JP4053960B2 - Equipment for supporting disposal of mobile work machines - Google Patents

Description

  The present invention relates to a buried object processing support device that is used in a landmine processing system or the like that processes explosives such as landmines using a mobile work machine, and supports the processing of buried objects by the mobile work machine.

  Landmine disposal is an example of the disposal work for buried objects using a mobile work machine. For example, Japanese Patent No. 3016018 proposes a landmine treatment device that can perform antipersonnel landmine processing separately from antitank landmines, unexploded shells, etc., including preparatory work such as removal of vegetation and decayed sediment. Has been. This is a mine disposal system that uses a mine disposal machine based on a hydraulic excavator. A rotary cutter with a rake is provided at the tip of the arm of the front work machine, and this rotary cutter and skeleton bucket can be exchanged. ing. In addition, a landmine exploration sensor and a spray nozzle for spraying paint are attached to the side of the arm.

  Work is done as follows. First, remove vegetation such as shrubs, bushes, grass, etc. with a rotary cutter, and remove lands, sand, embankments, etc., with a skeleton bucket.Next, use landmine sensors to detect anti-personnel mines and anti-tank landmines / Detects and distinguishes bullets and marks by spraying paint on the ground. Anti-tank landmines and unexploded bombs are exposed with a rotary cutter rake or skeleton bucket and transported to another place by human power, etc. In the case of antipersonnel landmines, they are destroyed by high-speed rotation of the rotary cutter.

Japanese Patent No. 3016018

  However, the above prior art has the following problems.

  In the above-described prior art, the position of the buried object is measured using an exploration device before the work, the measurement result is marked, and the work is performed using the marking as a mark. However, it is often difficult to see the markings from workers who have boarded the landmine disposer. Also, even if there is a marking, you cannot see the actual landmine, so the exact location of the landmine is unknown. For this reason, when destroying buried landmines with a rotary cutter, it is necessary for an operator to find a marking and treat the vicinity of the marking widely, which is time consuming and inefficient. In addition, markings that have been sprayed with paint on the ground may be washed away by rain or the like or may be buried in sand over time, making the markings invisible. In such a case, it was necessary to redo the exploration again, and work efficiency was poor.

  The above problems are not limited to landmine disposal, but there are similar problems in other operations for processing underground objects such as excavating underground water pipes.

  An object of the present invention is to provide a buried work processing support device for a mobile work machine that can accurately convey the position of a buried object to be processed to an operator of the mobile work machine and can improve work efficiency. That is.

(1) In order to achieve the above object, according to the present invention, in a buried object processing support apparatus for a mobile work machine, storage means for storing the position information of the buried object, and the position and orientation of the mobile work machine are measured. Measuring means for imaging, imaging means for imaging the work area, position information of the embedded object is converted into position information on the display screen using the measurement value of the measuring means, and the embedded object is overlaid on the image of the imaging means and display means for displaying together, wherein the display means further and shall be displayed the marker indicating the positional relationship between the processing device and buried objects of the mobile working machine.

As described above, the storage unit, the imaging unit, the measurement unit, and the display unit are provided, and the embedded object is displayed on the image of the imaging unit so that the position of the embedded object is accurately transmitted to the operator. Work efficiency can be improved. Further, by displaying a marker indicating the positional relationship between the processing device of the mobile work machine and the embedded object, the movement trajectory of the processing device when processing the embedded object can be presented, and the work efficiency is further improved.

  (2) In the above (1), preferably, the position information of the buried object is stored as a value of a reference coordinate system set outside the mobile work machine, and the measuring means is the mobile work Means for measuring the position and orientation of the machine as a value in the reference coordinate system, and the display means uses the value in the reference coordinate system for the position and orientation of the mobile work machine measured by the measuring means. Means for converting the position information of the object into a value in the first coordinate system set in the mobile work machine, means for converting the converted value into a value in the second coordinate system set in the imaging means, and Means for converting the converted value into a value of a third coordinate system set on the display screen, and using the converted value to the third coordinate system, the embedded object is superimposed on the image of the imaging means. To display.

  As a result, the embedded object can be displayed superimposed on the image of the imaging means using the position information, the measurement information, and the imaging information of the embedded object.

( 3 ) In the above (1), preferably, the photographing unit has two cameras, and the display unit generates and displays a stereoscopic image from video information of the two cameras. .

  Thereby, the position of the buried object can be transmitted to the worker more accurately.

( 4 ) Furthermore, in the above (1), preferably, the display means is installed in an operation room located at a location distant from the mobile work machine, installed in the mobile work machine, and the imaging First and second wireless means for wirelessly transmitting the image information of the means and the measurement information of the measuring means to the operation room, respectively, and the image information and the measurement information transmitted in a wireless manner installed in the operation room, respectively. Third and fourth wireless means for receiving, and a remote control device installed in the operation room for operating the mobile work machine wirelessly, the display means is received by the third and fourth wireless means. Using the image information and measurement information, the embedded object is displayed superimposed on the image of the imaging means.

  As a result, the position information can be accurately transmitted to the worker even in the work in the danger zone, and the work can be performed safely and efficiently.

( 5 ) In the above (1), preferably, the buried object is an explosive.

  As a result, explosives can be treated while viewing the screen of the display means even when explosives are treated, so that safety is improved in addition to work efficiency.

  According to the present invention, since the embedded object is displayed on the screen of the display unit so as to be superimposed on the image of the imaging unit, the position of the embedded object can be accurately communicated to the operator, and work efficiency can be improved. it can.

  Moreover, since the marker is displayed, this also improves the work efficiency.

  In addition, since the stereoscopic image is displayed, the position of the embedded object can be more accurately transmitted to the worker, and this also improves the work efficiency.

  Furthermore, since the land mine disposer is operated by remote control, position information can be accurately transmitted to the worker even in work in a dangerous zone, and work can be performed efficiently and safely.

  In addition, when the buried object is an explosive, safety is improved in addition to work efficiency.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In addition, although embodiment shown here has mentioned the landmine processing machine as an example, also in the operation | work in which a water pipe etc. other than landmine are embed | buried, the exploration sensor and front work machine which are demonstrated in embodiment are demonstrated. It can be implemented in the same manner by replacing the configuration of FIG.

  FIG. 1 is a diagram showing the external appearance of a land mine disposer equipped with a land mine disposal system including a buried object disposal support device according to an embodiment of the present invention.

  In FIG. 1, reference numeral 1 denotes a mine disposal machine using a crawler-type hydraulic excavator well known as a hydraulic construction machine as a base machine. The mine disposal machine 1 includes a swivel body 2, a cab 3, a traveling body 4, and front work. Machine 80. The revolving unit 2 is rotatably mounted on the traveling unit 4, and the cab 3 is located on the left side of the front part of the revolving unit 2. The traveling body 4 is a crawler type, but may be a wheel loader type having wheels. Of the window glass of the cab 3, a special bulletproof glass 10 is attached to the windshield and the floor glass. A guard 11 made of a steel net is provided on the front surface of the cab 3. Furthermore, although illustration is abbreviate | omitted, the iron undercover is provided in the lower part of the turning body 2 and the traveling body 4, and the inside of a machine is guarded.

  The front work machine 80 includes a boom 5 and an arm 6. The boom 5 is attached to the center of the front portion of the swing body 2 so as to be rotatable in the vertical direction, and the arm 6 is attached to the tip of the boom 5 so as to be rotatable in the front-rear direction. , And are driven to rotate by the boom cylinder 7 and the arm cylinder 8, respectively.

  A rotary cutter device 81 is attached to the tip of the arm 6 so as to be rotatable in the front-rear direction, and is driven to rotate by an attachment cylinder 82. The rotary cutter device 81 includes a rotary cutter 14, a rake 16, and a flap-type anti-scattering blade 17. The rotary cutter 14 is configured by planting cutter bits 13 on the peripheral surface of the rotary drum 12 at an appropriate interval, the rake 16 projects from the side of the rotary cutter 14, and the blade 17 is provided on the back side of the rotary cutter 14. It has been.

  A radar explosive exploration sensor 18 is attached to the side of the arm 6. This sensor 18 can be bathed and moved to the side of the arm 6 by a telescopic telescopic arm 19, and can be rotated with respect to the telescopic arm 19 by a search sensor cylinder 20.

  The structure and operation of the above landmine disposer 1 are detailed in Japanese Patent No. 3016018. The land mine disposer 1 may be a crawler excavator, a wheel excavator, a wheel loader, a bulldozer, or an endless track vehicle as described in JP-A-7-71898 as a base machine.

  In the mine disposal machine 1, as a movable part sensor, an angle sensor 21 (see FIG. 2) for detecting a rotation angle (boom angle) of the swing body 2 and the boom 5, and a rotation angle (arm angle) between the boom 5 and the arm 6 are used. An angle sensor 22 for detecting the angle, an angle sensor 23 for detecting the rotation angle (rotary cutter angle) between the arm 6 and the rotary cutter 14, and a stroke sensor 24 for detecting the stroke of the extendable arm 19 (expandable arm stroke) (see FIG. 2). , An angle sensor 25 for detecting a rotation angle (explosive exploration exploration sensor angle) between the telescopic arm 19 and the explosive exploration exploration sensor 18, and an inclination sensor 26 for detecting an inclination angle (pitch angle) in the front-rear direction of the revolving structure 2 (FIG. 2). Reference) is provided.

  Also, the landmine processor 1 is provided with two GPS antennas 27 and 28 for receiving signals from GPS satellites, a wireless antenna 29 for receiving correction data (described later) from a reference station, and a wireless antenna 30 for transmitting measurement data. It has been. The two GPS antennas 27 and 28 are installed at predetermined intervals on the left and right of the rear part of the revolving unit 2.

  In addition, the mine disposal machine 1 is provided with two cameras 31 and 32 for photographing the work object and the situation at the work site. The two cameras 31 and 32 are installed at a position where the working state of the front work machine 80 can be confirmed, for example, at the upper part of the cab 3 or inside the cab 3. The illustrated example is a case where two cameras 31 and 32 are installed in the upper part of the cab 3.

  FIG. 2 is a block diagram showing the overall configuration of the landmine treatment system including the buried object treatment support apparatus according to the present embodiment.

  In FIG. 2, the landmine disposal system is an in-vehicle device 400 mounted on the landmine disposer 1, a GPS reference station 100, and a work management center 200 that uses a building, a car, or the like that manages the position and work of the landmine disposer 1. It is configured.

  The in-vehicle device 400 distributes the correction data received by the wireless device 33, the wireless unit 33 that receives the above-described movable part sensors 21 to 26, correction data (described later) from the GPS reference station 100 via the antenna 29, and distribution. , And a GPS receiver 35 that measures the three-dimensional positions of the GPS antennas 27 and 28 in real time based on the correction data distributed by the distributor 34 and the signals from the GPS satellites received by the GPS antennas 27 and 28. 36, an operation switch 37 for turning on / off the operation of the explosive exploration sensor 18, an operation switch 38 for turning on / off the operation of the rotary cutter device 81, and a trigger for inputting that an antipersonnel mine has been detected as a result of the exploration. A switch 39, a trigger switch 40 for inputting that an anti-tank mine has been detected as a result of the search, and an unexploded bomb as a result of the search. Trigger switch 41 for inputting that it has been released, trigger switch 42 for inputting that the removal of anti-tank landmines and unexploded shells has been completed, position data from the GPS receivers 35 and 36, and the various operation sensors 21 to 21 described above. 26, the operation switch 37, 38, the data obtained from the trigger switches 39 to 42, the controller 43 that aggregates the data obtained from the trigger switches 39 to 42, the position and attitude of the mine disposer 1 and the explosion based on the data aggregated by the controller 43. From the in-vehicle computer 401 such as a tablet computer that calculates the position of the object exploration sensor 18 and the position of the rotary cutter 14 and displays the state of the work area and the state of the land mine disposer 1 based on the calculation result. And a radio device 44 that transmits the measurement data via the antenna 30. The in-vehicle computer 401 may be a notebook PC, a box computer, a panel computer, or the like other than a tablet computer.

  The in-vehicle device 400 includes the explosive exploration sensor 18 and the explosive exploration sensor monitor 45 that displays the shape, material, type, and the like of the underground object as a result of the exploration.

  The in-vehicle device 400 also includes the above-described cameras 31 and 32 and an image processing device 46 that inputs an image captured by the cameras 31 and 32 and generates an operation support image that enables stereoscopic viewing by performing image processing. The operation support monitor 47 presents the operation support image generated by the image processing device 46 to the operator of the landmine processor 1. Further, the image processing device 46 has a function of acquiring the position of the land mine disposer 1 and the positions of the explored antipersonnel mines, antitank landmines, and unexploded bombs from the in-vehicle computer 401 and superimposing them on the generated image.

  The GPS base station 100 performs RTK with the GPS receivers 35 and 36 mounted on the landmine processor 1 based on the three-dimensional position data measured in advance and the signal from the GPS satellite received by the GPS antenna 102. (Real-time kinematic) comprising a GPS reference station receiver 101 that generates correction data for positioning, and a radio 103 for transmitting correction data generated by the GPS reference station receiver 101 via the antenna 104 Yes.

  The work management center 200 displays the state of the work area and the state of the mine disposal device 1 based on the measurement data received by the wireless device 202 and the measurement data received by the wireless device 202 through the antenna 203. A server PC 201 that performs a calculation for management, a work monitor 84 that displays a calculation result of the server PC 201, and a printer 204 that outputs a work diary based on management data in the server PC 201 are provided. In addition, a database composed of map data, landmine burying data, work history data, and the like is constructed in the server PC, and a work plan for the landmine processor 1 is also performed based on these data.

  Reference numeral 301 denotes an IC card for exchanging plan data planned by the server PC 201 and work data recorded by the in-vehicle computer 401 between the server PC 201 and the in-vehicle computer 401.

  The in-vehicle computer 401 includes an input / output device 85 to which the IC card 301 can be connected, a hard disk 86 as a main storage device for storing work data, measurement data, and operation data, and a work monitor 87 for displaying calculation results. An input / output device 88 to which an IC card 301 can be connected and a hard disk 89 as a main storage device for constructing the database are provided. Instead of the hard disks 86 and 89, a storage device having no movable part such as a silicon disk may be used.

  In the above, the hard disk 86 of the in-vehicle computer 401 constitutes storage means for storing the position information of the embedded object, and a part of the arithmetic processing of the GPS antennas 27 and 28 and the GPS receivers 35 and 36 and the image processing device 46 (described later). The processing until the conversion matrix sHw of steps S100 to S110 in the flowchart shown in FIG. 15 is calculated) constitutes a measuring means for measuring the position and orientation of the landmine processing machine 1 that is a mobile work machine, and the cameras 31 and 32 are working. The imaging means for imaging the area constitutes another part of the arithmetic processing of the image processing device 46 (the processing of steps S120 to S210 in the flowchart shown in FIG. 15 described later) and the operation support monitor 47 are measuring means (GPS antennas 27 and 28). And using the measured values of the GPS receivers 35 and 36), the position information of the buried object is converted into the position information on the display screen, The display means for displaying the object superimposed on the image of the image pickup means (cameras 31 and 32) is configured. The storage means, the measurement means, the image pickup means, and the display means constitute the embedded object processing support apparatus according to the present embodiment. Composed. Details thereof will be described later.

  FIG. 3 is a flowchart showing a processing procedure of a landmine management method using this system.

  First, using the server PC 201, based on the map data on the database, landmine burial data, work history data, etc., the work block of the day is selected to make a work plan, and after the work plan ends, the selected block work data is The data is stored in the IC card 301 (step S1). Here, the work block is a section for managing an unprocessed area or a processed area in an area where landmine processing is performed.

  Next, the operator of the mine disposer 1 gets into the mine disposer with the IC card 301, starts up the mine disposer 1 and the in-vehicle device 400, reads the work data of the target block from the IC card 301 into the in-vehicle computer 401, and drives the hard disk. 86, and the work is started (step S100).

  Next, the operator performs the mine disposal work while viewing the screen of the work monitor 87 of the in-vehicle computer 401 and the screen of the operation support monitor 47 in which the operation support information is superimposed by the image processing device 46 on the images captured by the cameras 31 and 32. Perform (step S200). The operation support information will be described later. During the work, the measurement data and operation data of the target block and the updated work data are stored in the hard disk 86.

  When the work is completed, the measurement data, operation data, and work data of the target block stored in the hard disk 86 are stored in the IC card 301, and after stopping the in-vehicle device 400, the engine of the mine disposal machine 1 is stopped.

  The operator returns to the work management office 200 with the IC card 301. The measurement data, operation data, and work data of the target block are read from the IC card 301 into the server PC 201, and work totalization and work daily report are output (step S400).

  FIG. 4 is a flowchart showing details of the work performed in step S200.

  The work consists of a visual confirmation process, a logging process, an exploration process, a removal process, a treatment process, and a re-exploration process.

  In the visual confirmation process, the presence or absence of anti-tank mines, unexploded bombs and anti-personnel mines on the surface is confirmed. If they are detected, anti-tank mines and unexploded bombs on the surface are removed, and anti-personnel mines on the surface are destroyed. When it is hard to see the ground due to the trees, the rotary cutter 14 cuts the ground to a certain height, for example, about 30 to 40 cm above the ground, as shown in FIG. 5, and the rake 16 cleans up as shown in FIG. Then, do the same work. In this process, the safety of the ground surface is confirmed.

  In the felling process, as shown in FIG. 7, bushes and trees are felled by the rotary cutter 14 to a height at which explosive exploration sensors 18 can search for explosives in the ground, and then cleaned by the rake 16. This is because bushes and trees with a height of 20 cm or more affect the exploration work. At this time, anti-personnel mines hidden in the trees are destroyed while being cut by the rotary cutter 14.

  In the exploration process, the explosive exploration sensor 18 searches for antipersonnel mines, antitank landmines, and unexploded shells in the ground. At this time, as shown in FIG. 8, the exploration exploration sensor 18 is kept at a constant height of 5 to 10 cm above the ground, and the front working machine 80 of the mine disposal machine 1 is operated to perform exploration work.

  If an anti-tank mine or unexploded bomb is found in the exploration process, the process proceeds to a removal process, and if nothing is found, or if an anti-personnel mine is found but no anti-tank mine and unexploded bomb is found, the process proceeds to a processing process.

  In the removal process, the underground anti-tank mine or unexploded bomb discovered in the exploration process is removed using the rake 16. This is for ensuring the safety of the anti-personnel landmine processing by 14 in the subsequent rotary cutter. The position is confirmed by the exploration results displayed on the work monitor 87 and the operation support monitor 47, and the unexploded shells and anti-tank mines in the ground are carefully excavated so as not to explode, for example, transported to an explosion point and processed. Immediately after removal, reexamine the removal area. If another anti-tank mine or unexploded bomb is discovered in the ground by re-exploration, the removal work is performed again. When neither the anti-tank mine nor the unexploded shell is found, the removal process is terminated and the process proceeds to the processing process.

  In the processing step, the antipersonnel mine discovered in the exploration step is destroyed by the rotary cutter 14. FIG. 9 shows the situation. While confirming the position based on the exploration results displayed on the work monitor 87 and the operation support monitor 47, the rotary cutter 14 performs processing with an emphasis on the position where the anti-personnel mine is revealed in the exploration process. The processing is performed while the guide bottom surface of the rotary cutter 14 is in contact with the ground surface so that the cutting edge of the cutter bit 13 reaches 30 cm underground.

  In the re-exploration process, the region processed by the rotary cutter 14 is re-explored for safety confirmation. The work is the same as the exploration process. Here, when an explosive is discovered, a removal process, a process process, and a re-exploration process are performed again. The work is complete when nothing is discovered in the re-exploration configuration.

  In the visual confirmation process, the monitoring mode of the in-vehicle computer 401 is set to the visual mode and the removal mode, the logging process is the logging mode, the exploration process is the exploration mode, the removal process is the removal mode and the exploration mode, the processing process is the processing mode, The mode can be selected from the 87 screen. In each of these modes, explosives are detected, processing is recorded, and updated based on signals from the trigger switches 39 to 42. For example, in the exploration mode, when any of antipersonnel mines, antitank landmines, or unexploded bombs is detected, the corresponding one of the trigger switches 39 to 41 is pressed, and the type of the explosives, position information, etc. are stored in the hard disk 86. Update the work data.

  During the work, based on the position data from the operation switches 37 and 38, the GPS receivers 35 and 36, and the data from the movable part sensors 21 to 26, the position and posture of the mine disposer 1 are detected by the in-vehicle computer 401. The position of the explosive exploration sensor 18 and the position of the rotary cutter 14 are calculated. Based on the calculation result, the state of the target block and the state of the mine disposer 1 are displayed on the work monitor 87 of the in-vehicle computer 401.

  Measurement data and operation data by the in-vehicle computer 401 are stored as time series data in the hard disk 86 of the in-vehicle computer 401 and simultaneously transmitted to the server PC 201 by the wireless device 44. The server PC 201 also performs the same calculation as that of the in-vehicle computer 401 using the measurement data and operation data, and displays the state of the target block and the state of the mine disposal machine 1 on the work monitor 84.

  FIG. 10 shows an example of a screen displayed on the work monitor 87 of the in-vehicle computer 401 and the work monitor 84 of the server PC 201.

  In FIG. 10, reference numeral 402 denotes a detailed display screen. The detail display screen 402 includes a work mode selection button area 403, an attachment operation display area 404, a work state display area 405, and a mesh state display area 406. In the work mode selection button display area 403, buttons for a viewing mode, a logging mode, an exploration mode, a removal mode, and a processing mode are displayed, and a desired mode can be selected with a mouse, a keyboard, a touch panel, or the like. The currently selected work mode is highlighted. In the exploration sensor and attachment operation display area 404, the operation states of the explosive exploration sensor 18 and the rotary cutter 14 by the operation switches 37 and 38 are shown, and the name of the member in operation is highlighted. The work state display area 405 displays the date and time, the position of the vehicle body and attachment, the measurement state of the in-vehicle GPS, the exploration and processing status of explosives, and the like. In the mesh status display area 406, work blocks are displayed together with the mesh status. In the display method, each mesh is displayed by being distinguished by color, pattern, or symbol according to the state of each mesh. Here, the mesh refers to a region further divided into work blocks for the purpose of managing work states.

  FIG. 10 shows an example of pattern division so that it can be easily understood even in the monochrome display of the description. The work unnecessary area is filled with black, the work initial state is filled with white, the cut area is filled with black circles, and the searched area is doubled. Circle, treated area circle, anti-personnel mine presence area triangle, anti-tank mine presence area square, unexploded bomb presence area X. In addition, a wire frame image 407 of the mine disposer 1 is displayed on the screen of the mesh state display area 406. In the detail display screen 402, the display area can be enlarged / reduced, translated, and rotated by operating the mouse or the like.

  In the wire frame image 407, a large square 407a is an image showing the vehicle body (the turning body 2, the cab 3 and the traveling body 4), a small square 407b is an image showing the attachment (rotary cutter device 81) or the explosive exploration sensor 18, and a large A line 407C extending from the square 407a to the small square 407b is an image representing the boom 5 and the arm 6. The image of the small square 407b represents the attachment (rotary cutter device 81) in the operation mode other than the exploration mode, and represents the explosive exploration sensor 18 in the exploration mode.

  FIG. 11 shows an example of an image displayed on the operation support monitor 47. In FIG. 11, reference numeral 501 denotes an operation support screen. The screen 501 includes a real image captured by the cameras 31 and 32, anti-personnel mines, anti-tank mines, and unexploded bombs (hereinafter referred to as appropriate). Computer graphics based on the positional information of “embedded object” are displayed in a superimposed manner. In the illustrated example, the real images of the cameras 31 and 32 are the boom 5, the arm 6, and the rotary cutter device 81, and the computer graphics is a mapping of antipersonnel mines calculated based on position information detected in the exploration process and the re-exploration process. Reference numerals 502 and 503 to 506 indicate the positional relationship between the rotary cutter 14 of the land mine disposer 1 and the interpersonal land mine. Markers 503 to 505 are guidance auxiliary lines for the rotary cutter 14 indicating distance information in the Xs, Ys, and Zs axis directions of the work machine coordinate system, and the marker 506 is a guidance for the rotary cutter 14 indicating the height of the rotary cutter device 81. This is an auxiliary line. These computer graphics 502 to 506 calculate the range reflected in the angle of view (viewing angle) of the cameras 31 and 32 from the position of the landmine disposer 1, and anti-personnel mines discovered in the exploration process and the re-exploration process. Displayed when anti-tank mines and unexploded bombs are included within the angle of view of the cameras 31 and 32.

  Display control of the operation support monitor 47 is performed by the image processing device 46. Hereinafter, the arithmetic processing of the image processing device 46 will be described.

  12 and 13 are diagrams showing a coordinate system used in the arithmetic processing of the image processing device 46. FIG. 12 shows a reference coordinate system (global coordinate system), a work machine coordinate system, and a camera coordinate system, and FIG. The display coordinate system is shown.

  In FIG. 12, the calculation processing of the image processing device 46 is fixed to a reference coordinate system (global coordinate system) Σw having an origin at the center of a GPS-compliant ellipsoid, and the revolving body 2 of the landmine disposer 1, A work machine coordinate system Σs having an origin at the intersection with the turning center and a camera coordinate system Σc having an origin at the lens center of the camera 31 or 32 are used. The camera coordinate system Σc is representative of the camera coordinate systems Σc1 and Σc2 set for the cameras 31 and 32, respectively.

  The reference coordinate system (global coordinate system) Σw is an orthogonal coordinate system having three axes, the Xw axis, the Yw axis, and the Zw axis. The Xw axis passes through the intersection of the equator of the reference ellipsoid and the meridian and the center of the reference ellipsoid. The Zw axis is located on a line extending from the center of the reference ellipsoid to the north and south, and the Yw axis is located on a line orthogonal to the Xw axis and the Zw axis. In GPS, the position on the earth is expressed by latitude and longitude, and the height (depth) with respect to the reference ellipsoid. By setting the reference coordinate system Σw in this way, the GPS position information is converted to the reference coordinate system Σw. Can be easily converted to

  The work machine coordinate system Σs is also an orthogonal coordinate system having three axes, the Xs axis, the Ys axis, and the Zs axis. The Zs axis is on a line extending in the height direction of the swing body 2 from the intersection of the swing base frame and the swing center. The Ys axis is located on a line extending perpendicular to the Zs axis in a plane parallel to the front work machine 80 from the intersection of the turning base frame and the turning center, and the Xs axis is orthogonal to the Zs axis and the Ys axis. Located on the line you want. The marker (guide auxiliary line) 503 shown in the image 501 is a straight line parallel to the Ys axis of the work machine coordinate system Σs, and the marker (guide auxiliary line) 504 is a straight line parallel to the Xs axis. Auxiliary lines) 505 and 506 are straight lines parallel to the Zs axis.

  The camera coordinate system Σc is also an orthogonal coordinate system having three axes of the Xc axis, the Yc axis, and the Zc axis. The Zc axis is located on a line extending from the lens center in the height direction of the camera 31 or 32, and the Yc axis is the camera. The Xc axis is located on a line orthogonal to the Zc axis and the Yc axis.

  In FIG. 13, the display coordinate system Σi having an origin at one point on the screen 501 (upper left corner portion in the illustrated example) is used for the arithmetic processing of the image processing device 46. The display coordinate system Σi is a plane orthogonal coordinate system having two axes, the U axis and the V axis. The U axis is located on a line extending in the horizontal direction (rightward in the figure) from the upper left corner of the screen 501, and the V axis is It is located on a line extending in the vertical direction (downward in the figure) from the upper left corner of the screen 501.

  Since the positional relationship of the GPS antennas 27 and 28 with respect to the origin of the work machine coordinate system Σs (intersection of the turning base frame and the turning center) is known, the three-dimensional positions of the GPS antennas 27 and 28 in the reference coordinate system Σw and the landmines. If the pitch angle of the processing machine 1 is known, a conversion matrix sHw from the reference coordinate system to the work machine coordinate system can be obtained. Further, since the positional relationship between the origin of the work implement coordinate system Σs (intersection of the turn base frame and the turn center) and the cameras 31 and 32 is also known, the work implement coordinate system is transferred to the camera coordinate system Σc (Σc1, Σc2). The transformation matrix cHs (c1Hs, c2Hs) can be obtained in advance as a fixed value. Similarly, since the positional relationship between the camera coordinate system Σc and the angle of view (viewing angle) of the camera is also known, the conversion matrix iHc (i1Hc1, i2Hc2) from the camera coordinate system Σc to the display screen coordinate system Σi is also a fixed value. It can be obtained in advance. By using the transformation matrix sHw, cHs (c1Hs, c2Hs), the position (coordinate value) of the embedded object in the reference coordinate system Σw can be converted into the coordinate value in the camera coordinate system Σc (Σc1, Σc2). Furthermore, the position (coordinate value) of the embedded object in the camera coordinate system Σc (Σc1, Σc2) can be converted into the coordinate value in the display coordinate system Σi by using the conversion matrix iHc (i1Hc1, i2Hc2).

  As described above, the work data read from the IC 301 card is stored in the hard disk 86 at the time of startup, and the work data processed and communicated based on signals from the trigger switches 39 to 42 is stored in the hard disk 86 during the work. Is done. These work data include the position information of the buried object, and this position information is stored as a value of the above-described reference coordinate system (global coordinate system). In addition, during the work, the position information of the GPS receivers 35 and 36 is used to calculate the position and posture of the mine disposer 1, the position of the explosive exploration sensor 18, and the position of the rotary cutter 14 using the in-vehicle computer 401. In this calculation, these positions are obtained as values in the reference coordinate system, and the position of the buried object can be obtained as values in the reference coordinate system by using the position information.

  FIG. 14 is a diagram showing the relationship between the optical axes and angles of view of the cameras 31 and 32 and the display range on the display screen.

The symbols shown in FIG. 14 mean the following.
Yc1: Optical axis of the camera 31 (Yc1 axis of the coordinate system Σc1 of the camera 31)
Yc2: Optical axis of the camera 32 (Yc2 axis of the coordinate system Σc2 of the camera 32)
Lc11: Left end of the angle of view of the camera 31 Lc12: Right end of the angle of view of the camera 31 Lc21: Left end of the angle of view of the camera 32 Lc22: Right end of the angle of view of the camera 32 O1: Origin of the coordinate system Σc1 of the camera 31 O2: Camera 32 Origin P of coordinate system Σc2: buried object (explosive)
θ1: Angle formed by Yc1 and Lc11 (half angle of view: a fixed value depending on the characteristics of the camera 31)
θ2: Angle formed by Yc2 and Lc21 (half angle of view: fixed value depending on the characteristics of the camera 32)
α1: Angle formed by Yc1 and P-O1 α2: Angle formed by Yc2 and P-O2 A common angle of view of the camera 31 and the camera 32 is an angle formed by Lc11 and Lc22. A stereoscopic image can be generated by using the information. Further, by comparing the angles θ1 and α1 and comparing the angles θ2 and α2, it is possible to determine whether or not the buried object is located within the range of the display screen. As a result, the explosive is displayed on the display screen. It can be determined whether or not to display.

  FIG. 15 is a flowchart showing a calculation process for displaying the image of the embedded object and the marker superimposed on the image captured by the cameras 31 and 32 based on the above idea.

  In FIG. 15, first, the positions (coordinate values) of the GPS antennas 27 and 28 in the reference coordinate system (global coordinate system) are calculated based on the position data from the GPS receivers 35 and 36 (step S100). Next, a conversion matrix sHw from the reference coordinate system to the work machine coordinate system is calculated using the position information and the pitch angle of the mine disposal machine 1 detected by the inclination sensor 26 (step S110). Next, the position information of the embedded object stored as the value of the reference coordinate system as described above is converted into the coordinate value of the work machine coordinate system Σs using the conversion matrix sHw (step S120). Next, the coordinates of the buried object in the camera coordinate system Σc1 are obtained by using the transformation matrix c1Hs from the working machine coordinate system that has been obtained in advance to the coordinate system Σs of the working machine to the coordinate system Σc1 of the camera 31. 14 is calculated to calculate the coordinate value of the embedded object in the camera coordinate system Σc1 (step S130), and using the coordinate value of the embedded object in the coordinate system Σc1 of the camera 31, the optical axis of the camera 31 shown in FIG. The angle α1 formed by Yc1 and P-O1 is calculated (step S140), and it is determined whether or not the angle α1 is smaller than the half field angle (angle formed by Yc1 and Lc11) θ1 of the camera 31 (α1 <θ1). Step S150). If the determination result is true, that is, α1 <θ1, similarly, the conversion matrix from the work machine coordinate system obtained in advance for the position information of the embedded object in the work machine coordinate system Σs to the coordinate system Σc2 of the camera 32 Using c2Hs, the coordinate value of the buried object in the camera coordinate system Σc2 is converted into the coordinate value of the buried object in the camera coordinate system Σc2, and the coordinate value of the buried object in the camera coordinate system Σc2 is calculated. Is used to calculate the angle α2 formed by the optical axis Yc2 of the camera 32 and P-O2 shown in FIG. 14 (step S170), and the angle α2 is determined from the half angle of view (angle formed by Yc2 and Lc21) θ2 of the camera 32. It is determined whether it is small (α2 <θ2) (step S180).

  If the determination result is also true, that is, if α1 <θ1 and α2 <θ2, the embedded object is included in the common field angle range of the cameras 31 and 32, so that the embedded object is displayed on the screen 501. The coordinate value of the buried object in the coordinate system is calculated (step S190). In FIG. 13, the coordinate value of the embedded object in the display coordinate system is indicated by (Pxi, Pyi). Calculation of the coordinate value of the buried object in this display coordinate system is performed for each of the cameras 31 and 32. In other words, for the camera 31, the coordinate value of the embedded object in the camera coordinate system Σc1 is obtained in the display coordinate system Σi using the conversion matrix i1Hc1 from the camera coordinate system Σc1 to the display coordinate system Σi that has been obtained in advance. Convert to the coordinates of the buried object. For the camera 32, the coordinate value of the embedded object in the camera coordinate system Σc2 is obtained by using the transformation matrix i2Hc2 from the camera coordinate system Σc2 to the display coordinate system Σi that has been obtained in advance. Convert to the coordinate value of.

  Next, the coordinate values of the markers 503 to 506 in the display coordinate system for displaying the markers 503 to 506 on the image 501 are calculated (step S200). This calculation is performed as follows using the coordinate value of the buried object in the work machine coordinate system obtained in step S120.

  The positional relationship between the front work machine 80 and the work machine coordinate system Σs is known, and as an example, a plane in which the center line of the front work machine 80 in the vertical direction (front-rear direction) includes the Ys axis and the Zs axis of the work machine coordinate system. Consider the case of being located within. In this case, assuming a straight line that is parallel to the Ys axis of the work machine coordinate system and is located on the ground, a point that is located directly below the rotary cutter 14 exists on the straight line. The coordinate value of the work machine coordinate system at this point is defined by assuming that the Ys-axis coordinate value of the rotary cutter 14 is rs, and the height of the work coordinate system origin (the intersection of the turning base frame and the turning center) from the ground is hs. , (0, rs, -hs). The coordinate value is converted into a value in the display coordinate system as in the case of the position of the embedded object. In FIG. 11, point A is that point. Further, the coordinate value of the embedded object in the work machine coordinate system is (xs, ys, zs), and a point of the coordinate value (0, ys, −hs) in the work machine coordinate system is assumed. Also for this point, the coordinate value in the work machine coordinate system is converted to the value in the display coordinate system. In FIG. 11, point B is that point. Furthermore, assuming a point of coordinate value (xs, 0, −hs) in the work coordinate system, the coordinate value of this point is also converted to a value in the display coordinate system. In FIG. 11, point C is that point. The marker 503 is a straight line passing through the points A and B, the end point being the B point, the marker 504 is a straight line connecting the B point and the C point, the marker 505 is a straight line connecting the embedded object and the C point, and the marker 506 Is a straight line connecting the rotary cutter 14 and the point A. Therefore, the markers 503 to 506 can be displayed by calculating the coordinate values in the display coordinate system of the points A, B, and C.

  The embedded object mapping 502 and the markers 503 to 506 are obtained using the coordinates of the embedded object in the display coordinate system for each of the cameras 31 and 32 and the coordinate values of the points A, B, and C obtained as described above. The computer graphics are generated and superimposed on the images of the cameras 31, 32 and displayed (step S210).

  In the above arithmetic processing, the processing of steps S100 to S120 is also performed on the in-vehicle computer 401 side in order to display the state of the work area and the state of the mine disposer 1 on the work monitor 87, and the image processing device 46. Then, the processing of steps S100 to S120 may be omitted, and the calculation data of the in-vehicle computer 401 may be used.

  Next, a mine processing procedure using the operation assistance screen will be described with reference to FIGS. 11 and 13 to 18.

  First, the antipersonnel mine detected while looking at the screen of the work monitor 87 shown in FIG. 10 moves to a position near the front of the mine disposer 1. If it is near the front of the land mine disposer 1, the antipersonnel landmine is included in the field of view range of the cameras 31 and 32, and therefore a map 502 of the antipersonnel landmine appears on the screen 501 of the operation support monitor 47 as shown in FIG.

  Next, the mine disposer 1 is turned to a position where the guidance auxiliary line 504 in the Xs axis direction is not displayed. The screen 501 of the operation support monitor 47 at that time is as shown in FIG. 16, and the marker 504 in the Xs axis direction disappears.

  Next, the front work machine 80 is operated, and the rotary cutter device 81 is moved to the antipersonnel landmine map 502. That is, as shown in FIG. 17, the marker 505 indicating the buried depth of the antipersonnel mine and the marker 506 indicating the height of the rotary cutter 14 are moved to a position in a straight line in the Zs axis direction.

  When the front work machine 80 is operated so as to lower the rotary cutter 14 from this position, the rotary cutter 14 gradually enters the ground and can process antipersonnel mines.

  When processing is actually performed, a certain range is processed as shown in FIG. 9 with the vicinity of the position moved by the above procedure taking into account measurement errors and the like.

  In the present embodiment configured as described above, work data, measurement data, and operation data including the position information of the buried object are stored in the hard disk 86 of the in-vehicle computer 401, and those data are stored in the IC card at the end of the work. Since the data is stored in 301 and read into the server PC 201 of the work management center 200, exploration exploration and processing data remains as a record, the work continuity is maintained, and the work can be performed efficiently.

  In addition, since the images of the cameras 31 and 32 are displayed on the screen 501 of the work support monitor 47 and the mapping 502 of the embedded object is superimposed on the image, the position of the embedded object is accurately communicated to the worker. And explosives can be processed efficiently and safely.

  Furthermore, since the markers 503 to 506 indicating the positional relationship between the rotary cutter 14 and the embedded object are displayed on the screen 501 of the work support monitor 47, the movement locus of the rotary cutter 14 when processing the embedded object can be presented. By moving the rotary cutter 14 along the markers 503 to 506, the operator can easily position the rotary cutter 14 directly above the embedded object, and work efficiency is improved.

  Further, since the stereoscopic image is displayed on the work support monitor 47 using the two cameras 31 and 32, the position of the embedded object can be more accurately transmitted to the worker, and the work efficiency is improved.

  Another embodiment of the present invention will be described with reference to FIG. In the figure, the same parts as those shown in FIG. In the present embodiment, the present invention is applied to a landmine disposal system in which a landmine disposal machine is operated by remote control.

  In FIG. 19, the landmine disposal system according to the present embodiment operates the in-vehicle device 500 mounted on the landmine disposer 1 and the landmine disposer 1 from a remote place away from the landmine disposer 1 using a building or a car. The operation room 600, the GPS reference station 100, and the work management center 200 are configured. The operation room 600 and the work management place 200 may be provided in the same place or in different places.

  Similarly to the in-vehicle device 400, the in-vehicle device 500 distributes the movable part sensors 21 to 26, the wireless device 33 that receives the correction data from the GPS reference station 100 via the antenna 29, and the correction data received by the wireless device 33. A distributor 34 and a GPS receiver 35 that measures the three-dimensional positions of the GPS antennas 27 and 28 in real time based on correction data distributed by the distributor 34 and signals from GPS satellites received by the GPS antennas 27 and 28. , 36, explosives exploration sensor 18, and cameras 31, 32.

  The in-vehicle device 500 includes a radio 54 that receives the signals of the operation device 66 that is transmitted from the operation room 600 and operates the mine disposer 1 and the signals of the operation switches 37 and 38 via the antenna 55, and the radio 54. The vehicle body controller 67 for controlling the operation of each movable part based on the operation signal received in the above, position data from the GPS receivers 35 and 36, signals from the respective movable part sensors 21 to 26, and the explosive exploration sensor 18 A controller 43A that aggregates output signals, a radio 52 that transmits the signals aggregated by the controller 43A to the operation room 600 and the work management center 200 via the antenna 53, and images captured by the cameras 31 and 32 are antenna 49 to the operation room 600. , 51 and radios 48, 50 for transmitting via the receiver 51.

  The operation room 600 receives radio images 56 and 58 that receive images captured by the cameras 31 and 32 of the in-vehicle device 500 via the antennas 57 and 59, and a radio that receives data aggregated by the controller 43A via the antenna 61. A computer (PC) that calculates the position and orientation of the landmine disposal machine 1, the position of the explosives exploration sensor 18, and the position of the rotary cutter 14 based on the aggregated data received by the machine 60 and the controller 43A received by the radio 60 64, the PC monitor 65 that displays the state of the work area and the state of the landmine disposer 1 shown in FIG. 10 based on the calculation result, the images of the cameras 31, 32 received by the wireless devices 56, 58, and the wireless device Based on the aggregated data from the controller 43A received at 60, the positions of the anti-personnel mines, anti-tank mines, and unexploded bombs that have already been explored are imaged in the captured image of the site. Includes an image processing apparatus 46A to generate an operation assistant image superimposed Le, and operation support monitor 47 for displaying an operation assistant image generated by the image processing apparatus 46A. The computer 64 has a hard disk 86 as a main storage device for storing work data, measurement data, and operation data. The PC monitor 65 displays the output of the explosive search sensor 18 in the search mode.

  The operation room 600 also includes a trigger switch 39 for inputting that an anti-personnel mine has been detected as a result of the search, a trigger switch 40 for inputting that an anti-tank mine has been detected as a result of the search, and an unexploded bomb as a result of the search. There is provided a trigger switch 41 for inputting that the detection has been made, and a trigger switch 42 for inputting that the removal of the anti-tank mine or unexploded shell has been completed. The signals of the trigger switches 39 to 42 are input to the computer 64 and recorded on the hard disk 86 together with the position information transmitted from the landmine processor 1.

  Furthermore, the operation room 600 turns on / off the operation device 66 for operating the mine disposer 1 from a remote location, the operation switch 37 for turning on / off the operation of the explosive sensor 18, and the operation of the rotary cutter device 81. And an operation switch 38. The signals from the operation device 66 and the operation switches 37 and 38 are collected by the radio device 62 and transmitted to the mine disposal device 1 via the antenna 63.

  When the landmine disposal work is performed using the system having the above configuration, the operation of the landmine disposer 1 is not performed on the landmine disposer, but the work is performed while looking at the monitors 47 and 65 from the remote operation room 600. Do. The processing procedure is the same as that described above.

  According to the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

  In addition, according to the present embodiment, explosives are processed by operating remotely in the operation room 600 away from the mine disposer 1 while viewing the image of the operation support monitor 47. The position information can be accurately transmitted to the person, and work can be performed efficiently and safely.

  In the above embodiment, the stereoscopic image is generated by using two cameras as the imaging means mounted on the land mine disposer 1, but a two-dimensional image is generated by mounting only one camera. In this case, the working efficiency is lowered, but a simpler apparatus configuration can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the external appearance of the landmine processing machine carrying the landmine disposal system containing the buried object processing assistance apparatus concerning one embodiment of this invention. It is a block diagram which shows the whole structure of the landmine processing system containing the buried object processing assistance apparatus concerning one embodiment of this invention. It is a flowchart which shows the process sequence of the landmine processing management method concerning one embodiment of this invention. It is a flowchart which shows the detail of the landmine disposal work in the landmine disposal management method. It is a figure which shows the felling operation | work using the rotary cutter in a visual confirmation process. It is a figure which shows the tacking operation | work after felling using the rake | rake in a visual confirmation process. It is a figure which shows the felling operation | work using the rotary cutter in a felling process. It is a figure which shows the search work using the search sensor in a search process. It is a figure which shows the processing operation | work of the antipersonnel landmine using the rotary cutter in a process process. It is a figure which shows an example of the screen displayed on the work monitor of a vehicle-mounted computer, and the work monitor of server PC. It is a figure which shows an example of the screen displayed on an operation assistance monitor. It is a figure which shows a reference | standard coordinate system (global coordinate system), a working machine coordinate system, and a camera coordinate system. It is a figure which shows a display coordinate system. It is a figure which shows the relationship between each optical axis and angle of view of two cameras, and the display range on a display screen. It is a flowchart which shows the arithmetic processing which superimposes and displays the image of an embedded object and a marker on the image imaged with two cameras. It is a figure which shows the change of the operation assistance screen in work. It is a figure which shows the change of the operation assistance screen in work. It is a figure which shows the change of the operation assistance screen in work. It is a block diagram which shows the whole structure of the landmine processing system containing the buried object processing assistance apparatus concerning other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mine disposal machine 2 Swing body 3 Driver's cab 4 Traveling body 5 Boom 6 Arm 7 Boom cylinder 8 Arm cylinder 10 Special bulletproof glass 11 Guard 12 Rotating drum 13 Cutter bit 14 Rotary cutter 16 Rake 17 Scatter prevention blade 18 Explosive exploration sensor 19 Telescopic arm 20 Search sensor cylinder 21 Angle sensor (boom)
22 Angle sensor (arm)
23 Angle sensor (rotary cutter)
24 Stroke sensor (extensible arm)
25 Angle sensor (explosive exploration sensor)
26 Tilt sensor (pitch)
27 GPS antenna (A)
28 GPS antenna (B)
29 Wireless antenna (correction data reception)
30 Wireless antenna (measurement data transmission)
31, 32 Camera 33 Radio (Correction data reception)
34 Distributor 35 GPS receiver A
36 GPS receiver B
37 Operation switch (explosive exploration sensor)
38 Operation switch (rotary cutter)
39 Trigger switch (anti-personnel mine)
40 Trigger switch (anti-tank mine)
41 Trigger switch (unexploded)
42 Trigger switch (removal)
43 Controller 44 Radio (measurement data transmission)
45 Explosives exploration monitor 46 Image processing device 47 Operation support monitor 48, 50 Radio (image transmission)
49, 51 Antenna (image transmission)
52 Radio (Body information transmission)
53 Antenna (Body information transmission)
54 Radio (for remote control)
55 Antenna (for remote control)
56,58 Radio (image reception)
57,59 Antenna (image reception)
60 Radio (Receiving body information)
61 Antenna (Body information reception)
62 Radio (remote control)
63 Antenna (Radio control)
64 PC
65 PC monitor 66 Remote control device 67 Car body controller 80 Front work machine 81 Rotary cutter device 82 Attachment cylinder 84 Work monitor 85 Input / output device 86 Hard disk 87 Work monitor 88 Input / output device 89 Hard disk 100 Base station device 101 GPS base station receiver 102 GPS Reference station antenna 103 Radio 104 Antenna 200 Work management office 201 Server PC
202 Radio 203 Antenna 204 Printer 301 IC card 400 In-vehicle device 401 In-vehicle computer 402 Detailed display screen 403 Work mode selection button area 404 Attachment operation display area 405 Work state display area 406 Mesh state display area 407 Wire frame image 500 In-vehicle apparatus 501 operation Support screen 502 Anti-personnel landmine mapping (graphics)
503 Ys axial direction auxiliary line 504 Xs axial direction auxiliary line 505 Zs axial direction auxiliary line 506 Zs axial direction auxiliary line 600 Operation room

Claims (5)

In the buried object processing support device of the mobile work machine,
Storage means for storing the position information of the buried object;
Measuring means for measuring the position and orientation of the mobile work machine;
Imaging means for imaging the work area;
Using the measurement value of the measuring means, converting the position information of the embedded object into position information of a display screen, and comprising a display means for displaying the embedded object superimposed on the image of the imaging means ,
Wherein the display means further the mobile working machine processor and buried object processing support device of a mobile working machine, characterized in you to view the marker indicating the positional relationship of the buried object. In the buried object processing support apparatus of the mobile work machine according to claim 1,
The position information of the buried object is stored as a value of a reference coordinate system set outside the mobile work machine,
The measuring means is means for measuring the position and orientation of the mobile work machine as values of the reference coordinate system,
The display means uses the reference coordinate system values of the position and orientation of the mobile work machine measured by the measurement means to provide position information of the embedded object in the first coordinate system set in the mobile work machine. Means for converting to a value, means for converting the converted value into a value in the second coordinate system set in the imaging means, and further converting the converted value into a value in the third coordinate system set in the display screen An embedded processing support apparatus for a mobile work machine, characterized in that the embedded object is superimposed on the image of the imaging means using the converted value to the third coordinate system. In the buried object processing support apparatus of the mobile work machine according to claim 1,
The photographing means has two cameras, and the display means generates and displays a stereoscopic image from video information of the two cameras, and supports the embedded object processing of the mobile work machine apparatus. In the buried object processing support apparatus of the mobile work machine according to claim 1,
The display means is installed in an operation room located away from the mobile work machine,
First and second wireless means installed in the mobile work machine and wirelessly transmitting image information of the imaging means and measurement information of the measurement means to the operation room;
Third and fourth wireless means installed in the operation room and receiving the wirelessly transmitted image information and measurement information, respectively;
A remote control device installed in the operation room and operating the mobile work machine wirelessly;
The display means displays the embedded object superimposed on the image of the imaging means using the image information and measurement information received by the third and fourth wireless means and displays the embedded object of the mobile work machine Processing support device. In the buried object processing support apparatus of the mobile work machine according to claim 1,
The buried object processing support apparatus for a mobile work machine, wherein the buried object is an explosive.

Images