JP4058401B2 - Work machine - Google Patents

Description

The present invention relates to a working machinery such as a hydraulic excavator, in particular, anti-personnel mines by mine disposer, antitank mines, on the work machine with a suitable camera direction control device to process the explosives, such as unexploded bombs .

  As a prior art of a camera direction control device mounted on a work machine, there is a camera automatic tracking control device in a construction machine described in Japanese Patent No. 2875954. In this method, the camera is automatically tracked to the movement of the tip of the work implement by feedback control, and the tip of the work implement is always displayed at a predetermined position on the display.

Japanese Patent No. 2875954

  The above prior art is an effective method in that the camera is pointed at the tip of the work machine, but the apparatus cannot search for a work target in a work area around the work machine.

  When an image taken with a camera is enlarged and displayed on a display using a telephoto lens, it may be more clearly visible than when observed directly with the human eye. It is thought that there is a merit in photographing and displaying. However, when a work target is found by looking over the entire work area, it is difficult to identify when the work target is small or a color similar to the background, using only camera images. In addition, when the work target is buried in the ground or in a vegetation, it is difficult for human eyes to distinguish.

An object of the present invention is to provide a work machine equipped with a camera direction control device that facilitates the discovery of a work target from a camera image and improves work efficiency when the work is photographed with a camera mounted on the work machine. Is to provide.

(1) To achieve the above object, the present invention is a target for the camera was mounted on the fuselage, Oite the working machinery to perform the work by displaying the images taken with this camera on the camera monitor, the work object Storage means for storing work area position data including object position data and the camera monitor are provided separately from the camera monitor and include the target object to be worked on based on the work area position data stored in the storage means. a display device for displaying the state of the working machine around the work area, and a camera direction control device, the camera direction control device, the target to select a target to be the work object on a screen of said display device And a control unit that performs a calculation for directing the shooting direction of the camera toward the target when the target is selected by the target selection unit, and controls the shooting direction of the camera toward the target It is assumed that and a stage.

  As described above, the display device, the target selection means, and the control means are provided, and the camera image is selected by selecting the target to be worked on the screen of the display device and controlling the shooting direction of the camera toward the target. Automatically captures and displays the position of the work object (target object), facilitates the discovery of the work object from the camera image, and improves the work efficiency.

  In addition, it is possible to check the work target by viewing the position of the work target (target) arbitrarily selected from the state of the work area displayed on the display device with the camera image, and work attachment to the periphery of the work target Can be efficiently moved, and work efficiency around the work target is improved.

  Furthermore, it is necessary to provide a mark at the embedding place in the work on the underground object, but in the present invention, the work can be performed without the mark, and the work efficiency is improved.

In (2) above (1), preferably, the camera direction control device further includes a measuring means to measure the three-dimensional position of the working machine, said measuring means the work a three-dimensional position of the working machine Measured as a value of a reference coordinate system set outside the machine, position data of the work area stored in the storage means is stored as a value of the reference coordinate system, and the control means is controlled by the target selection means. acquires position data of said target from said memory means a target object is selected, the position data of the target set in the camera using a three-dimensional position of the working machine which is measured by the measuring means It converts into the value of a camera coordinate system, calculates the control amount for directing the camera to the target using this position data, and controls the photographing direction of the camera.

  As a result, it is possible to select a target object to be worked on the screen of the display device and control the shooting direction of the camera toward the target object.

  (3) In the above (1), preferably, the work machine is a landmine disposer, and the display device divides the work area into a large number of meshes and displays exploration exploration results for each mesh. The image of the land mine disposer is displayed on the screen of the work area, and the mesh on which the target is located is selected by the target selection means.

  Unexploded bombs and anti-tank landmines that damage machines are present between bushes and trees, or in the ground, so it is difficult to visually check them easily. In the present invention, by selecting the mesh where the target is located on the display device that displays the exploration result of the explosives and the image of the mine disposal machine, the camera image is automatically captured by the position of the unexploded bomb and the anti-tank mine, Unexploded bombs and anti-tank mines can be confirmed instantly, and unexploded bombs and anti-tank mines can be removed safely and efficiently.

  In addition, in the work for landmine disposal, if a person installs a landmark, there is a possibility that antipersonnel landmines may be buried near the work object, which is dangerous. In the present invention, dangerous mark installation work can be omitted, and safety is also improved in this respect.

(4) Moreover, in order to achieve the said objective, this invention mounts a camera in a body, and displays the image | video image | photographed with this camera on a camera monitor, and the work around the said work machine is carried out. A display device for displaying the state of the area; and a camera direction control device, wherein the camera direction control device selects a target object to be a work target on the screen of the display device, and the target object. Installed in the work machine, and a control means for performing a calculation for directing the shooting direction of the camera toward the target when a target is selected by the selection means, and controlling the shooting direction of the camera toward the target An in-vehicle device; and a remote control room located at a location away from the work machine, wherein the camera monitor, display device, and target selection means are disposed in the remote control room, and the camera is connected to the camera from the in-vehicle device. An image is transmitted wirelessly to the remote cockpit and displayed on the camera monitor, and arithmetic processing units of the control device are distributed in the vehicle-mounted device and the remote cockpit, and between the vehicle-mounted device and the remote cockpit. In this case, it is assumed that the data of each arithmetic processing unit is exchanged wirelessly.

As described in (1) above, this facilitates the discovery of the work target by the camera image, improves the work efficiency, efficiently moves the work attachment to the periphery of the work target, and works around the work target. The efficiency is improved, and further, the work for the underground object can be performed without a mark, and the work efficiency is improved.
When the work machine is remotely controlled by radio, the camera image is important information for the operator to operate. In the present invention, since the camera image automatically captures and displays the position of the work target (target object), the work object can be enlarged and displayed as compared with the case where the area around the work attachment is displayed vaguely. Improvement and work errors can be prevented.

  ADVANTAGE OF THE INVENTION According to this invention, when a work target is image | photographed with the camera mounted in a working machine and the image | video is displayed on a camera monitor and work is performed, discovery of a work target by a camera monitor can be supported.

  In addition, the position (target) of the work target arbitrarily selected from the work area states displayed on the display device can be captured and confirmed by the camera image, and the work attachment can be moved to the periphery of the work target. The work efficiency can be improved around the work target.

  Further, in the work on the underground object, it is necessary to provide a mark at the buried place. However, in the present invention, the work can be performed without the mark, and the work efficiency is improved.

  In addition, according to the present invention, even if unexploded bombs or anti-tank mines that damage the machine are present between bushes or trees or in the ground, their positions are automatically captured and confirmed instantly. It is possible to remove unexploded shells and anti-tank mines safely and efficiently.

  In addition, in the work for landmine disposal, if a person installs a landmark, there is a possibility that antipersonnel landmines may be buried near the work object, which is dangerous. In the present invention, dangerous mark installation work can be omitted, and safety is also improved in this respect.

  Furthermore, according to the present invention, when the work machine is remotely controlled by radio, the camera image automatically captures and displays the position of the work target (target object), so that the work image is vaguely displayed as compared with the case where the work attachment periphery is displayed. It is possible to display an enlarged object, improving work efficiency and preventing work mistakes.

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

  1 and 2 are views showing the appearance of a land mine disposer equipped with a land mine disposal management system according to an embodiment of the present invention.

  In FIG. 1 and FIG. 2, 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, and a traveling body 4. The front working machine 80 is provided. 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 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 rope 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 guard inside a machine is performed.

  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.

  An attachment attachment / detachment device 9 is provided at the tip of the arm 6, and the attachment / detachment device 9 detachably attaches either the rotary cutter device 81 shown in FIG. 1 or the skeleton bucket 15 shown in FIG. 2. The rotary cutter device 81 or the skeleton bucket 15 can rotate in the front-rear direction with respect to the arm 6 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. The sensor 18 can be moved along 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 mine disposal machine 1 includes an angle sensor 21 (see FIG. 4) for detecting a rotation angle (boom angle) between the revolving body 2 and the boom 5 as a movable part sensor, and a rotation angle (arm angle) between the boom 5 and the arm 6. ) For detecting the rotation angle between the arm 6 and the rotary cutter 14 (rotary cutter angle), and a stroke sensor 24 for detecting the stroke of the extendable arm 19 (expandable arm stroke) (see FIG. 4). ), An angle sensor 25 that detects 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 that detects an inclination angle (pitch angle) in the front-rear direction of the swing body 2 (see FIG. 4).

  Further, the landmine processor 1 includes two GPS antennas 27 and 28 that receive signals from GPS satellites, a wireless antenna 29 that receives correction data (described later) from a reference station, and a wireless antenna 30 that transmits measurement data. Is provided. 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.

  Further, the landmine disposer 1 is provided with a camera 50 for photographing the work object and the situation of the work site. In the illustrated example, the camera 50 is installed on the upper part (roof) of the cab 3. The camera 50 is mounted on an electric head 51 that is rotatable in the vertical direction and the horizontal direction so that the direction can be changed in the vertical direction and the horizontal direction.

  FIG. 3 is an enlarged view of the camera 50 and the electric pan head 51. The electric head 51 is attached to a base 51a, a first head 51b mounted on the base 51a so as to be rotatable about a vertical axis V, and to be rotatable about a horizontal axis H with respect to the first head 51b. The base 51a is attached to the upper part of the cab 3 and the camera 50 is installed on the second head 51c.

  FIG. 4 is a block diagram showing the overall configuration of a landmine disposal system including a camera direction control device according to the present embodiment.

  In FIG. 4, the mine disposal system is composed of an in-vehicle device 400 mounted on the mine disposal machine 1 and a GPS reference station 100.

  The in-vehicle device 400 includes the above-described movable part sensors 21 to 26, a wireless device 31 that receives correction data (described later) from the reference station 100 via the antenna 29, and a distributor that distributes the correction data received by the wireless device 31. 32, a GPS receiver 33 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 32 and the signals from the GPS satellites received by the GPS antennas 27 and 28. 34, a trigger switch 37 for inputting that an anti-personnel mine has been detected as a result of exploration, a trigger switch 38 for inputting that an anti-tank mine has been detected as a result of exploration, and that an unexploded bomb has been detected as a result of exploration. Trigger switch 39 for inputting, trigger switch 41 for inputting the completion of removal of anti-tank landmines and unexploded bombs, and exploration results are stored The exploration result DB 58, the target input device 54 for inputting the photographing direction of the camera 50, the target position indication output interface 59, and the position and posture of the mine disposer 1 and explosive exploration based on the input data. Calculation of the position of the sensor 18 and the position of the rotary cutter 14, calculation of the state of the work area and the state of the mine disposal machine 1, and calculation of the shooting direction of the camera 50, A display unit 84 that displays the calculation result, a camera control device 52 that controls the electric head 51 in response to a command from the target position instruction output interface 59 based on the calculation result of the shooting direction of the camera 60, and the camera 50 described above. And an electric pan head 51 and a camera monitor 53 for displaying an image photographed by the camera 50.

  The arithmetic processing unit 56, the target input device 54, the search result DB 58, the display unit 84, and the target position instruction output interface 59 may be, for example, a notebook PC, a box computer, a panel computer, or the like. The target input device 54 is, for example, a computer mouse. The target object input device 54 may be a touch panel integrated with the display unit 84.

  The in-vehicle device 400 includes the explosive exploration sensor 18 and an explosive exploration monitor 44 that displays the shape, material, type, and the like of the underground object as a result of the exploration.

  The GPS reference station 100 uses the RTK (RTK) with the GPS receivers 33 and 34 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. A GPS reference station receiver 101 that generates correction data for performing (real-time kinematic) measurement, and a radio device 103 for transmitting the correction data generated by the GPS reference station receiver 101 via the antenna 104. .

  FIG. 5 shows an example of a screen displayed on the display unit 84.

  In FIG. 5, for example, a detailed display screen 402 is displayed on the display unit 84. The detail display screen 402 has a work mode selection button area 403, 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 using a mouse, a keyboard, a touch panel, or the like. The currently selected work mode 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 classification, pattern classification, symbol classification, or the like according to the state of each mesh. FIG. 5 shows an example of pattern division so that it is easy to understand even in the monochrome display of the specification. The work unnecessary area is filled with black, the work initial state is filled with white, the felled 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. On the detail display screen 402, the display area can be enlarged / reduced, translated, and rotated by operating the mouse or the like.

  The detailed display screen 402 has a tracking state display unit 409. The tracking state display unit 409 indicates whether or not the camera 50 is tracking a target, and the current operation state is highlighted. The tracking of the target is determined based on an instruction from the target input device 54 as described above. Further, by operating the tracking state display unit 409 with the target input device 54, the automatic tracking operation state can be changed.

  In the wire frame image 407, the large square 407a is an image representing the vehicle body (the turning body 2, the cab 3 and the traveling body 4), and the small square 407b is an attachment (the rotary cutter device 81 or the skeleton bucket 15) or the explosive exploration sensor 18. A line 407 c extending from the large square 407 a to the small square 407 b is an image representing the boom 5 and the arm 6 or the boom 5 and the telescopic arm 19. The image of the small square 407b represents the attachment (the rotary cutter device 81 or the skeleton bucket 15) in the operation mode other than the exploration mode, and represents the explosive exploration sensor 18 in the exploration mode.

  Further, a square 407d is an image representing the camera 50 mounted on the vehicle body.

  As described above, the in-vehicle device 400 measures the three-dimensional positions of the GPS antennas 27 and 28 in real time, and the display position of the wire frame image 407 and the direction of the vehicle body are displayed based on the measurement data. The line 407c and the small square 407b are displayed based on the detection values of the movable part sensors 21 to 26 described above.

  Next, calculation processing of the shooting direction of the camera 50 in the calculation processing unit 56 of the in-vehicle device 400 will be described with reference to FIGS.

  FIG. 6 is a diagram showing a coordinate system used in the arithmetic processing. A global coordinate system (reference coordinate system) Σ0 and a camera coordinate system Σ3 are used for the calculation process of the camera shooting direction.

  FIG. 7 is a diagram for explaining the concept of the global coordinate system, and G is a reference ellipsoid used in GPS. The global coordinate system Σ0 is an orthogonal coordinate system having an origin O0 at the center of the reference ellipsoid G, the X0 axis is located on a line passing through the intersection C of the equator A and the meridian B and the center of the reference ellipsoid G, and the Z0 axis Is located on a line extending from the center of the reference ellipsoid G to the north and south, and the Y0 axis is located on a line orthogonal to the X0 axis and the Y0 axis. In GPS, the position on the earth is expressed by latitude and longitude, and the height (depth) with respect to the reference ellipsoid G. By setting the global coordinate system Σ0 in this way, the GPS position information is expressed in the global coordinate system. It can be easily converted to a value of Σ0.

  The camera coordinate system Σ3 is an orthogonal coordinate system that is fixed to the revolving unit 2 of the mine disposal machine 1, has an origin O3 at the intersection of the electric cloud 51st vertical axis V and the horizontal axis H of the camera 50, and the Z3 axis is vertical. Located on the axis V, the Y3 axis is located on the horizontal axis H when the camera 50 is directed to the front, and the X3 axis is located on a line orthogonal to the Z3 axis and the Y3 axis.

  Since the positional relationships L1, L2, L3, and L4 of the GPS antennas 27 and 28 with respect to the origin O3 of the camera coordinate system Σ3 are known, the three-dimensional positions of the GPS antennas 27 and 28 in the global coordinate system Σ0 and the landmine processor 1 If the pitch angle θp is known, the transformation matrix 3H0 from the global coordinate system Σ0 to the camera coordinate system Σ3 can be obtained. By using this conversion matrix 3H0, the position data of the global coordinate system Σ0 can be converted into the position data of the camera coordinate system Σ3.

  When the in-vehicle device 400 is activated, work data read from the IC card is stored in the search result DB 58. This work data includes the position information of the buried object, and this position information is stored as a value in the global coordinate system (reference coordinate system). Further, work data processed based on signals from the trigger switches 37 to 41 is stored in the exploration result DB 58, and the landmine is used by the arithmetic processing unit 56 in the in-vehicle device 400 using the position information of the GPS receivers 33 and 34. The position and orientation of the processor 1, the position of the explosive exploration sensor 18 and the position of the rotary cutter 14 are calculated and stored in the search result DB 58, but these positions are also in the global coordinate system (reference coordinate system). It is obtained and stored as a value.

  The mesh state corresponding to the contents of the search result DB 58 is displayed in the mesh state display area 406 of the detailed display screen 402 shown in FIG. Each mesh in the mesh state display area 406 reflects the position information in the global coordinate system stored in the search result DB 58, and the search result DB 58 is accessed by selecting a mesh with the target object input device (mouse) 54. The position information of the target can be obtained as a value in the global coordinate system (reference coordinate system).

  FIG. 8 is a flowchart showing the calculation processing procedure of the camera photographing direction.

  In FIG. 8, first, the positions P1, P2 of the GPS antennas 27, 28 in the global coordinate system (reference coordinate system) are calculated based on the position data from the GPS receivers 33, 34 (step S100). Next, the inclination angle (pitch angle) θp of the vehicle body of the landmine processor 1 is calculated based on the angle data from the inclination sensor 26 (step S110). Next, a conversion matrix 0H3 from the global coordinate system to the camera coordinate system is calculated using the positions P1 and P2 of the GPS antennas 27 and 28 in the global coordinate system (reference coordinate system) and the inclination angle θp of the mine disposal machine 1 ( Step S120). Next, it is determined whether or not a gaze target to be worked is instructed (selected) by the target input device (mouse) 54 (step S130). If no target is instructed, the process is terminated without doing anything. When the target is instructed, the search result DB 58 is accessed to obtain the position P4 of the target in the global coordinate system (step S140), and the camera is obtained using the transformation matrix 0H3 obtained in step S120. The coordinate system is converted (step S150). Next, the horizontal target angle αp and the vertical target angle αt of the camera 50 are calculated from the position data of the target in the camera coordinate system (step S160). Here, the left-right direction target angle αp of the camera 50 is defined as P5, where the intersection of the line parallel to the Z3 axis of the camera coordinate system extending from the position P4 and the X3Y3 plane is P5, and the position of the origin O3 of the camera coordinate system is P3. This is an angle formed by the line segment P3-P5 and the Y3 axis of the camera coordinate system. The vertical target angle αt is an angle formed by the line segment P3-P5 and the line segment P3-P4. Therefore, the target angles αp and αt can be easily obtained by calculating the position of the intersection point P5. Then, the target angles αp and αt thus determined are output to the camera control device 52 as the left / right direction command value and the up / down direction command value (step S170).

  FIG. 9 is a block diagram illustrating the processing function of the camera control device 52 and the configuration of the electric pan head 51.

  The camera control device 52 has functions of a control command converter / separator 520, subtracters 521 and 524, controllers 522 and 525, and drivers 523 and 526. The electric head 51 includes motors 510 and 512 and feedback angle sensors 511 and 513. The motor 510 is a motor that rotates the first camera platform 51b around the vertical axis V, and the motor 512 is a motor that rotates the second camera platform 51c around the horizontal axis H.

  The command values including the left and right target angles αp and αt output from the target position instruction output interface 59 are converted into respective command values of the horizontal angle αp and the vertical angle αt by the control command converter / separator 520. Divided. Each of the commands αp and αt is compared and calculated with the feedback signals from the feedback angle sensors 511 and 513 by the subtracters 521 and 524, and the control calculation (PDI control calculation) is performed so that the difference becomes zero. The motors 512 and 514 of the electric head 51 are driven and controlled by the signals output from the controllers 522 and 525 via the drivers 523 and 526, and the directions of the motors 512 and 514 coincide with the target angles αp and αt. Then it stops.

  Since the positions P1 and P2 of the GPS antennas 27 and 28 are measured in real time in the global coordinate system (reference coordinate system), the left and right direction target angle αp and the up and down direction target angle αt of the camera 50 can also be obtained in real time. Therefore, by always instructing the value to the camera control device 52, the direction of the camera 50 can be tracked to the target P4 in real time.

  Next, landmine disposal work using the landmine disposal machine 1 will be described with reference to FIGS.

  Landmine disposal operations consist of a visual confirmation process, a logging process, an exploration process, a removal process, a treatment process, and a re-exploration process. The image of the camera 50 is used in the removal process.

  In the visual confirmation process, the presence or absence of anti-tank mines, unexploded bombs and anti-personnel mines on the surface is visually confirmed. If they are found, anti-tank mines and unexploded bombs on the surface are removed, and anti-personnel mines on the surface are destroyed. When it is difficult to see the ground due to the trees, it is cut down to a certain height of the ground surface, for example, about 30 to 40 cm above the ground surface by the rotary cutter 14 as shown in FIG. 10, and the rake 16 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. 12, the explosive exploration sensor 18 cuts bushes and trees by the rotary cutter 14 to a height at which explosives in the ground can be explored, and the rake 16 is used for rearing. This is because bushes and trees with a height of 20 cm or more affect the exploration work. At this time, antipersonnel 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. 13, the bottom surface of the explosive exploration sensor 18 is kept at a constant height of 5 to 10 cm above the ground, and the exploration work is performed by operating the front working machine 80 of the mine disposer 1.

  If an anti-tank mine or unexploded bomb is found in the exploration process, the process proceeds to a removal process. If nothing is found, or if neither an anti-tank mine or an unexploded bomb is found, the process proceeds to a processing process.

  In the removal process, the underground anti-tank mines or unexploded shells discovered in the exploration process are removed using the rake 16 or the skeleton bucket 15. This is for ensuring the safety of the processing of antipersonnel mines by the rotary cutter 14 thereafter. FIG. 14 shows a situation in which the skeleton bucket 15 is removed. The position is confirmed on the detailed display screen 402 of the display section 84, and the unexploded bomb and the anti-tank mine in the ground are carefully excavated so as not to explode while watching the image of the camera 50 on the camera monitor 53, for example, transported to the explosion point. Process.

  Here, in order to perform the removal work while viewing the image of the camera 50 on the camera monitor 53, it is necessary to project the position where the unexploded bomb or the anti-tank mine is present on the image of the camera 50. However, since unexploded bombs and anti-tank landmines exist between processed bushes and trees or in the ground, it is difficult to catch them with the image of the camera 50 by visual observation. In the present embodiment, when the operator selects and instructs the detection point 408 of the unexploded bomb or anti-tank mine that is the removal target displayed on the detailed display screen 402 of the display unit 84 by the target input device 54 described above, As described above, the camera 50 tracks the detection point 408 of the unexploded bomb or the anti-tank mine, automatically captures the position where the unexploded bomb or the anti-tank mine exists, and displays it at the center of the screen of the camera monitor 53. For this reason, it becomes possible to instantly confirm the positions of unexploded bombs or anti-tank mines that were difficult to confirm on the detailed display screen 402 of the display unit 84, and to safely and efficiently remove unexploded bombs and anti-tank mines. Can do.

  Immediately after removal, reexamine the removal area. If another anti-tank mine or unexploded bomb is found in the ground by re-exploration, the removal work is performed again. When neither the anti-tank mine nor the unexploded shell is detected, 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. 15 shows the situation. While confirming the position on the detailed display screen 402 of the display unit 84, the rotary cutter 14 performs processing with an emphasis on the location of the anti-personnel mine that has been clarified 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 completed when nothing is discovered in the re-exploration process.

  As described above, according to the present embodiment, the work target (unexploded bullet or anti-tank mine) is photographed by the camera 50 mounted on the work machine (mine mine disposer 1), and the image is displayed on the camera monitor 53. When performing work, if the target input device 54 selects and indicates the position where the work target (detection point 408) is displayed on the detailed display screen 402 of the display unit 84, the camera 50 is positioned where the shooting direction is the work target. Since the image of the camera 50 is automatically captured at the position where the work object (detection point 408) is located, the work object can be easily found by the camera image, and the work efficiency can be improved.

  In addition, it becomes possible to check the work object by capturing the camera image at a position of the work object (detection point 408) arbitrarily selected from the search results displayed on the detail display screen 402 of the display unit 84, The work attachment can be efficiently moved to the periphery of the target, and the work efficiency around the work target is improved.

  Further, in the work on the underground object, it is necessary to provide a mark at the buried place. However, the work can be performed without the mark, and the work efficiency is improved.

  Furthermore, even if unexploded bombs and anti-tank landmines that damage the machine are present between bushes and trees or in the ground, their positions are automatically captured and displayed in the center of the screen of the camera monitor 53. It becomes possible to check them instantly, and unexploded shells and anti-tank mines can be removed safely and efficiently.

  Also, in landmine disposal work, when human beings install landmarks, it is dangerous because antipersonnel mines may be buried near the work target, but in this embodiment, dangerous landmarks are used. Installation work can be omitted, and safety is also improved in this respect.

  A second embodiment of the present invention will be described with reference to FIGS. In FIG. 16, the same parts as those shown in FIG. 4 are denoted by the same reference numerals, and in FIGS. 17 and 18, 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. 16, the landmine disposal system including the camera direction control device according to the present embodiment includes an in-vehicle device 500 mounted on the landmine disposal device 1 and a remote place away from the landmine disposal device 1 using a building or a car. It comprises a remote cockpit 600 for operating the land mine disposer 1 and a GPS reference station 100.

  In the remote cockpit 600, trigger switches 37 to 41, explosives exploration monitor 44, camera monitor 53, exploration result DB 58, target input device 54, and display unit 84 are used to perform landmine disposal work and camera direction control by remote control. Is placed. The in-vehicle device 500 includes an explosive exploration sensor, movable part sensors 21 to 26, a wireless device 31, a distributor 32, GPS antennas 27 and 28, GPS receivers 33 and 34, a target position instruction output interface 59, and a camera control device 52. A camera 50 and an electric pan head 51 are arranged. Further, since arithmetic processing is required for the display unit 84 and the target position instruction output interface 59, arithmetic processing units 56A and 78 are provided in both the in-vehicle device 500 and the remote cockpit 600. The two arithmetic processing units 56A and 78 exchange data (communication) via the wireless input / output interfaces 60 and 75, the wireless devices 61 and 76, and the antennas 62 and 77. The image of the camera 50 is transmitted to the camera monitor 53 via the radio 63, the antenna 64, the radio 81, and the antenna 82. Further, the output of the explosive exploration sensor 18 is transmitted to the explosive exploration monitor 44 via the wireless device 65 and the antenna 66, the wireless device 70 and the antenna 71.

  In addition, in order to remotely control the land mine disposer 1, a vehicle body controller 73 is disposed in the remote cockpit 600, and a vehicle body controller 69 is disposed in the in-vehicle device 500. The operation command of the vehicle body controller 73 is transmitted to the vehicle body control device 69 via the wireless device 72, the antenna 74, the wireless device 67, and the antenna 68, and the mine disposal device 1 is remotely controlled.

  The calculation processing of the shooting direction of the camera 50 in the calculation processing unit 56A of the in-vehicle device 500 and the calculation processing unit 78 of the remote cockpit 600 will be described with reference to FIGS. FIG. 17 is a flowchart showing the calculation processing procedure of the calculation processing unit 56A, and FIG. 18 is a flowchart showing the calculation processing procedure of the calculation processing unit 78.

  17, steps S100 to S120 and S170 are the same as steps S100 to S120 and S170 in FIG. 8, and in FIG. 18, steps S130 to S160 are the same as steps S130 to S160 in FIG.

  In FIG. 17, the transformation matrix 0H3 from the global coordinate system to the camera coordinate system calculated in step S120 using the positions P1, P2 and the inclination angle θp measured in steps S100 and S110 is wirelessly transmitted to the remote cockpit 600 side. (Step S210). Further, it is determined whether or not the left and right direction target angles αp and up and down direction target angles αt of the camera 50 have been received (step S220), and if the target angles αp and αt are received, the target angles αp and αt are changed to the left and right in step S170. It outputs to the camera control apparatus 52 as a direction command value and an up-down direction command value.

  In FIG. 18, the transformation matrix 0H3 transmitted from the in-vehicle device 500 side is received wirelessly (step S230), and if it is determined that the target is instructed (selected) in step S130, the left and right direction of the camera 50 is determined in steps S140 to S160. A target angle αp and a vertical target angle αt are calculated. Next, the target angles αp, αt are wirelessly transmitted to the in-vehicle device 500 (step S240).

  As described above, in the present embodiment, the direction of the camera 50 can be tracked to the target P4 in real time by operating the target input device 54 on the remote cockpit 600 side.

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

  In addition, when the work machine is remotely controlled by radio, the camera image is important information for the operator to control. In the present embodiment, the position (target) of the work target is automatically captured and displayed. Therefore, it is possible to enlarge and display the work object as compared with the case where the periphery of the work attachment is displayed vaguely, thereby improving work efficiency and preventing work mistakes.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the external appearance of the landmine processing machine carrying the camera direction control apparatus of the working machine concerning one embodiment of this invention. It is a figure which shows the external appearance of the mine disposal machine, and is a thing at the time of exchanging an attachment for a skeleton bucket. It is an enlarged view of a camera and an electric pan head. 1 is a block diagram showing the overall configuration of a landmine treatment system including a camera direction control device according to an embodiment of the present invention. It is a figure which shows an example of the screen displayed on the display part of a vehicle-mounted apparatus. It is a figure which shows the coordinate system used by a calculation process. It is a figure explaining the concept of a global coordinate system. It is a flowchart which shows the calculation processing procedure of a camera imaging | photography direction. It is a block diagram which shows the process function of a camera control apparatus, and the structure of an electrically-driven pan head. 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 removal operation | work using the skeleton bucket in a removal 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 block diagram which shows the whole structure of the landmine disposal system containing the camera direction control apparatus of the working machine concerning other embodiment of this invention. It is a flowchart which shows the calculation process procedure of the camera imaging | photography direction by the vehicle equipment side. It is a flowchart which shows the calculation processing procedure of the camera imaging | photography direction by the side of a remote cockpit.

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 9 Attachment attaching / detaching device 10 Special bulletproof glass 11 Guard 12 Rotating drum 13 Cutter bit 14 Rotary cutter 15 Skeleton bucket 16 Rake 17 Scatter prevention Blade 18 Explosive exploration sensor 19 Telescopic arm 20 Exploration 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)
31 Radio (Correction data reception)
32 Distributor 33 GPS receiver A
34 GPS receiver B
37 Trigger switch (anti-personnel mine)
38 Trigger switch (anti-tank mine)
39 Trigger switch (unexploded)
41 Trigger switch (removal)
DESCRIPTION OF SYMBOLS 50 Camera 51 Electric pan head 52 Camera control apparatus 53 Camera monitor 54 Target input device (target selection means)
56 Arithmetic Processing Unit 58 Search Result DB
59 Target position instruction output interface 60 Wireless input / output interface 61, 63, 65, 67 Radio 62, 64, 66, 68 Antenna 70, 72, 76, 81 Radio 71, 74, 77, 82 Antenna 73 Car body controller 75 Wireless I / O interface 78 Arithmetic processing unit 84 Display unit (display device)
402 Detailed display screen 406 Mesh state display area 407 Wire frame image of landmine disposer 408 Detection point 500 In-vehicle device 600 Remote cockpit

Claims (4)

The camera is mounted on the fuselage, Oite to work machinery to perform the work by displaying an image taken by the camera on the camera monitor,
Storage means for storing position data of a work area including position data of a target to be worked;
A display device that is provided separately from the camera monitor and displays the state of the work area around the work machine including the target to be worked based on the position data of the work area stored in the storage means ;
A camera direction control device,
The camera direction control device
A target selection means for selecting a target to be the work object on a screen of said display device,
Control means for performing calculation for directing the shooting direction of the camera toward the target when the target is selected by the target selection means, and controlling the shooting direction of the camera toward the target. Work machine . Oite working machinery according to claim 1,
The camera direction control device further includes a measuring means to measure the three-dimensional position of the working machine,
The measuring means measures a three-dimensional position of the work machine as a value of a reference coordinate system set outside the work machine;
Position data of the work area to be stored in the storage means is stored as the value of the reference coordinate system,
Wherein the control unit acquires position data of the target from the storage means and the target is selected by said target object selecting means, wherein the target using the three-dimensional position of the working machine which is measured by the measuring means The position data of the object is converted into a value of the camera coordinate system set in the camera, and a control amount for directing the camera to the target is calculated using the position data, and the shooting direction of the camera is controlled. A working machine characterized by that. Oite working machinery according to claim 1,
The work machine is a landmine disposer;
The display device divides a work area into a number of meshes, displays exploration results for each mesh, and displays an image of a landmine disposer on the work area screen,
A working machine, wherein the target selecting means selects a mesh on which the target is located. The camera is mounted on the fuselage, Oite to work machinery to perform the work by displaying an image taken by the camera on the camera monitor,
A display device for displaying a state of a work area around the work machine;
A camera direction control device,
The camera direction control device
A target selection means for selecting a target to be worked on the screen of the display device;
Control means for performing an operation for directing the shooting direction of the camera toward the target when the target is selected by the target selection means, and controlling the shooting direction of the camera toward the target;
An in-vehicle device installed in the work machine, and a remote cockpit located at a location away from the work machine,
The camera monitor, display device, and target selection means are arranged in the remote cockpit, and the camera image is wirelessly transmitted from the in-vehicle device to the remote cockpit and displayed on the camera monitor. wherein the arithmetic processing unit of the control device to a remote cockpit to distributed work machine, characterized in that for exchanging data of each arithmetic processing unit with the in-vehicle device and the remote cockpit wirelessly with.

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