JPH0763558A - Method for collimating tracking device - Google Patents

Abstract

PURPOSE:To automatically and surely collimate a subject to be collimated even when a tracking device is largely shifted from the subject, enhance the efficiency of collimating work, and save the labor. CONSTITUTION:An automatic tracking device 12 is collimated with a prescribed pattern according to a collimating program, whereby the coloring coating area of a working vehicle side automatic tracking device 13 is searched by a collimating telescope 124. When the appearance of the coloring coating area in the visual field of the collimating telescope 124 is confirmed by an image processing device 142, it is switched to collimation control by image processing, and the distance between the center of gravity of the coloring coating area image extracted by the image processing device 142 and the collimating cross mark of the collimating telescope 124 is calculated from the picture element coordinate on an image memory 144. Driving motors 12c, 12g are feedback controlled so that the center of gravity of the coloring coating area is put on the collimating cross mark on the basis of this calculated distance data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collimation method for a tracking device that automatically tracks the movement of the other party using a radio wave or light having a strong directivity, and more specifically, a tracking device for tracking a tracking target. The present invention relates to a collimation method for a tracking device, which is capable of automatically performing the collimation at the first collimation.

[0002]

2. Description of the Related Art In recent years, on a vast construction site for construction, a work machine such as a power shovel for automatically performing a predetermined work is remotely operated from a base station such as a field office provided in a corner of the construction site. Is being attempted. For example, when remotely controlling a work machine at a construction site from the base station, the position of the work machine changes as the work progresses, so the work machine is automatically tracked from the base station or from the work machine to the work machine. It is desirable to accurately grasp the relative position between the base station and the base station so that control information for remote operation can be accurately transmitted from the base station to the work machine.

For this reason, conventionally, an automatic tracking device is installed in each of the base station and the work machine, and each automatic tracking device emits light toward a tracking target on the other side and reflects it from the target on the other side. An automatic tracking system that adjusts each automatic tracking device upward, downward and left and right so that it can always receive reflected light, that is, can collimate the other side, and control both tracking devices so that they are always facing each other. Have already been proposed by the applicants.
In addition, short-wave radio waves and light with strong directivity are used for data communication and distance measurement between the base station and the work machine, but with this kind of radio waves or light, the collimation axis line between transmission and reception is used. Even a slight deviation will hinder communication or distance measurement, and in the worst case, communication or distance measurement will be impossible. Therefore, when the control signal is transmitted from the base station to the work machine while measuring the distance between the base station and the work machine to remotely control the work machine, the transmitter / receiver of the base station and the work machine needs to know the movement of the other party. It is necessary to have an automatic tracking function for tracking.

[0004]

However, the currently proposed automatic tracking device cannot track a rapid change. Therefore, for example, when an automatic tracking device is mounted on a work machine such as a crawler dump that automatically travels inside a construction site and continuous communication with a base station and the position of the work machine are measured, the automatic tracking device is the partner. There are cases where it is not possible to track the movements of. In such a case, when the function such as communication is stopped due to the tracking failure, the tracking apparatus can be restored by collimating the tracking apparatus. However, when the collimation position of the automatic tracking device largely shifts due to a rapid change in the working machine, automatic collimation by the automatic tracking device is impossible. Therefore, in the past, the tracking device was manually operated while looking through the collimation telescope attached to the automatic tracking device to search for and collimate the target on the other side. However, the work machine remotely controlled from the base station is often far from the base station, and the tracking device is often installed at the highest position of the work machine. It takes a lot of time to collimate the target, and the returning operation is troublesome and requires a lot of human labor.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to automatically and reliably track a tracking target even if the tracking device is largely deviated from the tracking target. It is an object of the present invention to provide a collimating method for a tracking device, which is capable of collimating to a high degree and is capable of improving the efficiency of collimation work and saving labor.

[0006]

In order to achieve the above object, the present invention is a collimation method for first collimating a tracking device for automatically tracking the movement of the opponent to a tracking target, A target for collimation is provided on the tracked target, a telescope for collimating the tracking target and an imaging camera for photographing the tracked target through the telescope are provided on the tracking device, and the tracking device is predetermined for the tracked target. By searching the collimation target of the tracking target by the imaging camera by collimating scanning in the pattern of, by the image processing to identify that the collimation target appeared in the field of view of the imaging camera by the search. The target image is extracted and the center of gravity of the target image is obtained, and the collimation mark of the collimation telescope is extracted by image processing as a reference point for collimation. It was configured for collimating the target tracking target orientation of the tracking device so that the center of gravity of the image coincides with the collimation mark automatically controlled manner.

Further, according to the present invention, the collimation target is formed by coating the tracking target with a color that can be clearly distinguished from the others.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration when the method of the present invention is applied to remote control of a crawler dump (hereinafter referred to as a working vehicle). In FIG. 1, 10 is a control center corresponding to a site office or the like installed at a position overlooking almost the entire construction site such as a land development site, 11 is a working vehicle that automatically travels inside the construction site, and 12 is the roof of the control center 10. , 13 is an automatic tracking device installed at the highest position such as the driver's seat of the working vehicle 11,
The automatic tracking devices 12 and 13 are both automatically controlled so that their front faces always face each other. Further, a part or all of the surfaces of the automatic tracking devices 12 and 13 are painted in a color that can be clearly distinguished from other colors such as red and yellow,
As a result, the automatic tracking devices 12 and 13 themselves function as both collimation targets. A central control device 14 and a remote control device 15 are installed in the control center 10.

Next, the configuration of FIGS. 2 to 5 will be described. FIG. 2 is a schematic front view of the control center side automatic tracking device 12. In FIG. 2, the automatic tracking device 12
Is mounted on the roof of the control center 10, a horizontal swivel base 12b installed on the substrate 12a, a drive motor 12c for swiveling the swivel base 12b by 360 degrees, and fixed on the swivel base 12b. An inverted gate-shaped support frame 12d, and a shaft 12 horizontally mounted on the top of the support frame 12d
The first support member 12f attached to the e so as to be tiltable upward and downward, the drive motor 12g for tilting the support member 12f upward and downward, and the first support member 12
A second support member 12h fixed on f is provided. On the first support member 12f, a tracking light and an optical signal sent from a light emitting lens system 121 that also performs tracking and communication and a light emitting lens system (described later) of the automatic tracking device 13 on the working vehicle 11 side are provided. A receiving light receiving lens system 122 is installed facing the front. Further, on the second supporting member 12h, an optical wave range finder 123 for measuring the distance from the reference point of the control center 10 to the working vehicle 11 and a collimating telescope 124 with a zoom are installed facing the front.

FIG. 3 is a schematic front view of the automatic tracking device 13 on the working vehicle side. In FIG. 3, the automatic tracking device 13
Is an installation board 13a fixed on the roof of the work vehicle 11.
And a horizontal rotation base 13b installed on the substrate 13a and a drive motor 13 for rotating the rotation base 13b by 360 degrees.
c and an inverted gate type support frame 13d fixed on the swivel base 13b
And a first support member 1 attached to a shaft 13e horizontally mounted on the upper part of the support frame 13d so as to be tiltable upward and downward.
3f and a drive motor 13g for tilting the support member 13f upward and downward, and a second support member 13h fixed on the first support member 13f. The first support member 13f includes a lens system 13 for light emission that combines tracking and communication.
1 and the automatic tracking device 12 on the control center 10 side
A light-receiving lens system 132 for receiving the tracking light and the optical signal sent from the light-emitting lens system 121 is installed facing the front. The second support member 13h reflects a light wave from the light wave range finder 123 of the control center 10 and returns it to the light wave range finder 123.
Also, a collimating telescope 134 with a zoom is installed facing the front.

FIG. 4 is a schematic block diagram showing the structures of the collimation control unit and the remote control unit on the control center side.
In FIG. 4, the central controller 14 is an automatic tracking device 12.
A central processing unit (hereinafter abbreviated as CPU) 141 that controls and manages the entire collimation device including a target image on the collimation side from an image captured by the CCD camera 21 through the collimation telescope 124 (coloring of the automatic tracking device 13). Equivalent to the painting section)
A display device 1 including an image processing device 142 for extracting an image, a CPU 141, and a CRT connected to the image processing device 142.
43, and an image memory 144 for storing the image data processed by the image processing device 142. Connected to the CPU 141 are a remote operation device 15 such as a joystick for remotely operating the work vehicle 11, an input device 16 such as a keyboard, and a memory 145 for storing a collimation scanning program and the like. In addition, the CPU 141
Calculates the center of gravity of the target image extracted by the image processing device 142, and calculates the distance between this center of gravity and the collimation crosshair mark of the collimating telescope 124 photographed by the CCD camera 21 from the pixel coordinates on the image memory 144. It has a function of calculating and outputting as a control command for target collimation.

Image processing unit 14 of the central control unit 14
2 and the collimation CCD camera 21 of the automatic tracking device 12,
It is connected via a signal transmission unit 22 including a photocoupler and the like, and the image signal of the CCD camera 21 is transmitted to the image processing device 142 by this signal transmission unit 22. The CCD camera 21 is attached to the eyepiece of the collimating telescope 124 with their optical central axes aligned.

Turning drive motor 12 of automatic tracking device 12
c and the vertical tilt drive motor 12g are connected to a motor drive control circuit 23, and the motor drive control circuit 23 and the CPU 141 of the central control unit 14 are connected via a signal transmission unit 24 such as a photocoupler. In addition, the light emitting lens system 121 of the automatic tracking device 12 includes the CPU 141.
The light-receiving lens system 122 includes an electro-optical conversion unit 121a that converts communication data and a tracking electric signal transmitted from the device through the signal transmission unit 25 into light and sends the light to the lens system. The optical / electrical converter 122a for converting the optical signal for communication and the tracking light from the automatic tracking device 13 inputted through the system into an electric signal is provided, and the electric / optical converter 121a, the optical / electrical converter 122a, and Lightwave rangefinder 12
3 is C via a signal transmission unit 25 including a photocoupler and the like.
It is connected to the PU 141.

FIG. 5 is a schematic block diagram showing the configuration of the control unit of the working vehicle and the collimation control unit of the automatic tracking device. In FIG. 5, 31 is a working vehicle 11 and an automatic tracking device 13.
A central processing unit (hereinafter abbreviated as CPU) that controls and manages the whole, and 32 is a collimating telescope 134 of the automatic tracking device 13.
An image processing device for extracting a target image on the collimation side (corresponding to a colored coating portion of the automatic tracking device 12) from an image captured by the CCD camera 33 through the image processing device 32.
The image memory 41 stores the image data processed in step 4, and 41 is a memory which is connected to the CPU 31 and stores a collimation scanning program and the like. Further, 42 is an input device such as a keyboard connected to the CPU 31, and 43 is an LCD display device connected to the CPU 31. The image processing device 32 and the collimation CCD camera 33 are connected via a signal transmission unit 34 including a photocoupler, and the image signal of the CCD camera 33 is transmitted to the image processing device 32 by this signal transmission unit 34. Further, the CPU 31 calculates the center of gravity of the target image extracted by the image processing device 32, and determines the distance between this center of gravity and the collimation crosshair mark of the collimation telescope 134 photographed by the CCD camera 33 on the image memory 40. It has a function of calculating from pixel coordinates and outputting it as a control command for target collimation. The CCD camera 33 is attached to the eyepiece of the collimating telescope 134 with their optical central axes aligned with each other.

Turning drive motor 13 of automatic tracking device 13
c and the vertical tilt drive motor 13g are connected to a motor drive control circuit 35, and the motor drive control circuit 35 and CP
The U31s are connected to each other via a signal transmission unit 36 including a photocoupler. Further, the light emitting lens system 131 of the automatic tracking device 13 is an electro-optical conversion unit that converts the communication data and the tracking electric signal transmitted from the CPU 31 via the signal transmission unit 37 into light and sends the light to the lens system. 131a, and the light-receiving lens system 132 further includes an optical / electrical conversion unit 132a for converting the communication optical signal and the tracking light from the automatic tracking device 12 input through the lens system into an electrical signal.
The optical / electrical conversion unit 131a and the optical / electrical conversion unit 132a are provided with a signal transmission unit 37 including a photocoupler and the like.
It is connected to the CPU 31 via.

In FIG. 5, reference numeral 38 denotes an operation control circuit which causes the work vehicle 11 to automatically travel along a programmed travel route and to perform a predetermined work such as dumping up. The operation control circuit 38 is a photocoupler or the like. Is connected to the CPU 31 via a signal transmission section 39 consisting of
A drive device 111 such as a down drive unit is connected.

Next, the operation of this embodiment configured as described above will be described. Initialization of collimation when the working vehicle 11 is remotely operated from the control center 10 or collimation when the collimation directions of the automatic tracking devices 12 and 13 are largely deviated will be described. When collimating the working vehicle 11 side from the control center 10, first, the input device 1
A collimation start command is input by operating the keyboard or the like of 6. When this collimation start command is fetched by the CPU 141, the CPU 141 reads the collimation program from the memory 145, decodes the read data and converts it into a collimation operation command signal, and then transmits this collimation operation command signal. It is transmitted to the drive control circuit 23 by the section 24. In the drive control circuit 23, by applying the drive signal output from this to the drive motors 12c and 12g,
The respective drive motors 12c and 12g are rotationally controlled, and the automatic tracking device 12 is horizontally scanned at a predetermined scanning interval from the upper left end to the lower right end in a predetermined horizontal angle range in accordance with the collimation program. As a result, the collimation telescope 124 searches for the automatic tracking device 13 that is the collimation target.

At this time, an image within the field of view of the collimation telescope 124 is photographed by the CCD camera 21 together with the collimation cross mark of the telescope 124, converted into an image signal by the CCD camera 21, and then transmitted. It is transmitted to the image processing device 142 by the unit 22. In the image processing device 142, the captured image is subjected to predetermined processing to
The process of binarizing and extracting the colored coating area of the automatic tracking device 13 is performed. Further, the processed image data is stored in the image memory 14
4 and is displayed on the CRT display device 143.

During the collimation operation by the collimation program, if the colored coating area of the automatic tracking device 13 appears in the field of view of the collimation telescope 124, the collimation operation by the collimation program is stopped and the image is processed by the image processing. Move to semi-control. In the collimation control by this image processing, the automatic tracking device 1
When the colored coating area 3 is extracted by the image processing device 142,
The CPU 141 determines the center of gravity of the extracted colored coating area image (hereinafter referred to as the target image) and the distance between this center of gravity and the collimation crosshair mark of the collimation telescope 124 photographed by the CCD camera 21 in pixels on the image memory 144. Calculate from coordinates. The calculated distance data is sent to the signal transmission unit 24.
Is sent to the drive control circuit 23 as a control command for target collimation.

In the drive control circuit 23, the drive motors 12c and 12g are feedback-controlled on the basis of the above-mentioned control command signal, so that the center of gravity of the target image is automatically tracked so that the center of gravity of the target image overlaps the collimation cross mark of the collimation telescope 124. The device 12 is accurately collimated to the colored coating area of the automatic tracking device 13. As a result, the automatic tracking device 12 on the control center side can be collimated to the target on the working vehicle side without human intervention.

Next, a case where the control center 10 is collimated from the working vehicle 11 side will be described. In this case, first, the collimation start command is input by operating the keyboard or the like of the input device 42. When this collimation start command is fetched by the CPU 31, the CPU 31 reads the collimation program from the memory 41, decodes the read data and converts it into a collimation operation command signal, and then transmits this collimation operation command signal. It is transmitted to the drive control circuit 35 by the unit 36. In the drive control circuit 35, the drive signals output from this are applied to the drive motors 13c and 13g so as to control the rotation of the respective drive motors 13c and 13g, and the automatic tracking device 13 is operated according to the collimation program, for example, at a predetermined horizontal angle. Horizontal scanning operation is performed at a predetermined scanning interval from the upper left end to the lower right end in the range. Thus, the collimation telescope 134 is searched for the automatic tracking device 12 that is the collimation target.

At this time, an image within the field of view of the collimation telescope 134 is photographed by the CCD camera 33 together with the collimation cross mark of the telescope 134, converted into an image signal by the CCD camera 33, and then transmitted. It is transmitted to the image processing device 32 by the unit 34. In the image processing device 32, the captured image is binarized by performing a predetermined process to perform a process of extracting a colored coating area of the automatic tracking device 12. The processed image data is stored in the image memory 41 and displayed on the LCD display device 43.

When the colored coating area of the automatic tracking device 12 appears in the field of view of the collimation telescope 134 during the collimation operation by the collimation program, the collimation operation by the collimation program is stopped and the image processing is performed. Move to semi-control. In the collimation control by this image processing, the automatic tracking device 1
When the second colored coating area is extracted by the image processing device 32, C
The PU 31 calculates the center of gravity of the extracted colored coating area image (hereinafter referred to as the target image), and calculates the distance between the center of gravity and the collimation crosshair mark of the collimation telescope 134 captured by the CCD camera 33 in the image memory 40. It is calculated from the pixel coordinates above. The calculated distance data is sent to the drive control circuit 35 by the signal transmission unit 36 as a control command for target collimation.

In the drive control circuit 35, the drive motors 13c and 13g are feedback-controlled on the basis of the above-mentioned control command signal, so that the center of gravity of the target image is automatically tracked so that the center of gravity of the target image overlaps the collimation cross mark of the collimation telescope 134. The device 13 is accurately collimated to the colored coating area of the automatic tracking device 12. Thus, the automatic tracking device 13 on the working vehicle side can be collimated to the target on the control center side without manpower.

Both of the automatic tracking devices 12 and 13 collimated as described above have their front faces facing each other. Therefore, if both automatic tracking devices 12 and 13 are set to the automatic tracking mode, the respective automatic tracking devices 12 and 13 are automatically set. The tracking devices 12 and 13 perform bidirectional tracking operations. That is, in the automatic tracking device 12 on the control center side, the automatic tracking device 13 on the working vehicle side
The tracking light which is periodically emitted through the light emitting lens system 131 is passed through the light receiving lens system 122 to the photoelectric conversion unit 12.
The drive motors 12c and 12g are driven and controlled by the control signal from the CPU 141 so that the lens system for light emission and light reception of the automatic tracking device 12 can be received by 2a. The orientation of the automatic tracking device 12 is accurately aligned so as to face the system.

Similarly, in the automatic tracking device 13 on the working vehicle side, the tracking light periodically emitted through the light emitting lens system 121 of the automatic tracking device 12 on the control center side is passed through the light receiving lens system 132. The drive motors 13c and 13g are drive-controlled by the control signal from the CPU 31 so that the optical / electrical conversion unit 132a can receive the light, and the lens system for light emission and light reception of the automatic tracking device 13 is for light emission of the automatic tracking device 12. Also, the direction of the automatic tracking device 13 is accurately aligned so as to face the lens system for receiving light.
In the same manner, the automatic tracking devices 12 and 13 are bidirectionally tracked by the tracking light so that both the light-emitting and light-receiving lens systems are held in a position in which they face each other, and the light-emitting and light-receiving lens systems in this state are held. It enables optical communication between the two using a lens system for use.

On the other hand, when the automatic tracking devices 12 and 13 are in bidirectional tracking operation, the control center 1
When the operator remotely operates the work vehicle from 0, when the operator turns on a start switch (not shown) on the remote control device 15, the CPU 141 that has decoded the start switch reads the lightwave rangefinder 12
3 sends an operation command to the lightwave distance meter 123 to keep it in an operating state. Along with this, in the light wave range finder 123, the light wave is sent out to the distance measuring reflection mirror 133 of the working vehicle side automatic tracking device 13, and the light wave reflected by the reflection mirror 133 is received by the light wave range finder 123, whereby the control is performed. The CPU 141 calculates the distance from the center 10 to the work vehicle 11. Then, based on the distance data, the position coordinates of the working vehicle 11 in the work area are obtained, and the working vehicle 11 is automatically moved along the moving route while comparing the position coordinates with preset moving route data. To the work vehicle 11 by an optical communication means while transmitting the operation command by operating the remote control device 15 to the work vehicle 1.
1 is remotely controlled according to the operation command.

Thus, in this embodiment, when the working vehicle 11 is collimated from the control center 10 side,
The collimation telescope 1 is operated by collimating the automatic tracking device 12 in a predetermined pattern according to the collimation program.
If the image processing device 142 recognizes that the colored coating area of the automatic tracking device 13 appears in the field of view of the collimation telescope 124, the visual processing is performed by searching the colored coating area of the working vehicle side automatic tracking device 13 at 24. The collimation operation by the application program is stopped, and the control is switched to the collimation control by image processing. Then, the center of gravity of the colored coating area image of the automatic tracking device 13 extracted by the image processing device 142, and this center of gravity and the collimating telescope 1
The distance between the 24 collimating crosshair marks is calculated in the image memory 144.
The drive motors 12c and 12g are feedback-controlled so as to be calculated from the pixel coordinates above, and based on the calculated distance data, the center of gravity of the colored coating area that is the target overlaps the collimation cross mark of the collimation telescope 124. Since the configuration is adopted, the automatic tracking device 12 on the control center side is automatically changed to the automatic tracking device 13 of the working vehicle 11 to be collimated on the CRT display screen without looking through the collimation telescope 124 as in the conventional case. Can be collimated. Therefore, it is possible to significantly shorten the collimation time at the time of initial setting in which the automatic tracking device 12 is first collimated to the target on the side of the working vehicle, or when the direction of the automatic tracking device 12 is largely deviated, and also the operator. Collimation of places that cannot be easily entered can be easily performed. Further, since the collimation target can be automatically collimated by the image processing, one operator can operate a plurality of sets, and it is possible to significantly save labor and labor. Furthermore, by adjusting the zoom lens of the collimating telescope 124, the widest field of view can be secured within the range in which the target working vehicle can be identified and image processed.
Wide range collimation can also be done automatically.

Further, in the above embodiment, the working vehicle 1
When collimating the control center 10 from the first side, the collimation telescope 13 is operated by collimating the automatic tracking device 13 in a predetermined pattern according to the collimation program.
In step 4, the colored coating area of the automatic tracking device 12 on the control center side is searched, and the colored coating area of the automatic tracking device 12 appears in the field of view of the collimation telescope 134.
If it is recognized by, the collimation operation by the collimation program is stopped, and the control is switched to the collimation control by image processing. Then, the center of gravity of the colored coating area image of the automatic tracking device 12 extracted by the image processing device 32 and the distance between this center of gravity and the collimation crosshair mark of the collimation telescope 134 are calculated from the pixel coordinates on the image memory 40, Based on the calculated distance data, the drive motors 13c and 13g are feedback-controlled so that the center of gravity of the target colored coating area overlaps the collimation cross mark of the collimation telescope 134. The collimation telescope 134
The automatic tracking device 13 on the side of the working vehicle can be automatically collimated to the automatic tracking device 12 of the control center 10 to be collimated without looking through. Therefore, even when the control center side is collimated from the automatic tracking device 13 side, the collimation time is greatly shortened and the collimation work efficiency is improved, as in the case of collimating the working vehicle side from the control center side. Can be planned.

In the above embodiment, the case where the remotely operated work vehicle and the automatic tracking device of the control center are collimated by both sides has been described, but the present invention is not limited to this and is described in the claims. As long as the range is not exceeded
Various modifications are possible. Further, in the above embodiment, the case where the tracking target is configured by painting a color that can be clearly distinguished from the others in the automatic tracking device as the tracking target, is not limited to this, and a light emitting lamp or the like is used. May be.

[0031]

As described above, according to the present invention, there is provided a collimation method for first collimating a tracking device that automatically tracks the movement of the opponent to the tracking target, which is the tracking target. A target for collimation is provided to the tracking device, and a tracking target collimating telescope and an imaging camera for photographing the tracked target through the telescope are provided, and the tracking device is viewed in a predetermined pattern with respect to the tracked target. The image pickup camera searches for the collimation target of the tracking target by performing quasi-scanning, and it is identified by image processing that the collimation target appears in the visual field of the image pickup camera, and the target image is extracted. The center of gravity of the target image is obtained, and the collimation mark of the collimation telescope is extracted by image processing as a reference point for collimation. Since the direction of the tracking device is automatically controlled so as to match the collimation mark and the tracking target is collimated, even if the tracking device deviates greatly from the tracking target, the tracking target Can be automatically and reliably collimated, easy wide-range automatic collimation is also facilitated, it is possible to achieve high efficiency of collimation work and labor saving, Further, in the present invention, for collimation By configuring the target by painting the tracked target with a color that can be clearly distinguished from the others, the target configuration and its search can be facilitated.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration when the method of the present invention is applied to remote control of a work vehicle.

FIG. 2 is a schematic front view of an automatic tracking device on the control center side in the present embodiment.

FIG. 3 is a schematic front view of an automatic tracking device on the working vehicle side in the present embodiment.

FIG. 4 is a schematic block diagram showing the configurations of a collimation control unit and a remote control unit on the control center side in the present embodiment.

FIG. 5 is a schematic block diagram showing a configuration of a working vehicle control unit and a collimation control unit of the automatic tracking device in the present embodiment.

[Explanation of symbols]

 10 control center 11 working vehicle 12 automatic tracking device 12c turning drive motor 12g tilting drive motor 13 automatic tracking device 13c turning drive motor 13g tilting drive motor 14 central control device 15 remote control device 16 input device 21 CCD camera 31 CPU 32 image processing device 33 CCD camera 42 input device 124 collimation telescope 134 collimation telescope 141 CPU 142 image processing device

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location // G01B 11/00 D

Claims (2)

[Claims] 1. A collimation method for first collimating a tracking device that automatically tracks the movement of an opponent to a tracking target, wherein the tracking target is provided with a target for collimation. A tracking target collimating telescope and an imaging camera that captures the tracked target through the telescope are provided, and the tracking target is viewed by collimating the tracking device in a predetermined pattern with respect to the tracked target. Searching for a quasi-target with the imaging camera, identifying that the collimation target has appeared in the field of view of the imaging camera by the search and extracting the target image and obtaining the center of gravity of the target image, The collimation mark of the collimation telescope is extracted by image processing as a reference point for collimation, and the tracking is performed so that the center of gravity of the target image matches the collimation mark. The orientation of the device automatically controlled to collimate the target tracking target, quasi method visual tracking device, characterized in that. 2. The collimation method for a tracking device according to claim 1, wherein the collimation target is formed by coating the tracking target with a color that can be clearly distinguished from the others.