slope 51 so that the laser beams 7a and 8a can be emitted over a predetermined range in which the player 53 wants to capture the locus drawn by Direction). Also,
The laser beams 7a and 8a emitted by the first and second laser angle detectors 7 and 8 and the downhill surface 51a of the slope 51 are substantially parallel to each other at a predetermined height (that is, the laser beams 7a and 8).
of the first irradiation angle IA of the laser beam 7a irradiated by the first laser angle detector 7 and the second laser angle detector 8 so that the irradiation plane SP on which a is irradiated and the downhill surface 51a are substantially parallel to each other. The second irradiation angle IB of the irradiating laser beam 8a and the slope angle IG of the downhill surface 51a of the slope 51 are installed so as to match each other, and the first laser angle detector 7 has the first
The reference axis CTA and the second reference axis CTB of the second laser angle detector 8 are coaxially aligned and parallel to the x axis of the image coordinates (x, y) of the installed video camera 3. To position. As a result, the measurement origin P on the irradiation plane SP
An XY survey coordinate plane is formed with O as the origin and the X-axis direction set parallel to the reference axes CTA and CTB.

In this way, the video camera 3 and the first and second
When the laser angle detectors 7 and 8 have been installed on the ski resort 50, the distance between the emission centers of the laser beams 7a and 8a of the installed first and second laser angle detectors 7 and 8 (measurement origin PO and The distance between the oscillation points PX), that is, the installation distance L is measured. Further, the moving body position Pn on the irradiation plane SP measured by the moving body position detecting device 5, that is, the moving body position Pn on the XY surveying coordinate plane is coordinated on the image coordinates (x, y) of the image acquired by the video camera 3. In order to perform conversion, the projection center axis CTR of the video camera 3 which vertically penetrates the origin of the video coordinates (x, y) of the video camera 3 has the downhill surface 5 of the slope 51.
At a projection point 51c intersecting with 1a, as shown in FIG. 4, the surveying pole 60 is erected vertically to the downhill surface 51a to operate the moving body position detecting device 5, and the surveying origin P of the surveying pole 60 is set.
A position on the XY surveying coordinate plane with O as a reference, that is, a reference position PC for coordinate conversion is measured. Then, the video camera 3, the moving body position detection device 5, and the trajectory analysis device 1
By operating 0, the installation distance L is input to the mobile body position calculation unit 6 of the mobile body position detection device 5 via an input unit (not shown). Further, the locus analysis device 10 inputs a reference position PC on the XY surveying coordinate plane via the moving body position data input unit 22 (of course, it may also be input via the input unit 12), and the reference position The PC is stored in the buffer memory 19a of the mobile unit position correction unit 19. Of course, the surveying pole 60 that has completed the required surveying is cleaned up from the slope 51 so as not to hinder the competition of the athlete 53 in the future. Also, the reflective tape 45 is attached to the athlete 53. In this way, after the trajectory capturing device 1 is installed, necessary data is input, and the athlete 53 is prepared, the trajectory of the athlete 53 is captured via the input unit 12 of the trajectory analyzer 10. A trajectory capture command is input to the main control unit 11. Then, at the same time as or after the command is input, the competition of the athlete 53 on the slope 51 is started.

Then, the video camera 3 has a slope 5
The image of the athlete 53 competing in 1 (sliding down the slope 51) is the image data RD on the image coordinates (x, y).
It is acquired as an AT and is input to the trajectory analysis device 10 via the video data input unit 21. In addition, in the moving body position detection device 5, the first and second laser angle detectors 7 and 8 give laser beams 7a and 8 to the athlete 53 who slides down the slope 51.
By irradiating a, the position of the athlete 53 is sequentially detected as the first and second detection angles SA and SB, and is sequentially output to the moving body position calculation unit 6 as the first and second angle data ADAT and BDAT. . Receiving this, the moving body position calculation unit 6 competes with respect to the survey origin PO on the irradiation plane SP (XY survey coordinate plane) based on the first and second angle data ADAT and BDAT and the installation distance L. The locus analysis device 10 calculates the moving body position Pn (n = 1, 2, 3 ...) Which is the position of the person 53 and outputs it as moving body position data PDAT.
To the mobile body position data input section 22. Then, the mobile unit position correction unit 19 reads the mobile unit position data PDAT input via the mobile unit position data input unit 22, and stores the mobile unit position data PDAT whose origin is the read surveying origin PO in the buffer memory. Based on the reference position PC stored in 19a, coordinate conversion is performed on the image coordinates (x, y) whose origin is the image origin RO of the video camera 3 for acquiring the situation of the slope 51 on the image coordinates (x, y). , As the moving body correction position Cn (n = 1, 2, 3 ...) on the image coordinates (x, y) of the athlete 53 at each time point, on the image coordinates (x, y) of the moving body position data PDAT. Coordinate conversion to. In this coordinate conversion, the image coordinate (x, y) plane from which the image is acquired and the laser beam 7 are obtained.
Since a and 8a are parallel to the irradiation plane SP (XY survey coordinate plane) on which the irradiation is performed, it is not necessary to consider the rotation of the image coordinate (x, y) plane with respect to the irradiation plane SP, and the irradiation plane SP is reduced. (Or magnified) projected image coordinates (x,
y), the moving body position Pn on the irradiation plane SP is projected,
The coordinates at that time need only be obtained on the video coordinates (x, y). As a result, the moving body position data PDAT is subjected to coordinate conversion with the image origin RO converted on the image coordinates (x, y) as the origin, and the moving body position correction unit 19 moves the moving body position data PDAT. Is converted into coordinates on the video coordinates (x, y), the conversion result (moving body correction position Cn (n = 1, 2, 3 ...) whose origin is the image origin RO) is used as moving body position correction data PDATAC. , And is sequentially stored in the locus data memory 15 and is sequentially output to the data synthesizing unit 13. Then, as described above, the moving body position correction unit 1
The data synthesizing unit 13 activated by receiving the moving body position correction data PDATAC output by 9 reads the moving body locus data CLDAT formed in the locus data memory 15 and the image input via the image data input unit 21. The data RDAT is read, the moving body locus data CLDAT is superimposed on the image data RDAT to form moving body locus image data PRDAT, and the moving body locus image data PRDAT is output to the combined data output unit 16. Then, the moving body locus image data PRDAT output to the combined data output unit 16 is displayed on the display unit 16a as illustrated in FIG. 5, for example. Here, FIG. 5 shows an image of the display unit 16a when the athlete 53 has passed through the gate 52D. On the image, what is indicated by the solid line in the figure is acquired by the video camera 3. Slope 51
The current status of the upper gates 52A to 52D and the athlete 53,
This is equivalent to the image of the athlete 53 shown in FIG. In addition, each moving body correction position Cn on the image coordinates (x, y) of the position where the athlete 53 has finished sliding down is defined by a broken line in FIG. Shown.

By the way, in the case where the track that the competitor 53 wants to compare with the track drawn on the slope 51 from now on, for example, the track of the performance of another competitor, is stored in the comparison data memory 17 as the comparison data CDAT, If necessary, a specific comparison data CDAT is designated via the input unit 12, and the main control unit 11 is instructed to output the designated comparison data CDAT. Then, the data synthesizing unit 1 is instructed by the instruction of the main control unit 11 which has received the instruction.
3 reads the specified comparison data CDAT from the comparison data memory 17 and reads the read comparison data CDA.
T is the video data RDAT and the moving body trajectory data CL
Moving object locus image data PRD in the form of overlapping with DAT
By forming the AT and outputting it to the composite data output unit 16, for example, the designated comparison data CDAT is displayed as the moving body locus ML2 on the image of the display unit 16a as shown by the chain double-dashed line in FIG. It That is, on the image of the display unit 16a or a home television, in addition to the competitor 53 who slides down the slope 51 acquired by the video camera 3, in addition to the moving object trajectory ML1 indicating the trajectory of the athlete 53 who has performed, The moving body locus ML2 based on the designated comparison data CDAT is displayed.

As described above, the moving body position detecting device 5 detects and calculates the moving body position Pn of the player 43 on the skating rink 41 or the player 53 on the slope 51, thereby calculating the moving body position Pn of the player 43, 53. The moving body position Pn can be grasped accurately and quickly. In addition, the moving body position Pn of the athletes 43 and 53, which has been detected and calculated, is calculated by the moving body position correction unit 1.
By calculating the moving body corrected position Cn on the image coordinates (x, y) by 9 and sequentially accumulating it in the locus data memory 15 to form and store the moving body locus data CLDAT,
The moving body positions Pn of the athletes 43 and 53 are set to the athlete 4
It can be accurately grasped as a locus drawn by 3, 53. Furthermore, the athlete 4 acquired by the video camera 3
The moving object locus data CLDAT in the locus data memory 15 is superposed by the data synthesizing unit 13 on the video data RDAT showing the situations of 3 and 53, and the synthetic data output unit 16
It is possible to grasp the loci drawn by the athletes 43 and 53 as an image on the screen of the display unit 16a or the like together with the current state of the athletes 43 and 53 by outputting the information to the player. Therefore, it is possible to accurately and quickly grasp the trajectory of the moving body such as the athletes 43 and 53 moving on the plane such as the skating rink 41 and the slope 51.

In the above-described embodiment, the trajectory capturing device 1 is used in the skating rink 40 and the ski resort 50. However, the trajectory capturing device 1 is not limited to the skate rink 40 and the ski resort 50, and the trajectory capturing device 1 is not limited thereto. It goes without saying that the device 1 can be applied.

[0027]

As described above, according to the present invention, the situation of the moving body such as the athletes 43 and 53 is displayed at the predetermined image coordinates (x,
y) and the like have an image acquisition device such as a video camera 3 that can be acquired as image data RDAT on the image coordinates, and the irradiated laser light 7a, 8a is reflected by a reflection member such as the reflection tape 45 of the moving body. A position detecting device such as a moving body position detecting device 5 capable of detecting and calculating the detected position such as the body position Pn and outputting it as moving body position data PDAT is provided, and based on the moving body position data calculated by the position detecting device, A moving body position data calculating unit such as a moving body position correcting unit 19 for calculating a coordinate position such as a moving body correction position Cn of the moving body on the image coordinates is provided, and the time series calculated by the moving body position data calculating unit is changed. The locus data memory means such as locus data memory 15 capable of sequentially accumulating the coordinate position of the moving body and forming and storing it as locus data such as moving body locus data CLDAT is provided. A data synthesizing unit such as a data synthesizing unit 13 capable of superposing the moving body in the image data acquired by the obtaining device and the locus data in the locus data memory means to form moving body locus image data PRDAT is provided. Since the output means such as the synthetic data output unit 16 capable of outputting the moving body trajectory image data formed by the data synthesizing means is provided,

By detecting and calculating the detected position of the moving body by the position detecting device, the detected position of the moving body can be grasped accurately and quickly. In addition, the detected position of the moving body is calculated as a coordinate position on the image coordinates by the moving body position data calculating means, and sequentially stored in the locus data memory means to form and store the locus data. Can be accurately grasped as the locus drawn by the moving body. Further, the locus data in the locus data memory means is superimposed on the video data showing the condition of the moving body acquired by the image acquisition device by the data synthesizing means and output to the output means, whereby the locus drawn by the moving body. Can be grasped as an image together with the current state of the moving body. Therefore, it is possible to accurately and quickly grasp the trajectory of a moving body moving on a plane without relying on human memory or the like as in the conventional case.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment in which a trajectory capturing device to which a trajectory capturing device for a moving body according to the present invention is applied is used in a skating rink.

FIG. 2 is a block diagram showing an embodiment of the trajectory capturing device shown in FIG.

FIG. 3 is a diagram showing an example of an output of the trajectory capturing device shown in FIG.

FIG. 4 is a schematic diagram showing an example in which the trajectory capturing device shown in FIG. 2 is used in a ski resort.

5 is a diagram showing an example of an output of the trajectory capturing device shown in FIG.

[Explanation of symbols]

3 ... Image acquisition device (video camera) 5 ... Position detection device (moving body position detection device) 7a ... Laser light 8a ... Laser light 13 ... Data synthesizing means (data synthesizing unit) 15 ... Locus data memory Means (trajectory data memory) 16 ... Output means (composite data output section) 19 ... Moving body position data calculating means (moving body position correcting section) 43, 53 ... Moving body (competitor) 45 ... Reflecting member ( Reflective tape) (x, y) ... video coordinates (video coordinates) Cn ... coordinate position (moving body correction position) CLDAT ... trajectory data (moving body trajectory data) Pn ... detection position (moving body position) PDAT ... … Mobile object position data PRDAT …… Mobile object trajectory video data RDAT …… Video data

Claims (1)

[Claims] 1. An image acquisition device capable of acquiring the condition of a moving body as image data on predetermined image coordinates, and detecting and calculating a detection position at which the radiated laser light is reflected by a reflecting member of the moving body to move. A position detecting device that can output as body position data is provided, and based on the moving body position data calculated by the position detecting device, a moving body position data calculating unit that calculates the coordinate position of the moving body on the video coordinates is provided, A locus data memory means for sequentially accumulating the temporal coordinate position of the moving body calculated by the moving body position data calculating means to form and store it as locus data is provided. A data synthesizing unit is provided which can form a moving body locus image data by superposing the moving body and the locus data in the locus data memory means. Locus capture device of the mobile body which is configured by providing an output means capable of outputting a moving locus video data more formed.