Line drawing system

Abstract

To provide a line drawing system capable of drawing a line without depending on a line drawing device.SOLUTION: A line drawing system includes a line drawing device 3, a photographing device 2, and a processing terminal 1 that superimposes line data 112 on real-time photographic data 111 photographed by the photographing device 2 to create image data 113. The line drawing device 3 includes: a control unit 32 that executes an instruction from the processing terminal 1; and a reference mark 300 for specifying a position of the line drawing device and a posture in a processing region 101. The processing terminal 1 instructs the line drawing device 3 to move and take a posture so that the reference mark 300 of the line drawing device 3 reaches a start position, and instructs the line drawing device 3 to move and discharge a material for drawing a line from the line drawing device 3 and stop the discharging, while checking a position of the line drawing device 3 based on the image data 113 and the reference mark 300 of the line drawing device 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a line drawing system. [Background technology]

[0002] Conventional line drawing devices are autonomous line cars that are equipped with a battery and drive motor as a power source inside the line car, store the line information set inside the line car, and set the current position as the starting position, allowing them to autonomously draw a line from that location based on the stored line information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-243166 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional line drawing devices have a problem in that unless the starting position and direction of the line drawing device are accurate, the intended line cannot be drawn, and line drawing is dependent on the line drawing device.

[0005] The present disclosure discloses technology for solving the problems described above, and aims to provide a line drawing system that can draw lines without relying on a line drawing device. [Means for solving the problem]

[0006] The line drawing system of the present disclosure comprises: A line drawing device; an imaging device for imaging a processing area for drawing a line and the line drawing device within the processing area; A processing terminal that creates image data by overlaying line data for drawing the line on real-time photographed data captured by the photographing device, the line drawing device has a control unit that executes instructions from the processing terminal, and a reference mark for identifying its own position and its attitude in the processing area; The processing terminal includes: instructing the line drawing device to move so that the reference mark of the line drawing device reaches a start position of the image data for drawing the line, and instructing the attitude of the line drawing device at the start position; While confirming the position of the line drawing device based on the image data and the reference marks of the line drawing device, the device instructs the movement of the line drawing device and the discharge and stopping of discharge of material for drawing the line from the line drawing device. Effect of the Invention

[0007] According to the line drawing system of the present disclosure, lines can be drawn without relying on a line drawing device. [Brief description of the drawings]

[0008] [Figure 1] Fig. 1A is a diagram showing a configuration of a line drawing system according to embodiment 1. Fig. 1B is a diagram showing a processing area of ​​the line drawing system shown in Fig. 1A. [Diagram 2] FIG. 2 is a perspective view showing a configuration of a line drawing device of the line drawing system shown in FIG. [Diagram 3] 3 is a block diagram showing the configuration of the line drawing device shown in FIG. 2. [Figure 4] 3 is a diagram showing a configuration of a storage unit of the line drawing device shown in FIG. 2. [Diagram 5] Fig. 5A is a plan view for explaining the operation of the opening and closing part of the line drawing device shown in Fig. 4 in a closed state. Fig. 5B is a plan view for explaining the operation of the opening and closing part of the line drawing device shown in Fig. 4 in an open state. [Figure 6] 3 is a plan view showing a configuration of a drive portion of the line drawing device shown in FIG. 2. [Figure 7] Fig. 7A is a diagram showing the photographed data of the line drawing system shown in Fig. 1B. Fig. 7B is a diagram showing line data used in the line drawing system shown in Fig. 1. Fig. 7C is a diagram showing image data created from the photographed data shown in Fig. 7A and the line data shown in Fig. 7B. [Figure 8] Fig. 8A is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. Fig. 8B is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. [Figure 9] Fig. 9A is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. Fig. 9B is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. [Figure 10] 2 is a plan view illustrating a line drawing method of the line drawing system shown in FIG. 1. [Figure 11] Fig. 11A is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. Fig. 11B is a plan view for explaining a line drawing method of the line drawing system shown in Fig. 1. [Figure 12] 2 is a flowchart showing a line drawing method of the line drawing system shown in FIG. 1. [Figure 13] 2 is a flowchart showing a line drawing method of the line drawing system shown in FIG. 1. [Figure 14] 2 is a flowchart showing a line drawing method of the line drawing system shown in FIG. 1. [Figure 15] FIG. 2 is a diagram showing the configuration of another line drawing system according to the first embodiment. [Figure 16] Fig. 16A is a diagram showing photographed data of the line drawing system shown in Fig. 15. Fig. 16B is a diagram showing line data used in the line drawing system shown in Fig. 15. Fig. 16C is a diagram showing image data created from the photographed data shown in Fig. 16A and the line data shown in Fig. 16B. [Figure 17] FIG. 3 is a block diagram showing hardware of the processing terminal and the control unit shown in FIGS. 1 and 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Embodiment 1 FIG. 1A is a diagram showing the configuration of a line drawing system according to a first embodiment. FIG. 1B is a diagram showing a processing area of ​​the line drawing system shown in FIG. 1A. FIG. 2 is a perspective view showing the configuration of a line drawing device of the line drawing system shown in FIG. 1, with a part being see-through. FIG. 3 is a block diagram showing the configuration of the line drawing device shown in FIG. 2. FIG. 4 is a diagram showing the configuration of a storage unit of the line drawing device shown in FIG. 2. FIG. 5A is a plan view for explaining the operation of the opening / closing unit of the line drawing device shown in FIG. 4 in a closed state. FIG. 5B is a plan view for explaining the operation of the opening / closing unit of the line drawing device shown in FIG. 4 in an open state.

[0010] Fig. 6 is a plan view showing the configuration of the driving part of the line drawing device shown in Fig. 2. Fig. 7A is a diagram showing the photographed data of the line drawing system shown in Fig. 1B. Fig. 7B is a diagram showing line data used in the line drawing system shown in Fig. 1. Fig. 7C is a diagram showing image data created from the photographed data shown in Fig. 7A and the line data shown in Fig. 7B.

[0011] Figures 8 to 11 are plan views for explaining a line drawing method of the line drawing system shown in Figure 1. Figures 12 to 14 are flow charts showing a line drawing method of the line drawing system shown in Figure 1. Figure 15 is a diagram showing the configuration of another line drawing system according to embodiment 1.

[0012] Fig. 16A is a diagram showing photographed data of the line drawing system shown in Fig. 15. Fig. 16B is a diagram showing line data used in the line drawing system shown in Fig. 15. Fig. 16C is a diagram showing image data created from the photographed data shown in Fig. 16A and the line data shown in Fig. 16B. Fig. 17 is a block diagram showing hardware of the processing terminal and control unit shown in Figs. 1 and 2.

[0013] 1, the line drawing system 100 includes a processing terminal 1, a camera 2 as an imaging device, and a line drawing device 3. The camera 2 captures an image of a processing area 101 for drawing a line and the line drawing device 3 within the processing area 101. Naturally, the processing terminal 1 and the camera 2, and the processing terminal 1 and the line drawing device 3 are configured to be able to communicate data with each other.

[0014] As shown in Fig. 7, the processing terminal 1 creates image data 113 by overlaying line data 112 for drawing a line on photographed data 111 obtained by correcting real-time image data captured by the camera 2, that is, photographed data 111 including a reference mark 300 of the line drawing device 3. Thus, the image data 113 is data that allows the position and posture of the line drawing device 3 to be confirmed in real time, and allows the position of the line of the line data 112 to be drawn to be confirmed as a virtual line 120 indicated by a dotted line. Reference positions Z1, Z2, Z3, Z4, Z5, and Z6 are set on the virtual line 120 of the image data 113. The reference positions Z1 to Z6 may be start positions or end positions for drawing a line, which will be described later.

[0015] The processing terminal 1 draws a line based on the image data 113, for example by instructing the line drawing device 3 to move so that the reference mark 300 of the line drawing device 3 reaches the reference position Z1, which is the starting position, and also instructs the attitude of the line drawing device 3 at the reference position Z1. Details will be explained later in the line drawing method.

[0016] The processing terminal 1 instructs the line drawing device 3 to move and to discharge and stop discharging materials for drawing a line from the line drawing device 3 while checking the position of the line drawing device 3 based on the reference mark 300 of the line drawing device 3 in the image data 113. Furthermore, the processing terminal 1 checks the attitude of the line drawing device 3 from the direction of the reference mark 300 of the line drawing device 3 in the image data 113, and when it determines that the attitude of the line drawing device 3 is out of a preset attitude threshold T, it instructs the line drawing device 3 to correct its attitude. Furthermore, when the processing terminal 1 is notified of a line defect, which will be described later, from the line drawing device 3, it instructs the line drawing device 3 to return to the position where the line defect occurred and draw the line again.

[0017] 2 and 3, the line drawing device 3 includes a communication unit 31, a control unit 32, a charging unit 34, a detection unit 39, an opening / closing unit 36, a storage amount detection unit 37, a storage unit 38, front wheels 331, rear wheels 332, a front drive unit 351, a rear drive unit 352, and a reference mark 300. The control unit 32 receives and executes instructions from the processing terminal 1 via the communication unit 31. The control unit 32 also transmits information about the line drawing device 3 to the processing terminal 1 via the communication unit 31.

[0018] The reference mark 300 is for identifying its own position and the posture of the line drawing device 3 in the processing area 101. Specifically, as shown in FIG. 2, the reference mark 300 is formed on the exterior of the line drawing device 3 with two straight lines of different lengths intersecting at right angles on the top surface, so that the position and posture of the line drawing device 3 can be determined, and the point where these two straight lines intersect at right angles is the reference point 301. The reference point 301 is formed so as to correspond to the center position of the material discharge port 382 described later. The longer of the two straight lines on the top surface indicates the front-rear direction of the line drawing device 3, and the shorter of the two straight lines indicates the left-right direction of the line drawing device 3. The longer side of the longer of the two straight lines is the front side, and the shorter side is the rear side, with the reference point 301 of the longer straight line as the boundary. Note that the reference mark 300 is only an example, and is not limited to this as long as the position and posture of the line drawing device 3 can be confirmed.

[0019] The charging unit 34 is a power source, such as a rechargeable battery, for driving the line drawing device 3, and supplies power to all parts of the line drawing device 3 that require power. In addition, in Fig. 2 and Fig. 3, the power supply relationship is omitted. When the charge amount of the charging unit 34 falls below a preset amount, the control unit 32 determines that the charge amount has decreased, stops the line drawing device 3, and transmits the fact that the charge amount has decreased to the processing terminal 1 via the communication unit 31. The front drive unit 351 and the rear drive unit 352 drive the front wheels 331 and the rear wheels 332 according to instructions from the control unit 32. As shown in Fig. 6, the driving means that the control unit 32 controls the line drawing device 3 to move forward, backward, change direction, etc.

[0020] The storage section 38 stores materials for drawing lines, such as lime. As shown in FIG. 4, a stirrer 381 for stirring the materials and a discharge port 382 for discharging the materials are formed at the bottom of the storage section 38. The opening / closing section 36 drives the lid section 383 installed at the discharge port 382 in response to an instruction from the control section 32. As shown in FIG. 5, when the control section 32 receives an instruction to discharge the materials from the processing terminal 1, the control section 32 drives the opening / closing section 36 to move the lid section 383 from the state of FIG. 5A to the state of FIG. 5B, so that the materials can be discharged from the discharge port 382 of the storage section 38. Also, when the control section 32 receives an instruction to stop discharging the materials from the processing terminal 1, the control section 32 drives the opening / closing section 36 to move the lid section 383 from the state of FIG. 5B to the state of FIG. 5A, so that the materials can be discharged from the discharge port 382 of the storage section 38.

[0021] When the amount of material stored in storage unit 38 falls below a preset amount, control unit 32 determines that the amount of stored material has decreased, stops line drawing device 3, and transmits a notification of the decrease in the amount of stored material to processing terminal 1 via communication unit 31. Detection unit 39 is formed of, for example, a camera that detects defects in the line after it has been drawn. When detection unit 39 detects a line defect in the line after it has been drawn, control unit 32 stops line drawing device 3 and transmits the line defect to processing terminal 1 via communication unit 31.

[0022] The detection unit 39 may be configured to turn on a light to make it easier to monitor the line when it is difficult to monitor the line in bad weather or at night. Although the presence or absence of defects in the line may be confirmed from the photographic data of the camera 2, the camera 2 is located away from the position where the line is actually laid, and therefore the detection unit 39 is installed to accurately determine the presence or absence of defects in the line.

[0023] Next, a line drawing method using the line drawing system 100 of the first embodiment configured as described above will be described with reference to the flowcharts of Figs. 12 to 14. First, the processing terminal 1 acquires image data of the processing area 101 captured by the camera 2 (step ST1 in Fig. 12). Next, the processing terminal 1 corrects the image data based on the position and angle of the camera 2, and creates captured data 111 having two-dimensional coordinates, X[m] x Y[m], as shown in Fig. 7A (step ST2 in Fig. 12). Here, the captured data 111 displays the track 102 since the track 102 exists within the processing area 101. The captured data 111 is real-time data in which the reference mark 300 of the line drawing device 3 within the processing area 101 is also displayed.

[0024] Next, the processing terminal 1 converts the scale of the photographed data 111 and the line data 112 for drawing a line of size X1[m]×Y1[m] in two-dimensional coordinates X0[m]×Y0[m] as shown in Fig. 7B, and overlays the line data 112 at a preset position of the photographed data 111 to create image data 113 as shown in Fig. 7C. The dotted line for drawing the line that has been converted and overlayed on the image data 113 is a virtual line 120. Furthermore, the processing terminal 1 sets reference positions Z1 to Z6 of the virtual line 120 on the image data 113 (step ST3 in Fig. 12).

[0025] Here, superimposing on a preset position may mean that an operator aligns the reference position Z1 of the line data 112 with a preset position on the track 102 and aligns the directionality as shown in Fig. 7C, or the line data 112 itself may be data in which the reference position Z1 is aligned with a preset position on the track 102 and the directionality is determined in advance. Furthermore, the image data 113 displays the reference mark 300 of the line drawing device 3.

[0026] Next, the processing terminal 1 first decides to draw a line from the reference position Z1 to the reference position Z2, and instructs the line drawing device 3 to move to the reference position Z1 as the initial starting position and to assume a certain position (step ST4 in FIG. 12). Next, the processing terminal 1 judges whether the line drawing device 3 is at the reference position Z1 of the starting position based on the reference mark 300 of the line drawing device 3 in the image data 113 (step ST5 in FIG. 12). Then, the line drawing device 3 judges whether it has moved to the reference position Z1 and its position as instructed, that is, whether the line drawing device 3 is at the starting position, and if the judgment is NO, it again performs the judgment of step ST5. Also, as shown in FIG. 8A, the line drawing device 3 judges whether it has moved to the reference position Z1 and its position as instructed, that is, whether the line drawing device 3 is at the starting position, and if it is at the starting position, the judgment is YES, and the process proceeds to the next step.

[0027] Specifically, as shown in Fig. 8A, the reference point 301 of the line drawing device 3 is moved until it coincides with the reference position Z1. Then, the attitude of the line drawing device 3 is moved so that it is in the attitude for drawing a line. Here, in order to draw a straight line from the reference position Z1 to the reference position Z2, the longer of the two straight lines of the reference mark 300 is positioned along the straight line from the reference position Z1 to the reference position Z2, and the attitude of the line drawing device 3 is changed so that the front side of the longer of the two straight lines of the reference mark 300 faces in the direction in which the line will be drawn, i.e., toward the reference position Z2.

[0028] Next, the processing terminal 1 instructs the line drawing device 3 to start drawing a line (step ST6 in FIG. 13). When the line drawing device 3 receives this instruction, the control unit 32 instructs the opening / closing unit 36 ​​to move the lid unit 383 as shown in FIG. 5B, opens the discharge port 382 of the storage unit 38, and the material is discharged from the storage unit 38 through the discharge port 382. Then, the line drawing device 3 appropriately drives the front wheels 331 and the rear wheels 332 by the front drive unit 351 and the rear drive unit 352, moves from the reference position Z1 to the reference position Z2 as the end position, and a line is drawn by discharging the material (FIG. 8A → FIG. 8B → FIG. 9A).

[0029] During this time, the processing terminal 1 constantly determines, based on the image data 113 in which the reference mark 300 of the line drawing device 3 is captured, whether the line drawing device 3 has reached the end position of line drawing, here the reference position Z2 (step ST7 in Figure 13).

[0030] If the determination in step ST7 is NO, the processing terminal 1 determines whether the attitude of the line drawing device 3 is outside the attitude threshold value T set in advance based on the image data 113 in which the reference mark 300 of the line drawing device 3 is captured (step ST11 in FIG. 14). For example, as shown in FIG. 10, if the attitude of the line drawing device 3 is outside the attitude threshold value T and the determination is YES, the processing terminal 1 instructs the line drawing device 3 to correct its attitude (step ST12 in FIG. 14) and returns to step ST7. Also, as shown in FIG. 8B, if the attitude of the line drawing device 3 is not outside the attitude threshold value T, the determination is NO and the processing proceeds to the next step.

[0031] The line drawing device 3 draws a line while maintaining its posture in accordance with the line data 112 in the image data 113, so that posture usually does not deviate from the posture threshold T. However, in the processing area 101, unevenness in the ground or small obstacles can cause the posture of the line drawing device 3 to deviate from the posture threshold T, making this processing effective.

[0032] Next, the line drawing device 3 detects the state of the line using the detection unit 39, and judges whether or not the line drawing has failed (step ST13 in FIG. 14). Then, for example, as shown in FIG. 11A, if the control unit 32 of the line drawing device 3 judges that the line is defective based on the result of the detection unit 39, it judges that the line drawing has failed and the answer is YES. Then, the control unit 32 stops the line drawing device 3 and notifies the processing terminal 1 of the failure of the line drawing. Then, the processing terminal 1 instructs the line drawing device 3 to return to the position where the line drawing has failed (step ST14 in FIG. 14), and the line drawing device 3 moves as shown in FIG. 11B, and returns to step ST7. On the other hand, if the line drawing has not failed, it is judged as NO and the process moves to the next step.

[0033] Next, the line drawing device 3 judges whether or not there is an abnormality in the line drawing device 3 (step ST15 in FIG. 14). The abnormality in the line drawing device 3 here corresponds to a decrease in the amount of material stored in the storage unit 38 and a decrease in the amount of charge in the charging unit 34. Therefore, when the amount of material stored in the storage unit 38 falls below a preset amount, the control unit 32 of the line drawing device 3 judges that there is a decrease in the amount of material stored (abnormality) (YES), stops the line drawing device 3, and notifies the processing terminal 1 that a decrease in the amount of material stored (abnormality) has occurred (step ST16 in FIG. 14).

[0034] Alternatively, when the charge amount of the charging unit 34 falls below a preset amount, the control unit 32 determines that the charge amount is low (YES), stops the line drawing device 3, and notifies the processing terminal 1 that the charge amount has decreased (step ST16 in FIG. 14). When the processing terminal 1 receives the abnormality notification, it responds by displaying an instruction on the screen to replenish the material in the storage unit 38 or charge the charging unit 34 (step ST17 in FIG. 14), and returns to step ST7.

[0035] Regarding steps ST11, ST13 and ST15 after the judgment of NO in step ST7 in FIG. 7 shown above, the order of processing is not limited to the case shown above, and it is also possible to process them in a different order, or to process all the processes simultaneously.

[0036] Moreover, when the control unit 32 of the line drawing device 3 "stops the line drawing device 3" as described above, it means stopping the driving of the front drive unit 351 and the rear drive unit 352 and stopping the movement of the line drawing device 3. In addition to this, it is also conceivable that the opening / closing unit 36 ​​changes the lid unit 383 from the open state of Fig. 5B to the closed state of Fig. 5A. However, this control of the opening / closing unit 36 ​​is set appropriately.

[0037] In step ST7, for example, as shown in FIG. 9A, if the reference point 301 of the line drawing device 3 reaches the reference position Z2, which is the end position, and the result of the judgment is YES, it is judged whether or not all the line drawing has been completed (step ST8 in FIG. 13). Then, if the judgment is YES, that is, all the line drawing has been completed, the processing terminal 1 displays on the screen of the processing terminal 1 that the line drawing has been completed (step ST9 in FIG. 13). On the other hand, if the judgment is NO, that is, that all the line drawing has not been completed, here, an instruction is given to move to the reference position Z2, which is the start position for drawing a line from the next reference position Z2 to the reference position Z3 (step ST10 in FIG. 13).

[0038] As shown in Figure 9A, in the previous line drawing, the reference point 301 of the line drawing device 3 has moved to the position of reference position Z2, but the posture of the line drawing device 3 is not suitable in the state of Figure 9A. For this reason, the posture of the line drawing device 3 is changed as shown in Figure 9B. Here, because the line from reference position Z2 to reference position Z3 is a straight line, the longer of the two straight lines of the reference mark 300 is arranged to be along the straight line from reference position Z2 to reference position Z3, and the posture of the line drawing device 3 is changed so that the front side of the longer of the two straight lines of the reference mark 300 faces in the direction in which the line is drawn, i.e., toward reference position Z3.

[0039] Then, as in the above case, the process returns to step ST5, and the process repeats the above-described operations until all lines, for example, from reference position Z2 to reference position Z3, from reference position Z3 to reference position Z4, from reference position Z4 to reference position Z1, and further from reference position Z5 to reference position Z6, are drawn.

[0040] In the above embodiment 1, an example is shown in which reference positions Z1 to Z6 are set respectively to draw straight lines and the straight lines are drawn in sequence, but this is not limited to this. It is also possible to set only the start position and the end position and draw all the lines without stopping the line drawing device 3 by appropriately changing the position and attitude of the line drawing device 3 so that it follows the position of the virtual line 120 on the image data 113 according to the instructions of the processing terminal 1.

[0041] In the line drawing system 100 of the above embodiment 1, an example is shown in which the camera 2 is fixed as the photographing device, but this is not limited to this. For example, as shown in Figure 15, the line drawing system 100 can be performed in the same manner as in embodiment 1 above by using a camera 20 mounted on a drone 6 as the photographing device.

[0042] In addition, in the above embodiment 1, an example is shown in which a track 102 exists in the processing area 101, but this is not limited to this. For example, as shown in FIG. 16A, even if there is no track 102 or anything else in the processing area 101, the same process can be performed as in the above embodiment 1 by correcting the image data captured of the processing area 101 and converting it into shooting data 111 having two-dimensional coordinates.

[0043] Moreover, in the above-mentioned embodiment 1, an example of line data 112 for drawing a straight line has been shown, but the present invention is not limited to this, and for example, as shown in Fig. 16B, even in the case of line data 114 for drawing a line having straight and curved shapes, since the line data 114 has two-dimensional coordinates, as shown in Fig. 16C, if a position in the processing area 101 where the line data 114 is to be written is set in the photographed data 111, image data 115 having a virtual line 121 is created, and reference positions Z10, Z11, Z12, and Z13 are set in the image data 115, the same process can be carried out as in the above-mentioned embodiment 1. Note that the same process can be carried out in the case where the line data is formed only of curved shapes, as a matter of course.

[0044] According to the line drawing system of the first embodiment configured as described above, A line drawing device; an imaging device for imaging a processing area for drawing a line and the line drawing device within the processing area; A processing terminal that creates image data by overlaying line data for drawing the line on real-time photographed data captured by the photographing device, the line drawing device has a control unit that executes instructions from the processing terminal, and a reference mark for identifying its own position and its attitude in the processing area; The processing terminal includes: instructing the line drawing device to move so that the reference mark of the line drawing device reaches a start position of the image data for drawing the line, and instructing the attitude of the line drawing device at the start position; While confirming the position of the line drawing device based on the image data and the reference mark of the line drawing device, the system instructs the movement of the line drawing device and the discharge and stop of discharge of the material for drawing the line from the line drawing device. Lines can be drawn without relying on a line drawing device.

[0045] Furthermore, according to the line drawing system of the first embodiment configured as described above, The processing terminal checks the attitude of the line drawing device from the image data and the reference mark of the line drawing device, and when it determines that the attitude of the line drawing device is out of a preset attitude threshold, it instructs the line drawing device to correct the attitude. By checking the position of the line drawing device, you can draw the line accurately.

[0046] Furthermore, according to the line drawing system of the first embodiment configured as described above, The line drawing device includes a detection unit that detects defects in the line after drawing, the control unit, when detecting a line defect in the line after the detection unit has drawn the line, stops the line drawing device and transmits the line defect to the processing terminal; The processing terminal returns the line drawing device to the position where the line defect occurred and instructs the line drawing device to draw the line again. You can check for defects in the line and draw the line accurately.

[0047] Furthermore, according to the line drawing system of the first embodiment configured as described above, The line drawing device includes a storage unit for storing the material, The control unit determines that the amount of the material stored in the storage unit is reduced below a preset amount, stops the line drawing device, and transmits a notification of the reduction in the amount of the material stored to the processing terminal. This prevents line failures caused by a shortage of materials.

[0048] Furthermore, according to the line drawing system of the first embodiment configured as described above, The line drawing device includes a charging unit for driving the device itself, The control unit determines that the charge amount of the charging unit is low when the charge amount of the charging unit falls below a preset amount, and stops the line drawing device and transmits the fact that the charge amount has decreased to the processing terminal. This can prevent line failures caused by insufficient charging.

[0049] An example of hardware such as the processing terminal 1 and the control unit 32 is shown in FIG. 17. As shown in FIG. 17, the processing terminal 1 includes a processor 50 and a storage device 51. Although the storage device is not shown, it includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Also, instead of the flash memory, an auxiliary storage device such as a hard disk may be provided. The processor 50 executes a program input from the storage device 51. In this case, the program is input from the auxiliary storage device to the processor 50 via the volatile storage device. Also, the processor 50 may output data such as a calculation result to the volatile storage device of the storage device 51, or the data may be stored in the auxiliary storage device via the volatile storage device.

[0050] Although the present disclosure describes exemplary embodiments, the various features, aspects, and functions described in the embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are expected within the scope of the technology disclosed in this specification, including, for example, modifying, adding, or omitting at least one component.

[0051] Various aspects of the present disclosure are summarized below as appendices.

[0052] (Appendix 1) A line drawing device; an imaging device for imaging a processing area for drawing a line and the line drawing device within the processing area; A processing terminal that creates image data by overlaying line data for drawing the line on real-time photographed data captured by the photographing device, the line drawing device has a control unit that executes instructions from the processing terminal, and a reference mark for identifying its own position and its attitude in the processing area; The processing terminal includes: instructing the line drawing device to move so that the reference mark of the line drawing device reaches a start position of the image data for drawing the line, and instructing the attitude of the line drawing device at the start position; A line drawing system that instructs the movement of the line drawing device and the discharge and stop of discharge of material for drawing the line from the line drawing device while confirming the position of the line drawing device based on the image data and the reference mark of the line drawing device. (Appendix 2) A line drawing system as described in Appendix 1, in which the processing terminal checks the attitude of the line drawing device from the image data and the reference mark of the line drawing device, and if it determines that the attitude of the line drawing device is outside a predetermined attitude threshold, instructs the line drawing device to correct the attitude. (Appendix 3) The line drawing device includes a detection unit that detects defects in the line after drawing, the control unit, when detecting a line defect in the line after the detection unit has drawn the line, stops the line drawing device and transmits the line defect to the processing terminal; The line drawing system according to claim 1 or 2, wherein the processing terminal returns the line drawing device to the position where the line defect occurred and instructs the line drawing device to draw the line again. (Appendix 4) The line drawing device includes a storage unit for storing the material, A line drawing system as described in any one of Appendix 1 to Appendix 3, wherein the control unit determines that the amount of material stored in the storage unit has decreased when the amount of material stored in the storage unit falls below a predetermined amount, stops the line drawing device, and transmits to the processing terminal a notification that the amount of material stored in the storage unit has decreased. (Appendix 5) The line drawing device includes a charging unit for driving the device itself, A line drawing system as described in any one of Appendix 1 to Appendix 4, wherein the control unit determines that the charge level has decreased when the charge level of the charging unit falls below a predetermined amount, stops the line drawing device, and transmits to the processing terminal information that the charge level has decreased. [Explanation of symbols]

[0053] 1 Processing terminal, 100 Line drawing system, 101 Processing area, 102 Track, 111 Shooting data, 112 Line data, 113 Image data, 114 line data, 115 image data, 120 virtual line, 2 camera, 20 camera, 3 line drawing device, 300 fiducial mark, 301 fiducial point, 31 communication unit, 32 control unit, 331 front wheel, 332 rear wheel, 34 charging unit, 351 front drive unit, 352 rear drive unit, 36 opening / closing unit, 37 storage amount detection unit, 38 storage section, 381 agitator, 382 outlet, 383 lid section, 39 detection section, 50 processor, 51 storage device, 6 drone, Z1 reference position, Z2 reference position, Z3 reference position, Z4 reference position, Z5 reference position, Z6 reference position, Z10 reference position, Z11 reference position, Z12 reference position, Z13 reference position.

Claims

1. A line drawing device; an imaging device for imaging a processing area for drawing a line and the line drawing device within the processing area; A processing terminal that creates image data by overlaying line data for drawing the line on real-time photographed data captured by the photographing device, the line drawing device has a control unit that executes instructions from the processing terminal, and a reference mark for identifying its own position and its attitude in the processing area; The processing terminal includes: instructing the line drawing device to move so that the reference mark of the line drawing device reaches a start position of the image data for drawing the line, and instructing the attitude of the line drawing device at the start position; A line drawing system that instructs the movement of the line drawing device and the discharge and stop of discharge of material for drawing the line from the line drawing device while confirming the position of the line drawing device based on the image data and the reference mark of the line drawing device.

2. The line drawing system described in claim 1, wherein the processing terminal checks the attitude of the line drawing device from the image data and the reference mark of the line drawing device, and if it determines that the attitude of the line drawing device is outside a predetermined attitude threshold, instructs the line drawing device to correct the attitude.

3. The line drawing device includes a detection unit that detects defects in the line after drawing, the control unit, when detecting a line defect in the line after the detection unit has drawn the line, stops the line drawing device and transmits the line defect to the processing terminal; 3. The line drawing system according to claim 1, wherein the processing terminal instructs the line drawing device to return to the position where the line defect occurred and to draw the line again.

4. The line drawing device includes a storage unit for storing the material, The line drawing system described in claim 1 or claim 2, wherein the control unit determines that the amount of material stored in the storage unit has decreased when the amount of material stored in the storage unit falls below a predetermined amount, stops the line drawing device, and transmits to the processing terminal a notification that the amount of material stored in the storage unit has decreased.

5. The line drawing device includes a charging unit for driving the device itself, A line drawing system as described in claim 1 or claim 2, wherein the control unit determines that the charge level has decreased when the charge level of the charging unit falls below a predetermined amount, stops the line drawing device, and transmits to the processing terminal information that the charge level has decreased.

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