WATER SPRINKLER SYSTEM, INDICATOR DEVICE AND CONTROL METHOD FOR WATER SPRINKLERS

Abstract

A water sprinkler system (1) is a water sprinkler system used for demolition work, comprising a camera (4), a display screen (61), and a control unit (5). The camera (4) captures an image of a demolition site. The display screen (61) shows an image acquired by the camera (4). The control unit (5) determines at least one aspect of the water sprinkler direction, water sprinkler quantity, or water sprinkler pressure of a first water sprinkler (31) or a second water sprinkler (32) based on a water sprinkler area specified on the image displayed on the display screen (61).

Description

TECHNICAL AREA

[0001] The present invention relates to a water sprinkler system, a display device and a control method for a water sprinkler. STATE OF THE ART

[0002] At a building demolition site, a large amount of dust is generated during demolition work. To suppress the dust, water spraying is carried out during the demolition work.

[0003] During the demolition of a building or similar structure, interior demolition, block demolition, upper floor demolition, frame demolition, underground demolition, demolition of timber structures, and similar operations are carried out. Subsequently, the foundation demolition is performed accordingly. In many of these processes, such as the demolition of upper floors, frame demolition, underground demolition, demolition of timber structures, and foundation demolition, it is necessary to conduct water spraying to prevent the spread of dust. Furthermore, the importance of water spraying at demolition sites is constantly increasing due to the presence of asbestos and similar materials.

[0004] To avoid the need for a person to carry out such water sprinkling work at a demolition site, a water sprinkling device has been disclosed in which a nozzle of a water sprinkler is controlled based on a radio command from a transmitter operated by an operator (see, for example, patent document 1). LITERATURE LIST Patent literature

[0005] Patent Document 1: JP 2008-307516 A BRIEF SUMMARY OF THE INVENTION

[0006] However, the water sprinkler device disclosed in patent document 1 requires that the operator always directly recognizes an area in which the water sprinkler is being carried out, which makes it difficult to improve work efficiency.

[0007] One objective of the present disclosure is to provide a water sprinkler system, a display device and a control method for a water sprinkler, which enable an improvement in work efficiency. SOLUTION TO THE PROBLEM

[0008] A water sprinkler system according to a first aspect of the present disclosure is a water sprinkler system used for demolition work and includes an image acquisition unit, a display unit, and a control unit. The image acquisition unit captures an image of a demolition site. The display unit shows an image acquired by the image acquisition unit. The control unit determines at least one of the water sprinkler direction, water sprinkler quantity, or water sprinkler pressure, based on a water sprinkler area specified in the image displayed on the display unit.

[0009] A display device according to a second aspect of the present disclosure is a display device used for a process to control a water sprinkler used in demolition work and includes a display screen and an instruction unit. The display screen shows a demolition site based on an image or a 3D model. The instruction unit identifies a water sprinkler area in the image or the displayed 3D model.

[0010] A control method for a water sprinkler according to a third aspect of the present disclosure is a control method for a water sprinkler used in demolition work and includes an acquisition step, a display step, and a decision step. In the acquisition step, an image of a demolition site is acquired. In the display step, the image acquired in the acquisition step is displayed. In the decision step, based on a water sprinkler area specified in the image displayed in the display step, at least one of the water sprinkler's sprinkler direction, sprinkler quantity, or sprinkler pressure is determined.

[0011] A water sprinkler system according to a fourth aspect of the present disclosure is a water sprinkler system for use in demolition work and includes a working machine, an operating unit, an image acquisition unit, a display unit, and a control unit. A water sprinkler is attached to the working machine. The operating unit operates the water sprinkler. The image acquisition unit captures an image of a demolition site. The display unit shows an image acquired by the image acquisition unit. The control unit executes the control of the water sprinkler based on an operation of the operating unit.

[0012] A control method for a water sprinkler according to a fifth aspect of the present disclosure is a control method for a water sprinkler used in demolition work and includes a capture step, a display step, and a control step. In the capture step, an image is acquired by taking a picture of a demolition site. In the display step, the image acquired in the capture step is displayed. In the control step, the water spraying by the water sprinkler is controlled in response to an event based on the acquired image displayed in the display step. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0013] According to the present disclosure, it is possible to provide a water sprinkler system, a display device and a control method for a water sprinkler, with which an improvement in work efficiency can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a view illustrating a demolition site where a water sprinkler system according to a first embodiment is used. Fig. Figure 2 is a view illustrating a configuration of the water sprinkler system of the first embodiment. Fig. Figure 3 is a perspective view illustrating a water sprinkler attachment and a camera of the water sprinkler system according to the first embodiment. Fig. Figure 4 is a block diagram describing a configuration for controlling the water sprinkler system according to the first embodiment. Fig. Figure 5 is a view illustrating a display device of the water sprinkler system according to the first embodiment. Fig. Figure 6A is a view illustrating a state in which an execution area of ​​the water spray is specified in the display device. Fig. Figure 6B is a view illustrating a condition in which a water spray prohibition area is specified in the display device. Fig. 6C is a view illustrating a state in which a focus area of ​​the water spray is specified in the display device. Fig. 6D is a view illustrating a state in which a first execution area of ​​the water spray and a second execution area of ​​the water spray are specified in the display device. Fig. 7A is a view that illustrates another example of a domain designation procedure. Fig. 7B is a view that illustrates another example of the area designation procedure. Fig. 7C is a view that illustrates another example of the area designation procedure. Fig. 7D is a view that illustrates another example of the area designation procedure. Fig. 7E is a view that illustrates another example of the domain designation procedure. Fig. 7F is a view that illustrates another example of the area designation procedure. Fig. 8A is a view illustrating an example of a water irrigation route. Fig. 8B is a view illustrating an example of the water irrigation route. Fig. 8C is a view illustrating an example of the water irrigation route. Fig. 8D is a view that illustrates an example of the water irrigation route. Fig. 8E is a view that illustrates a water sprinkler route when applying vibration. Fig. Figure 9 is a view illustrating the water sprinkler route in the display device. Fig. Figure 10 is a flowchart illustrating a control process of the water sprinkler system according to the first embodiment. Fig. Figure 11 is a block diagram describing a configuration for the control of a water sprinkler system according to a second embodiment. Fig. Figure 12 is a view illustrating an example of the display in the display device. Fig. Figure 13 is a flowchart illustrating a control process of the water sprinkler system according to the second embodiment. Fig. Figure 14 is a view illustrating a display screen of a display device in a modified example according to the second embodiment. DESCRIPTION OF EXECUTION FORMS

[0014] With reference to the drawings, a water sprinkler system according to the present disclosure is described below. First embodiment

[0015] A water sprinkler system 1 according to a first embodiment is described below. Overview of the water irrigation system 1

[0016] Fig. Figure 1 is a view illustrating a demolition site 100 where the water sprinkler system 1 according to the present embodiment is used. On the Fig. Figure 1 illustrates a demolition site 100 in which two work machines 300 and 400 are carrying out demolition work on a building 200. A work machine 2 is also illustrated, which performs a water spraying operation. The water spraying system 1 of the present embodiment performs a water spraying operation at the demolition site 100.

[0017] Fig. Figure 2 is a view illustrating a configuration of the water sprinkler system 1. The water sprinkler system 1 includes the working machine 2, a water sprinkler attachment 3, a camera 4 (an example of an image acquisition unit), a control device 5 (an example of a control unit), a display device 6, a pump 7, and a tank 9. Fig. Figure 1 illustrates the working machine 2 and the water sprinkler attachment 3 of the water sprinkler system 1.

[0018] The working machine 2 comprises a main vehicle body 11 and a working attachment 12. The main vehicle body 11 comprises a drive unit 13 and a rotating unit 14. The drive unit 13 comprises a pair of drive devices 13a. Each of the drive devices 13a comprises a crawler track 13b. The crawler track 13b is driven by the motive power of a motor, thus driving the working machine 2.

[0019] The rotating body 14 is arranged on the transport body 13. The rotating body 14 is configured to rotate about an axis of rotation in an up and down direction relative to the transport body 13. The rotating body 14 is equipped with a rotating device (not shown).

[0020] As in Fig. As illustrated in Figure 2, a cab 15 is provided at a front left position of the rotating body 14 to serve as the driver's cab. The rotating body 14 also houses a motor, a hydraulic pump, and the like, which are omitted from the illustration. It should be noted that, unless otherwise specified, in this embodiment, front, rear, left, and right are described based on the driver's seat in the cab 15. A direction in which the driver's seat faces forward is referred to as the forward direction, and a direction opposite to the forward direction is referred to as the reverse direction. When the driver's seat faces forward, a right side and a left side in the lateral direction are referred to as the right direction and left direction, respectively.

[0021] The working device 12 includes a boom 16, a stem 17, and an automatic coupler 18 and is attached to a front central position of the rotating body 14. The base end section of the boom 16 is rotatably coupled to the rotating body 14. Furthermore, the base end section of the stem 17 is rotatably coupled to the distal end section of the boom 16. The automatic coupler 18 is coupled to the distal end section of the stem 17.

[0022] Furthermore, a boom cylinder 20 (see Fig. 1), a stick cylinder 21, an attachment cylinder 22 arranged to correspond to the boom 16, the stick 17 and the automatic coupler 18. The boom cylinder 20 (see Fig. 1) The stick cylinder 21 and the attachment cylinder 22 are hydraulic cylinders. The working implement 12 is driven by these cylinders 20 to 22. The automatic coupler 18 is hydraulically driven, and an excavator bucket, a large crusher, a small crusher, or the water sprinkler attachment 3 can be detachably attached to the distal end of the automatic coupler 18.

[0023] It should be noted that the work machine 300 at the demolition site 100, similar to the work machine 2, as in Fig. Figure 1 illustrates that the vehicle body 400 also includes a main body 301 with a drive body 302 and a rotating body 303, as well as a working device 304 arranged on the main body 301. A large crusher 305 is mounted as an attachment at the distal end of the working device 304. Furthermore, the working machine 400, similar to the working machine 2, also includes a main body 401 with a drive body 402 and a rotating body 403, as well as a working device 404 arranged on the main body 401. A large crusher 405 is mounted as an attachment at the distal end of the working device 404. Water sprinkler attachment 3

[0024] As in Fig. As illustrated in Figure 2, the water sprinkler attachment 3 is detachably attached to the automatic coupler 18. Fig. Figure 3 is a perspective view illustrating the water sprinkler attachment 3 and the camera 4. Fig. Figure 4 is a block diagram to describe a configuration regarding the control of the water sprinkler system 1.

[0025] As in Fig. 3 and Fig. As illustrated in Figure 4, the water sprinkler attachment 3 includes a bracket 30, a first water sprinkler 31, and a second water sprinkler 32. The bracket 30 is detachably attached to the automatic coupler 18. The first water sprinkler 31 and the second water sprinkler 32 are arranged on the bracket 30. The first water sprinkler 31 and the second water sprinkler 32 are arranged in the lateral direction of the working device 12.

[0026] As in Fig. 3 and Fig. As illustrated in Figure 4, the first water sprinkler 31 includes a first nozzle 31a, a first housing 31b, a first support body 31c, a first up-down drive unit 31d, a first left-right drive unit 31e, and a first solenoid valve 31f. Water pumped from the tank 9 by the pump 7 is discharged from the first nozzle 31a via the first solenoid valve 31f. When the first solenoid valve 31f is open, water is dispersed through the first nozzle 31a. When the first solenoid valve 31f is closed, water is dispersed from the first nozzle 31a. The opening and closing of the first solenoid valve 31f is controlled by the control unit 5 via a start command signal and a stop command signal. It should be noted that in the present embodiment, the pump 7 is located next to the tank 9. However, Tank 9 can also be located in a different location.

[0027] The first housing 31b supports the first nozzle 31a so that it can rotate up and down. The first support body 31c supports the first housing 31b so that it can rotate left and right. The first support body 31c is attached to a first support surface 30a of the holder 30.

[0028] The first up-down drive unit 31d rotates the first nozzle 31a in the up-down direction (see arrow B). The first up-down drive unit 31d is an actuator that drives the first nozzle 31a and is configured as an electric cylinder that converts the rotary force of a motor (electric machine) into a reciprocating motion using a rack and pinion mechanism or the like. When the first nozzle 31a is rotated in the up-down direction, the water spray direction also moves in the up-down direction.

[0029] The first left-right drive unit 31e rotates the first housing 31b in the left-right direction (see arrow C) relative to the first support body 31c. The first left-right drive unit 31e is an actuator that rotates the first housing 31b relative to the first support body 31c and is configured as an electric cylinder that converts a rotary force from a motor (electric machine) into a reciprocating motion using a rack and pinion mechanism or the like. When the first housing 31b is rotated relative to the first support body 31c, the water spray direction of the first nozzle 31a moves in the left-right direction.

[0030] As in Fig. 3 and Fig. As illustrated in Figure 4, the second water sprinkler 32 is configured similarly to the first water sprinkler 31 and includes a second nozzle 32a, a second housing 32b, a second support body 32c, a second up-down actuator 32d, a second left-right actuator 32e, and a second solenoid valve 32f. Water is pumped from the tank 9 through the second solenoid valve 32f and the pump 7 to the second nozzle 32a. When the second solenoid valve 32f is open, water is sprayed through the second nozzle 32a. When the second solenoid valve 32f is closed, the water spray from the second nozzle 32a is stopped. The opening and closing of the second solenoid valve 32f is controlled by the control unit 5 via a start command signal and a stop command signal. Fig. 2 is a water pipe 8 that connects the pump 7 and the first solenoid valve 31f of the first water sprinkler 31 and the second solenoid valve 32f of the second water sprinkler 32, indicated by the dotted line.

[0031] The configurations of the second housing 32b, the second support body 32c, the second up-down drive unit 32d and the second left-right drive unit 32e are similar to those of the first water sprinkler 31 and are therefore not described in detail. Camera 4

[0032] As in Fig. As illustrated in Figure 3, the camera 4 is attached to the bracket 30. On a second shelf 30b on the side of the automatic coupler 18, a storage table 30c is attached relative to the first shelf 30a, on which the first water sprinkler 31 and the second water sprinkler 32 are arranged. The camera 4 is attached to the storage table 30c.

[0033] Camera 4 captures an image of the demolition site 100. Camera 4 captures an image of an area where the first water sprinkler 31 and the second water sprinkler 32 can perform the water spraying. Camera 4 captures an image of the demolition site 100 and transmits the image as an image acquisition signal to the control unit 5. Control unit 5

[0034] The control unit 5 is programmed to control the water spraying by the first water sprinkler 31 and the second water sprinkler 32 based on a water spraying setting implemented by the display device 6 described below. For example, the control unit 5 can be located in the cabin 15, but is not limited to this location.

[0035] The control unit 5 includes memory such as RAM and ROM, and a processor such as a CPU. The control unit 5 may also include additional storage such as an SSD or HDD. The control unit 5 stores a program and data for controlling the working machine 2. Based on the program and data, the control unit 5 executes the processing to control the first water sprinkler 31 and the second water sprinkler 32.

[0036] The control unit 5 initiates or stops the water spray from the first nozzle 31a of the first water sprinkler 31 by transmitting an open or close command signal to the first solenoid valve 31f. The control unit 5 initiates or stops the water spray from the second nozzle 32a of the second water sprinkler 32 by transmitting an open or close command signal to the second solenoid valve 32f.

[0037] The control unit 5 transmits a drive command to the first up-down drive unit 31d and the first left-right drive unit 31e and moves the first nozzle 31a in the up-down and left-right directions. This controls the water spray direction of the first water sprinkler 31.

[0038] The control unit 5 transmits a drive command to the second up-down drive unit 32d and the second left-right drive unit 32e and moves the second nozzle 32a in the up-down and left-right directions. This controls the water spray direction of the second water sprinkler 32.

[0039] The control unit 5 receives the image capture signal obtained from the camera 4 and transmits the image capture signal via the Internet to the display device 6. The control unit 5 is connected to the Internet via WLAN or similar.

[0040] The control unit 5 is connected via a communication line 39 to the first water sprinkler 31, the second water sprinkler 32, and the camera 4. The communication line 39 is in Fig. 2 is indicated by the dashed line interrupted by two dots. It should be noted that the communication between the control unit 5 and the first water sprinkler 31, the second water sprinkler 32 and the camera 4 is not limited to wired communication and can also be wireless communication.

[0041] The control unit 5 creates a nozzle scanning path plan for both or one of the first nozzle 31a of the first water sprinkler 31 and the second nozzle 32a of the second water sprinkler 32, based on a water sprinkler setting signal received from the display device 6 described below, and stores the created nozzle scanning path plan. The nozzle scanning path plan is used to set a nozzle scanning path so that it follows a water sprinkler route R described below. The control unit 5 controls the first up-down drive unit 31d and the first left-right drive unit 31e to operate the first

[0042] The control unit 5 operates nozzle 31a based on the stored nozzle scanning path plan. Furthermore, the control unit 5 controls the second up-down drive unit 32d and the second left-right drive unit 32e to operate the second nozzle 32a based on the stored nozzle scanning path plan. Display device 6

[0043] The display device 6 receives a signal from the image captured by the camera 4 via the control unit 5. An operator uses the display device 6 to adjust the water sprinkler settings for the first water sprinkler 31 and the second water sprinkler 32. The display device 6 can be a mobile phone such as a smartphone, a tablet, a personal computer, a VR headset, or the like.

[0044] The display device 6 is connected to the control unit 5 via the internet. The display device 6 is connected to the internet via WLAN or similar technology. It should be noted that the display device 6 does not necessarily have to communicate with the control unit 5 via the internet, but can communicate directly with the control unit 5.

[0045] Fig. Figure 5 is a view illustrating the display device 6. As shown in Fig. 4 and Fig. As illustrated in Figure 5, the display device 6 includes a display screen 61 (an example of a display unit), a sprinkler selector unit 62, a zone selector unit 63, a zone preset unit 64, a sprinkler route setting unit 65, a vibration setting unit 66, a sprinkler water delivery unit 67, and a display control unit 68 (an example of a control unit). It should be noted that the display of the display screen 61, the sprinkler selector unit 62, the zone selector unit 63, the zone preset unit 64, the sprinkler route setting unit 65, the vibration setting unit 66, and the sprinkler water delivery unit 67 is implemented on a liquid crystal display.

[0046] The image captured by camera 4 is displayed on screen 61. Fig. Figure 5 illustrates a situation in which the work machine 300 and the work machine 400 are performing demolition work.

[0047] The sprinkler selection unit 62 selects which sprinkler, either the first sprinkler 31 or the second sprinkler 32, is to be set. As in Fig. As illustrated in Figure 5, the water sprinkler selection unit 62 is equipped with a first water sprinkler selection button 62a and a second water sprinkler selection button 62b. When an operator taps either the first water sprinkler selection button 62a or the second water sprinkler selection button 62b, the tapped water sprinkler is selected. The water sprinkler selection unit 62 transmits information about the selected water sprinkler as a water sprinkler selection signal to the display control unit 68.

[0048] While details of this will be described later, a water sprinkler area, in which the water sprinkler is applied, and a water sprinkler route, along which the water sprinkler is applied, are predefined on display screen 61. The position and direction of water sprinkler application on display screen 61 are pre-assigned to the first water sprinkler 31 and the second water sprinkler 32, respectively.

[0049] For example, it is specified that when a water irrigation command is issued for the center position of display screen 61, the irrigation is carried out in a predefined direction and with a predefined water pressure. If a water irrigation command is issued for a position to the right of the center position within display screen 61, it is set that the water irrigation is carried out further to the left than in the case of a water irrigation carried out with respect to the center position, and that the water irrigation is carried out further to the left the further to the left the position is shifted from the center position.When a water sprinkler command is issued for a position above the center position within display screen 61, the sprinkler is directed further upwards than if it were directed relative to the center position. The further the position is from the center position, the further upwards the sprinkler is directed. This allows the sprinkler to be operated by both the first water sprinkler 31 and the second water sprinkler 32, while the sprinkler direction on display screen 61 is set according to the sprinkler command.

[0050] Specifically, the pixels in an XY coordinate system on the display screen 61 are pre-linked to the nozzle angles. An X-axis represents a lateral direction of the display screen 61, and a Y-axis represents an up-down direction of the display screen 61. The number of pixels in the XY coordinate system from the position for which the water sprinkler command is issued to the center position of the display screen 61 is converted into an angle using a conversion parameter, and the first nozzle 31a or the second nozzle 32a is driven laterally and up-down by that angle.

[0051] It should be noted that in the case of a zoomable camera 4, if the conversion parameter is set based on the display screen 61 in a state where the camera 4 is zoomed out to its furthest extent, the water spray command is assumed to be issued for a position corresponding to the left edge of the display screen 61 in the furthest zoomed-out state. In such a case, the nozzle is directed largely to the left to be facing the target position. However, if the water spray command is issued for the position corresponding to the left edge of the display screen 61 in the furthest zoomed-in state, the nozzle is directed largely to the left beyond the target position. If the camera 4 is zoomable, the conversion parameter for converting the pixel on the display screen 61 to the nozzle angle is set incrementally or continuously according to a zoom value.For example, with respect to an angle corresponding to a pixel at a given zoom value, an angle corresponding to a pixel in the case of magnification relative to the given zoom value can be set smaller, and an angle corresponding to a pixel in the case of reduction relative to the given zoom value can be set larger.

[0052] Furthermore, similar to the water spray direction, the water spray pressure and water spray volume are also linked to positions on display screen 61. For example, it is specified that when a spray command is issued for the center position of display screen 61, the water spray is executed with a predefined water spray pressure or water spray volume. If a water spray command is issued for a position above the center position within display screen 61, the water spray pressure or water spray volume is set higher than in the case where the water spray is executed for the center position, and the water spray pressure or water spray volume is set higher the further the position is shifted upwards from the center position.Furthermore, if a water sprinkler command is issued for a position below the center position within display screen 61, the water sprinkler pressure or water sprinkler quantity is set lower than in a case where the water sprinkler is performed for the center position, and the water sprinkler pressure or water sprinkler quantity is set lower the further the position is moved downwards from the center position.

[0053] The correlation described above between the position on the display screen 61 and the direction of water spraying, the water spraying pressure and the amount of water spraying can be set differently or similarly between the first water sprinkler 31 and the second water sprinkler 32.

[0054] Furthermore, the correlation between the position on the display screen 61 and the water spray direction, water spray pressure, and water spray volume is stored as screen-nozzle assignment information in the control unit 5, but can also be stored in the display control unit 68, which is described later. The screen-nozzle assignment information can also be pre-stored in the control unit 5 or in the display control unit 68, or set by the display device 6.

[0055] The area selection unit 63 selects a water sprinkler zone. The water sprinkler zone is an area for which water sprinkler settings are applied. The water sprinkler zone includes an operating zone A1, a no-sprinkler zone A2, and a priority zone A3. Operating zone A1 is an area where water sprinkler spray is active. No-sprinkler zone A2 is an area where sprinkler spray is prohibited. Priority zone A3 is an area where sprinkler spray is intensive. Priority zone A3 is an area where the water flow rate is set higher than in operating zone A1.

[0056] The area selection unit 63 selects which area from the execution area A1 of the water irrigation, the prohibition area A2 of the water irrigation, and the focus area A3 of the water irrigation should be set. As in Fig. As illustrated in Figure 5, the area selection unit 63 includes a button 63a for selecting the operating area of ​​the water sprinkler, a button 63b for selecting the prohibited area of ​​the water sprinkler, and a button 63c for selecting the focus area of ​​the water sprinkler. When one of the buttons is tapped, the corresponding area is selected. The area selection unit 63 transmits the selected area as a selection area signal to the display control unit 68.

[0057] The area setting unit 64 specifies the area selected by the area selection unit 63 for the water sprinkler selected by the water sprinkler selection unit 62. The area setting unit 64 is, for example, a touch panel and also serves as a display screen 61. Fig. 6A is a view illustrating a state in which the water sprinkler execution area A1 is set on the display screen 61. In the area selection unit 63, after tapping button 63a to select the water sprinkler execution area, an area circled by the operator's finger is predefined as the water sprinkler execution area A1, as shown, for example, in Fig. Figure 6A illustrates this. A variety of operating ranges for the water sprinkler can be set. Information about the specified range is transmitted as a range setting signal from the range setting unit 64 to the display control unit 68.

[0058] Furthermore, Fig. 6B is a view illustrating a state in which the water spray prohibition zone A2 is entered on the display screen 61. In the zone selection unit 63, after touching the selection button 63b for the water spray prohibition zone, an area circled by an operator's finger is specified as the water spray prohibition zone A2, as shown, for example, in Fig. Figure 6B illustrates this. Within the prohibited area A2 of the water sprinkler, for example, hatching, dots, or the like can be displayed. Furthermore, Fig. 6C is a view illustrating a state in which the center of gravity area A3 of the water sprinkler is entered on the display screen 61. In the area selection unit 63, after touching the selection button 63c for the center of gravity area of ​​the water sprinkler, an area circled by an operator's finger is specified as the center of gravity area A3 of the water sprinkler, as shown, for example, in Fig. 6C illustrates this. Fig. In section 6C, the main area A3 for water spraying is defined within the execution area A1 for water spraying. However, the main area A3 for water spraying can also be entered outside of the execution area A1 for water spraying. It should be noted that a single water sprinkler can have multiple execution areas A1 for water spraying, multiple exclusion zones A2 for water spraying, or multiple main areas A3 for water spraying. If multiple execution areas A1 for water spraying are set, the priority level can also be configured. The higher the priority level, the more intensive the water spraying will be.

[0059] Fig. Figure 6D further illustrates the display screen 61, which shows that the second water sprinkler 32 has been selected and the water spraying area A1 has been specified, after the water sprinkler selection unit 62 selected the first water sprinkler 31 and specified the water spraying area A1. Fig. 6D defines the spray area for the first water sprinkler 31 with A1(1), and the spray area for the second water sprinkler 32 is defined with A1(2). Once the spray area for each of the multiple water sprinklers has been defined, the areas can be displayed together on the single display screen 61.

[0060] The respective areas A1, A2, and A3 are defined by connecting lines drawn by an operator. However, the definition method is not limited to this; a separate definition button can be provided, and the respective areas A1, A2, and A3 can be defined by tapping the definition button. Furthermore, the definition method is not limited to the definition button; the areas can be defined by double-tapping or can be defined automatically if no tap occurs for a specified period.

[0061] In Fig. 6A to Fig. 6D is an area that is circled by tracing a line with a finger on the display screen 61. This area serves as the area specification unit 64, defining the execution area A1 of the water spray, the prohibited area A2 of the water spray, or the focus area A3 of the water spray. However, the area designation method is not limited to this. The tracing with a line can be done with a stylus or similar device instead of a finger. Furthermore, the water spray area can be created by tapping a large number of points and automatically connecting them.

[0062] As in Fig. As illustrated in Figure 7A, a rectangular shape with the line as a diagonal can be defined as the execution area A1 of the water spraying by drawing a line L1 in an oblique direction with the finger or the like.

[0063] As in Fig. Figure 7B illustrates that a single point, corresponding to point P1, is tapped with a finger or similar object. The square shape of the water spray area A1 can be expanded according to the duration of the pressure, and the marking of the water spray area A1 can be set when the finger is released. The shape of the area is not limited to a square shape and can be a circular shape, as shown in Fig. Figure 7C illustrates this. A single point, corresponding to point P1, is tapped with a finger or similar device. The circular shape of the water spray area A1 can be expanded according to the duration of the tap, and the marking of the water spray area A1 can be fixed when the finger is released. Furthermore, the size can remain unchanged after tapping a single point, regardless of the duration of the tap, and the area can be preset. In addition, the shape of the water spray area A1 is not limited to a circular shape and can be an elliptical shape extended horizontally or vertically. The area can also be defined by a specific range of angles upwards, downwards, left, and right, with the tapped point as its center point.

[0064] As in Fig. As illustrated in 7D, two points P1 and P2 can be selected, and the spray pattern A1, with a predefined parallelogram shape, can be defined based on the distance between the two points and their positions. The spray pattern A1 is set based on the distance and positional relationship between the two points P1 and P2. If the two points P1 and P2 are parallel to each other, as shown in Fig. Figure 7E illustrates that the implementation area A1 of the water sprinkler can also be specified with a rectangular shape. The shape of the area is not limited to a parallelogram or a rectangular shape and can be a polygonal shape.

[0065] As in Fig. As illustrated in Figure 7F, the spray pattern A1 can be defined with a specific elliptical shape based on the distance between points P1 and P2 and their positions. If the spray pattern A1 is defined based on the positions of points P1 and P2, it can be set by releasing the fingers from points P1 and P2.

[0066] Furthermore, the area can be defined by approximating a circle, ellipse, or polygon based on a drawing. Alternatively, the area can be defined by drawing in such a way that it fills the screen.

[0067] As in Fig. 7A to Fig. Figure 7F illustrates that the description focuses on the implementation area A1 of the water irrigation system. The description also applies to the prohibited area A2 of the water irrigation system and the priority area A3 of the water irrigation system.

[0068] The water sprinkler route setting unit 65 sets a water sprinkler route within the specified operating area A1 and the center of gravity area A3. The water sprinkler route is the path along which the first water sprinkler 31 or the second water sprinkler 32 performs the water sprinkler application. The first nozzle 31a of the first water sprinkler 31 and the second nozzle 32a of the second water sprinkler 32 move up-down and left-right to follow the water sprinkler route. As shown in Fig. As illustrated in Figure 5, the water sprinkler route setting unit 65 includes a first setting button 65a, a second setting button 65b, and a third setting button 65c. When the first setting button 65a is tapped, the water sprinkler route R is set in a grid-like motion along the lateral direction within the predefined operating area A1 of the water sprinkler and within the predefined center of gravity area A3 of the water sprinkler. More precisely, as shown in Figure 5, the water sprinkler route is set in a grid-like motion along the lateral direction within the predefined operating area A1 of the water sprinkler and within the predefined center of gravity area A3 of the water sprinkler. Fig. Figure 8A illustrated the implementation area A1 of the water sprinkler, the water sprinkler route R set to move laterally from left to right, move downwards, move laterally from right to left and repeat this sequence.

[0069] When the second setting button 65b is selected, the water spray route is set in a grid-like movement along the vertical direction within the specified spray pattern area A1 and the center of gravity area A3. More precisely, as described in Fig. Figure 8B illustrated the execution area A1 of the water sprinkler, the water sprinkler route R set to move up and down from top to bottom, move to the left, move up and down from bottom to top, and repeat this sequence. As shown in Fig. As illustrated in Figure 8C, when the third setting button 65c is selected, the water spray route R is randomly set within the predefined spray operating area A1. The set water spray route R is transmitted as a water spray route setting signal from the water spray route setting unit 65 to the display control unit 68. For example, the water spray route R can be randomly set as follows: First, a starting point for the water spray route R is set within the spray operating area A1. Then, the starting point moves linearly within the spray operating area A1.When the moving point encounters a side of the water spray area A1, it rebounds with a repulsion coefficient of 1, and the rebounded point moves linearly, encounters the side, and rebounds. The position of the points obtained by repeatedly executing this sequence can be defined as the water spray route R.

[0070] It should be noted that the water irrigation route R set by the water irrigation route setting unit 65 is also applicable in the main area A3 of the water irrigation and is set so that the water irrigation is carried out more intensively than in the execution area A1 of the water irrigation. Fig. 8D is a view that illustrates the water irrigation routes R in the execution area A1 of the water irrigation and in the focus area A3 of the water irrigation. In Fig. 8D, the water irrigation route R in the implementation area A1 of the water irrigation is labeled R1, and the water irrigation route R in the focus area A3 of the water irrigation is labeled R3. For example, as in Fig. Figure 8D illustrates that the movement width W3 of the water spray path in raster motion is set smaller in the center of gravity area A3 of the water spray than the movement width W1 of the water spray path in raster motion in the execution area A1 of the water spray. This allows for a more intensive water spray in the center of gravity area A3 than in the execution area A1. Furthermore, the method is not limited to this, and the water spray can be made more intensive in the center of gravity area A3 by reducing the nozzle's movement speed. The intensity level can also be adjusted via a drawing, a button, or similar means.

[0071] The vibration setting unit 66 sets whether vibrations are to be applied to the first nozzle 31a or the second nozzle 32a when water irrigation is carried out along the water irrigation route. As in Fig. As illustrated in Figure 5, moving an indicator to the left enables vibration, while moving it to the right disables vibration. When vibration is applied, water is sprinkled along the sprinkler route R with vibration in a direction perpendicular to the sprinkler route R, as shown in Figure 5. Fig. Figure 8E illustrates this. When vibration is applied, the vibration setting unit 66 transmits a vibration application signal to the display control unit 68. It should be noted that the vibration direction is not limited to the direction perpendicular to the water spray route R and can correspond to a direction along the water spray route R or other directions.

[0072] Fig. 9 is a view obtained by following the water sprinkler route R via display screen 61 of Fig. 6B is laid. As in Fig. As illustrated in Figure 9, at demolition point 100, an area where dust is likely to be generated is defined as the execution area A1 for water spraying, and the water spraying route R is set within this area. This enables automatic water spraying. It should be noted that the water spraying route R does not have to be displayed on display screen 61, but it can be.

[0073] The water dispensing unit 67 of the water sprinkler controls the start and end of water spraying by the first water sprinkler 31 and the second water sprinkler 32. The water dispensing unit 67 of the water sprinkler includes a water spray switch 67a for the first water sprinkler and a water spray switch 67b for the second water sprinkler. When the water spray switch 67a of the first water sprinkler is moved to the left, the start signal for water spraying by the first water sprinkler 31 is transmitted to the display control unit 68. Conversely, when the water spray switch 67a of the first water sprinkler is moved to the right, the stop signal for water spraying by the first water sprinkler 31 is transmitted to the display control unit 68.Similarly, when the water spray button 67b of the second water sprinkler is moved to the left, the start signal for the water spray of the second water sprinkler 32 is transmitted to the display control unit 68. Conversely, when the water spray button 67b of the second water sprinkler is moved to the right, the stop signal for the water spray of the second water sprinkler 32 is transmitted to the display control unit 68.

[0074] The display controller 68 controls the display device 6. The display controller 68 includes memory, such as RAM and ROM, and a processor, such as a CPU. The display controller 68 may also include additional storage, such as an SSD and an HDD. The display controller 68 stores a program and data for controlling the display device 6.

[0075] The display control unit 68 receives the image capture signal from the camera 4 via the control unit 5 and the internet. The display control unit 68 displays the image captured by the camera 4 on the display screen 61, based on the received image capture signal.

[0076] When the sprinkler selection signal is received by the sprinkler selection unit 62, the display control unit 68 controls the display screen 61 to execute the sprinkler setting for the selected sprinkler. The sprinkler selection signal indicating that the first sprinkler 31 is selected causes the display control unit 68 to display a screen for setting the first sprinkler 31 on the display screen 61. While the first sprinkler 31 is selected, the sprinkler setting for the first sprinkler 31 includes the sprinkler operating area A1, the sprinkler exclusion area A2, the sprinkler center of gravity area A3, the sprinkler route R, the presence or absence of vibrations, and other predefined parameters.While the second water sprinkler 32 is selected, the water sprinkler setting for the second water sprinkler 32 again includes the execution area A1 of the water sprinkler, the prohibition area A2 of the water sprinkler, the center of gravity area A3 of the water sprinkler, the water sprinkler route R, the presence or absence of vibrations and the like, which are specified.

[0077] The display control unit 68 receives the selection area signal from the area selection unit 63. Upon receiving the selection area signal, the display control unit 68 recognizes which area (execution area A1 of the water sprinkler, prohibition area A2 of the water sprinkler and focus area A3 of the water sprinkler) the subsequently entered area designation signal refers to.

[0078] The display control unit 68 receives the area setting signal from the area setting unit 64. The display control unit 68 receives the water irrigation route setting signal from the water irrigation route setting unit 65. The display control unit 68 receives the vibration application signal from the vibration setting unit 66.

[0079] Based on the received water sprinkler selection signal, the selection area signal, the area preset signal, the water sprinkler route setting signal and the vibration application signal, the display control unit 68 creates the water sprinkler setting signal for the preset water sprinkler, which shows the position of the water sprinkler area and the water sprinkler route in the image capture of the camera 4 as well as information regarding the presence or absence of vibrations during water sprinkler operation, and transmits the water sprinkler setting signal via the Internet to the control unit 5.It should be noted that if the water sprinkler setting is made for both the first water sprinkler 31 and the second water sprinkler 32, the water sprinkler setting signal for the first water sprinkler 31 and the water sprinkler setting signal for the second water sprinkler 32 are output to the control unit 5.

[0080] When the water sprinkler start signal is received from the water sprinkler water delivery unit 67, the display control unit 68 transmits the water sprinkler start signal to the control unit 5 via the internet. When the water sprinkler start signal is received, the control unit 5 controls the first up-down actuator 31d, the first left-right actuator 31e, the first solenoid valve 31f, the second up-down actuator 32d, the second left-right actuator 32e, and the second solenoid valve 32f, so that the water sprinkler is carried out along the defined water sprinkler route, based on the nozzle scanning path plan created from the water sprinkler setting signal received from the display control unit 68 and the screen nozzle mapping information.When the water sprinkler start signal for the first water sprinkler 31 is received, the control unit 5 opens the first solenoid valve 31f to pump water from the tank 9 to the first nozzle 31a by operating the pump 7, and controls the first up-down drive unit 31d and the first left-right drive unit 31e along the water sprinkler route R. When the water sprinkler start signal for the second water sprinkler 32 is received, the control unit 5 opens the second solenoid valve 32f to pump water from the tank 9 to the second nozzle 32a by operating the pump 7, and controls the first up-down drive unit 31d and the first left-right drive unit 31e along the water sprinkler route R.It should be noted that when the display control unit 68 stores the screen nozzle assignment information, it can create the nozzle scanning path plan from the water sprinkler setting signal and the nozzle assignment information and transmit the nozzle scanning path plan to the control unit 5. Control process

[0081] Fig. Figure 10 is a flowchart illustrating a control process of the water sprinkler system 1 according to the present embodiment. First, in step S10 (an example of a retrieval step), the control unit 5 obtains the image acquired by the camera 4 recording the termination point 100. It should be noted that the retrieval of the image by the control unit 5 is performed at each image acquisition time of the camera 4. For example, if the camera 4 is acquiring a large number of images per second, the control unit 5 retrieves the image several times per second.

[0082] Subsequently, in step S11 (an example of a display step), the image acquired by the control unit 5 is displayed on the display screen 61 of the display device 6.

[0083] Subsequently, in step S12, the control unit 5 determines whether the water spray setting, for example, the water spray area setting, is applied to the acquired image. The control unit 5 configures whether the settings for the water spray execution area A1, the water spray exclusion area A2, and the water spray center of gravity area A3, the water spray route R, and the vibration application are applied. The water spray setting is not applied to the initial image acquisition, and therefore the control unit proceeds to step S13.

[0084] In step S13, a user performs a water sprinkler setting operation. Specifically, the user selects the water sprinkler, sets areas A1, A2, and A3, sets the water sprinkler route R, and sets the vibration application using the display device 6, which shows the image captured by the camera 4. When the user performs the water sprinkler setting operation, the display device 6 transmits the water sprinkler setting signal to the control unit 5 via the internet.

[0085] Subsequently, in step S14 (an example of a decision step), the control unit 5 calculates the nozzle scanning path plan for moving the nozzle based on the water sprinkler setting signal received from the display unit 6 and the stored screen nozzle mapping information. It should be noted that if the water sprinkler setting is performed for the first water sprinkler 31 and the second water sprinkler 32 respectively, a nozzle scanning path plan is calculated for each water sprinkler.

[0086] The control unit 5 then saves the calculated nozzle scanning path plan in step S15.

[0087] After step S15, the control returns to step S10 and the control unit 5 retrieves the image image obtained by recording the abort point 100 with the camera 4.

[0088] The control system then proceeds to step S11 and then to step S12. The water sprinkler setting is configured in step S12, and the control system then proceeds to step S16.

[0089] When, in step S16, the start signal for the water spraying of the first water sprinkler 31 is received via the internet by the display device 6, the control unit 5 transmits the opening command signal to the first solenoid valve 31f, and thus the first solenoid valve 31f is in an open state. Furthermore, when the start signal for the water spraying of the second water sprinkler 32 is received via the internet by the display device 6, the control unit 5 transmits the opening command signal to the second solenoid valve 32f, and thus the second solenoid valve 32f is in an open state.

[0090] Subsequently, in step S17, the control unit 5 controls the nozzle based on the nozzle scanning path plan. The control unit 5 controls the first up-down drive unit 31d and the first left-right drive unit 31e with respect to the first water sprinkler 31 based on the nozzle scanning path plan. Furthermore, the control unit 5 controls the second up-down drive unit 32d and the second left-right drive unit 32e with respect to the second water sprinkler 32 based on the nozzle scanning path plan. Features and the like

[0091] In the water sprinkler system 1 of the present embodiment, the direction of water spray from the first water sprinkler 31 or the second water sprinkler 32 is determined based on the water spray area shown in the image displayed on the display device 6. This eliminates the need for manual operation of the sprinkler. This reduces the workload of the operator and saves personnel.

[0092] The water sprinkler system 1 of the present embodiment includes the work machine 2 with the work attachment 12, on the distal end of which the first water sprinkler 31 and the second water sprinkler 32 are arranged, and the vehicle body 11, on which the work attachment 12 is mounted. This allows water sprinkler operations to be carried out simply by mounting the water sprinkler on the work machine 2, which is located at the demolition site. Furthermore, if water sprinkler operations are not required, the work machine can be used for other tasks by removing the water sprinkler and mounting other attachments.

[0093] In the water sprinkler system 1 of the present embodiment, the camera 4 is arranged at the distal end section of the working device 12. This allows the camera to be attached to the arrangement position of the water sprinkler, and thus the location of the water sprinkler can be easily recorded by the camera 4.

[0094] In the water sprinkler system 1 of the present embodiment, the water sprinkler area includes the operating area A1 of the water sprinkler, where the water sprinkler is applied, and the prohibited area A2 of the water sprinkler, where the water sprinkler is prohibited. This allows for the definition of areas where water sprinkler application is required, for example, demolition areas and areas with dust generation. Furthermore, an area where water sprinkler application is prohibited, for example, a person or the cab of the work machine, can be defined.

[0095] In the water sprinkler system 1 of the present embodiment, the water sprinkler area includes the focal point area A3 of the water sprinkler, where the water sprinkler is most intensive. This allows a specific area to be defined where the water sprinkler is particularly intensive, for example, a location with heavy dust.

[0096] In the water sprinkler system 1 of the present embodiment, the display control unit 68 sets the water sprinkler route R, along which the first water sprinkler 31 or the second water sprinkler 32 performs the water sprinkler application based on the water sprinkler application area A1. This allows the water sprinkler route R to be automatically set in the water sprinkler application area A1 and the water sprinkler application to be performed along the water sprinkler route R.

[0097] In the water sprinkler system 1 of the present embodiment, the water sprinkler route R, along which the first water sprinkler 31 or the second water sprinkler 32 performs the water sprinkler, is set based on the water sprinkler execution area A1. This allows the water sprinkler route R to be automatically set in the water sprinkler execution area A1 and the water sprinkler to be performed along the water sprinkler route R.

[0098] In the water sprinkler system 1 of the present embodiment, the water sprinkler route R is set in a grid-like motion. The water sprinkler system 1 includes the water sprinkler route setting unit 65, which sets the direction of the grid-like motion. The water sprinkler route R is set based on the set direction of the grid-like motion. This allows the water sprinkler to be executed in a grid-like motion based on the direction set by the user, either in the execution area A1 of the water sprinkler or in the center of gravity area A3 of the water sprinkler.

[0099] The water sprinkler system 1 of the present embodiment includes the vibration adjustment unit 66, which exerts vibrations on the first nozzle 31a or the second nozzle 32a during water sprinkler application along the water sprinkler route R. In this way, water sprinkler application can be carried out with simultaneous effective dust suppression. Second embodiment

[0100] A water sprinkler system 1 according to a second embodiment is described below. The water sprinkler system 1' of the second embodiment differs from the water sprinkler system 1 of the first embodiment and does not perform an adjustment of the water sprinkler area. Instead, the first water sprinkler 31 and the second water sprinkler 32 are operated via a display device 6'. The differences from the first embodiment are mainly described in the second embodiment.

[0101] The water sprinkler system 1' of the second embodiment includes the working machine 2, the water sprinkler attachment 3, the camera 4 (an example of an image acquisition unit), the control device 5 (an example of a control unit), the display device 6', the pump 7 and the tank 9.

[0102] Fig. Figure 11 is a block diagram illustrating the water sprinkler system 1 according to the second embodiment. Fig. Figure 12 is a view illustrating the display of the indicator device 6' of the water sprinkler system 1 of the second embodiment. As in Fig. As illustrated in Figure 11, the display device 6 of the second embodiment includes the display screen 61 (an example of a display unit), the water dispensing unit 67 of the water sprinkler, and a unit 71 for manual operation (an example of a control unit). If the Fig. 12. Unit 71, illustrated for manual operation by a user, can be operated by the user, the first water sprinkler 31 and the second water sprinkler 32 can be operated manually.

[0103] Similar to the first embodiment, the display screen 61 shows the image captured by the camera 4 under the control of the display control unit 68.

[0104] The manual operation unit 71 includes a selection button 71a for the first water sprinkler (an example of a water sprinkler selection unit), an actuation button 71b for the first water sprinkler, a selection button 71c for the second water sprinkler (an example of a water sprinkler selection unit), and an actuation button 71d for the second water sprinkler. Tapping the selection button 71a for the first water sprinkler selects the first water sprinkler 31. The actuation button 71b for the first water sprinkler includes up, down, left, and right buttons. After the selection button 71a for the first water sprinkler is tapped, the actuation button 71b for the first water sprinkler is activated. This allows the first nozzle 31a of the first water sprinkler 31 to be controlled up, down, left, and right.Tapping the selection button 71c of the second water sprinkler selects the second water sprinkler 32. The operating button 71d of the second water sprinkler includes up, down, left, and right buttons. After the selection button 71c of the second water sprinkler is tapped, the operating button 71d of the second water sprinkler is activated. This allows the second nozzle 32a of the second water sprinkler 32 to be controlled up, down, left, and right. When the unit 71 is operated manually, a manual operation signal is transmitted from the unit 71 to the display control unit 68.

[0105] Similar to the first embodiment, the water dispensing unit 67 of the water sprinkler starts or stops the first water sprinkler 31 and the second water sprinkler 32. The water dispensing unit 67 of the water sprinkler includes the water spray button 67a of the first water sprinkler and the water spray button 67b of the second water sprinkler. When the water spray button 67a of the first water sprinkler is moved to the left, the start signal for the water spray of the first water sprinkler 31 is transmitted to the display control unit 68. Conversely, when the water spray button 67a of the first water sprinkler is moved to the right, the stop signal for the water spray of the first water sprinkler 31 is transmitted to the display control unit 68.Similarly, when the water spray button 67b of the second water sprinkler is moved to the left, the start signal for the water spray of the second water sprinkler 32 is transmitted to the display control unit 68. Conversely, when the water spray button 67b of the second water sprinkler is moved to the right, the stop signal for the water spray of the second water sprinkler 32 is transmitted to the display control unit 68.

[0106] The display control unit 68 receives the image capture signal from the camera 4 via the control unit 5 and the internet. The display control unit 68 displays the image captured by the camera 4 on the display screen 61, based on the received image capture signal.

[0107] When the manual operation signal is received from the manual operation unit 71, the display control unit 68 transmits a nozzle drive signal to the control unit 5, causing the nozzle of the selected water sprinkler to move in accordance with the actuation of the water sprinkler's operating button. The control unit 5 actuates the up-down drive unit or the left-right drive unit of the corresponding nozzle according to the nozzle drive signal. For example, if the operating button 71b of the first water sprinkler is actuated after the selection button 71a of the first water sprinkler has been tapped, the display control unit 68 transmits the nozzle drive signal to the control unit 5 to actuate the first nozzle 31a in accordance with the actuation button 71b of the first water sprinkler.When the nozzle drive signal is received, the control unit 5 drives the first up-down drive unit 31d or the first left-right drive unit 31e and sets an angle according to the actuating button 71b of the first water sprinkler.

[0108] When the sprinkler start signal is received by the sprinkler water delivery unit 67, the display control unit 68 transmits the sprinkler start signal via the internet to the control unit 5. Upon receipt of the sprinkler start signal, the control unit 5 opens the solenoid valve of the corresponding sprinkler to begin the sprinkler operation. When the sprinkler start signal for the first sprinkler 31 is received, the control unit 5 opens the first solenoid valve 31f to draw water from the tank 9 to the first nozzle 31a by operating the pump 7. The sprinkler operation is carried out at the angle of the first nozzle 31a set by the unit 71 for manual operation.It should be noted that during water spraying by the first water sprinkler 31 or the second water sprinkler 32, the water spray direction of the first water sprinkler 31 or the second water sprinkler 32 can be changed by pressing the actuation button 71b of the first water sprinkler or the actuation button 71d of the second water sprinkler.

[0109] Fig. Figure 13 is a flowchart illustrating a control procedure of the water sprinkler system 1' according to the second embodiment.

[0110] First, in step S20 (an example of an acquisition step), the control unit 5 obtains the image that was obtained by the camera 4 recording the abort point 100.

[0111] Subsequently, in step S21 (an example of a display step), the image acquired by the control unit 5 is displayed on the display screen 61 of the display device 6.

[0112] Subsequently, in step S22 (an example of a control step), the control unit 5 controls the water sprinkler via the display device 6' according to a user action. Based on the manual operation signal transmitted by the display device 6' or the stored screen-nozzle assignment information, the control unit 5 controls the first up-down actuator 31d, the first left-right actuator 31e, the first solenoid valve 31f, the second up-down actuator 32d, the second left-right actuator 32e, or the second solenoid valve 32f based on the water sprinkler start signal or the water sprinkler stop signal. Features and the like

[0113] In the water sprinkler system 1' of the present embodiment, the water sprinkler is remotely controlled by using the display device 6' while viewing the image captured by the camera 4. This improves work efficiency.

[0114] In the water sprinkler system 1' of the present embodiment, the direction of water spray from the sprinkler is controlled. This allows water spraying to be carried out at a desired location.

[0115] The water sprinkler system 1 of the present embodiment includes the work machine 2 with the work attachment 12, on the distal end of which the first water sprinkler 31 and the second water sprinkler 32 are arranged, and the vehicle body 11, on which the work attachment 12 is mounted. This allows water sprinkler operations to be carried out simply by mounting the water sprinkler on the work machine 2, which is located at the demolition site. Furthermore, if water sprinkler operations are not required, the work machine can be used for other tasks by removing the water sprinkler and mounting other attachments.

[0116] In the water sprinkler system 1' of the present embodiment, the unit 71 for manual operation includes the selection button 71a for the first water sprinkler and the selection button 71c for the second water sprinkler, with which either the first water sprinkler 31 or the second water sprinkler 32 can be selected. This allows a plurality of water sprinklers to be operated via the single display device 6'.

[0117] It should be noted that the configuration of the water sprinkler system 1' of the second embodiment can be combined with the water sprinkler system of the first embodiment as required. Other embodiments

[0118] Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above and various modifications can be made without departing from the spirit of the invention. (A)

[0119] In the first embodiment described above, the center of gravity area A3 of the water spray is set. However, the water spray route can be adjusted to concentrate on the central part of the spray area A1 without setting the center of gravity area A3. (B)

[0120] In the water sprinkler systems 1 and 1' of the first and second embodiments described above, only one camera 4 is provided. However, a plurality of cameras can also be provided. (C)

[0121] In the first and second embodiments described above, the camera 4 is arranged on the water sprinkler attachment 3. However, the camera 4 can also be arranged on the working machine 2 or the working device 12, or outside the working machine 2. If the camera is arranged externally, a large number of sprinklers can be simultaneously captured in a single image. Operation can then be performed based on this captured image, allowing the water spray status of each individual sprinkler to be monitored. This improves efficiency. Furthermore, if only one water sprinkler is provided, the water spray status can be comprehensively monitored. Remote control is therefore easily possible. The externally arranged camera can be a stationary camera or a drone. (D)

[0122] In the first and second embodiments described above, the camera 4 is arranged on the bracket 30. However, the camera 4 can also be arranged on one or both of the water sprinklers 31 and 32. The camera can be arranged on the nozzle of the water sprinkler. In such a case, the center coordinate of the recorded image essentially corresponds to the direction in which the nozzle of the water sprinkler points, without being affected by any rotation or operation of the device. Thus, the target position of the water spray can be easily determined. (E)

[0123] In the first embodiment described above, the water spray setting can be configured for both the first water sprinkler 31 and the second water sprinkler 32. However, as in the second embodiment, the operating buttons for manually operating the first water sprinkler 31 and the second water sprinkler 32 can be located on the display device 6. In such a case, the spray pattern A1 and the spray route R are set for either the first water sprinkler 31 or the second water sprinkler 32, and one is operated automatically while the other can be operated manually. (F)

[0124] In the first and second embodiments described above, the water sprinkler attachment 3 can be detachably attached to the working device 12 by means of the automatic coupler 18. The automatic coupler 18 is a device that requires only a lever operation by an operator in the cabin 15 to remove and attach the attachment. However, instead of the automatic coupler 18, another coupler can be used, or the water sprinkler attachment 3 can be attached directly to the working device 12 without using the automatic coupler 18. (G)

[0125] In the first and second embodiments described above, the description is given using an example of the working machine on which the boom 16 and the stick 17 are provided. However, only one boom and stick may also be provided. Furthermore, the working device is not limited to the boom and stick and may have a crane-like shape. (H)

[0126] In the first and second embodiments described above, the shapes of the first nozzle 31a and the second nozzle 32a are not specifically described. However, the water spray area or range can be changed by altering the shape of the distal end of the nozzle, or the formation of dust or the like can be easily suppressed by adjusting the droplet size and shape of the ejected water. Furthermore, the water sprinkler can include a plurality of nozzles, and the nozzles can be changed by operating the indicator device 6. (1)

[0127] In the first and second embodiments described above, the direction of water spray is described; however, the adjustment of the water pressure and water volume during the water spray is not described in detail. Nevertheless, the indicator device 6 can adjust the water pressure, the water volume, or both. The water volume or water pressure during the water spray can be controlled by the speed of the pump 7, the opening, or the like, or by a further throttle or an additional device. Furthermore, the water pressure and water volume can also be controlled by the opening degrees of the first solenoid valve 31f and the second solenoid valve 32f.Based on the above description of the second embodiment, the description of point (I) and the description of point (H), the water sprinkler system 1' of the second embodiment can determine at least one of the water sprinkler direction, the water sprinkler quantity, the water sprinkler pressure or the shape of the distal nozzle end of the water sprinkler. (J)

[0128] In the first and second embodiments described above, the camera 4 is a two-dimensional camera. However, a three-dimensional camera or a device obtained by combining a two-dimensional camera with a distance sensor can also be used. For example, a stereo camera, a ToF (Time of Flight) camera, a lidar (Light Detection and Ranging) camera, a structured light camera, or the like can be used as a three-dimensional camera. When the three-dimensional camera is used, the distance from the water sprinkler to the spray area can be calculated. Thus, the control device 5 can determine the water volume, the water pressure, or both during the spraying process according to the distance to the spray area A1 or the center of gravity area A3.Based on the above description of the first embodiment, the description of point (J) and the description of points (I) and (H), the water sprinkler system 1' of the first embodiment can determine at least one of the water sprinkler direction, water sprinkler quantity, water sprinkler pressure or shape of the distal nozzle end of the water sprinkler.

[0129] As described above, a three-dimensional camera, or a device created by combining a two-dimensional camera with a distance sensor such as a lidar, can take into account not only the up-down and left-right directions of the image, but also depth information to adjust the direction, volume, and pressure of the water spray. For example, if the distance between the three-dimensional camera or distance sensor and the target position of the water spray (depth information) is a predetermined distance, the water pressure or volume is set in advance.This allows the setting to be adjusted so that the water sprinkler pressure or the amount of water sprinkler can be increased when the distance to the target position of the water sprinkler becomes greater than the specified distance, and that the water sprinkler pressure or the amount of water sprinkler can be decreased when the distance to the target position of the water sprinkler becomes less than the specified distance.

[0130] As described in the embodiment above, the position on the display screen 61 and the direction of water spraying can also be linked together, and the depth information and at least one of the water spraying pressure or the amount of water spraying can also be linked together.

[0131] Furthermore, the distance to the target position of the water spray (depth information) and the direction of the water spray can be linked. For example, the setting can be configured so that the direction of the water spray moves upwards when the distance to the target position of the water spray increases, and that the direction of the water spray moves downwards when the distance to the target position of the water spray decreases. (K)

[0132] In the above description of the embodiment and the description of point (J), it is explained that the position on the display screen 61 and the water spray direction, water spray pressure, and water spray volume are linked. It is possible that the position on the display screen 61 is linked only to the water spray direction. It is possible that the position on the display screen 61 is linked only to the water spray pressure. It is possible that the position on the display screen 61 is linked only to the water spray volume.It is also possible that the depth information is linked only to the direction of water spraying, that the depth information is linked only to the water spraying pressure, that the depth information is linked only to the amount of water spraying, or that the direction of water spraying, the water spraying pressure, the amount of water spraying, and the depth information are all or any two of them linked together.

[0133] The link between the position on the display screen 61 in up-down and left-right directions and the depth information, as well as the water spray direction, water spray pressure and water spray quantity, can be freely adjusted to be suitable for the respective construction site. (L)

[0134] The working machine 2 of the first and second embodiments described above can include a sensor that detects a current position or orientation and can actuate the drive unit 13, the rotary unit 14, the boom 16, or the stick 17 to move the water irrigation point based on information from the sensor and information regarding the defined water irrigation area. For example, a receiver of a global navigation satellite system (GNSS) or an IMU (inertial measuring unit) sensor can be used as the sensor. In the case of the first embodiment, the drive unit 13, the rotary unit 14, the boom 16, or the stick 17 can be automatically controlled according to the set operating area A1 of the water irrigation and the center of gravity area A3 of the water irrigation.Furthermore, in the case of the second embodiment, for example, the control unit that operates the drive unit 13, the rotary unit 14, the boom 16, or the stick 17 can be provided at the display device 6'. The working device 12 can be extended to target the water spraying position. This allows the range of the water spraying to be extended and work efficiency to be improved. Moreover, the area in which the water spraying can be carried out is increased by the driving and rotating movement, thus improving work efficiency. (M)

[0135] In the first embodiment described above, as in Fig. Figure 6D illustrates that the spray area A1 (1) of the first water sprinkler 31 and the spray area A1 (2) of the second water sprinkler 32 are displayed together on the display screen 61, but can also be displayed separately. In such a case, it is possible to switch between the display screen for the first water sprinkler 31 and the display screen for the second water sprinkler 32. The spray area A1 (1) of the first water sprinkler 31 is displayed on the display screen for the first water sprinkler 31, and the spray area A1 (2) of the second water sprinkler 32 is displayed on the display screen for the second water sprinkler 32. (N)

[0136] In the water sprinkler systems 1 and 1' of the embodiments described above, the operation of the multiple water sprinklers is made possible by allowing each individual sprinkler to be operated from a single screen. However, a configuration can also be chosen in which one screen corresponds to one water sprinkler and the screen is switched for each sprinkler. In such a case, a toggle button is provided so that the sprinkler to be operated can be switched. (Q)

[0137] In the water sprinkler systems 1 and 1' of the first and second embodiments described above, two water sprinklers are provided, more precisely the first water sprinkler 31 and the second water sprinkler 32. However, only one water sprinkler or three or more water sprinklers may also be provided. (P)

[0138] In the first and second embodiments described above, two water sprinklers are arranged on each individual machine 2. However, one or more water sprinklers can also be arranged on each of the plurality of machines. Furthermore, one or more cameras 4 can be attached to each of the water sprinkler attachments 3 arranged on each of the plurality of machines. The images from the plurality of cameras 4 can be displayed simultaneously by the display devices 6 and 6', or they can be displayed alternately for each camera 4. For example, the water sprinkler attachment 3 can be mounted on each of two machines, a water sprinkler can be provided on each water sprinkler attachment, and a camera 4 can be arranged on each of them. Fig. Figure 12 is a view illustrating a state in which an image from the camera 4, located on the water sprinkler attachment 3 mounted on each of the two working machines, is displayed on the same display screen of a display device 6. On a screen 61a on the left, the image from one of the two cameras 4 is displayed, and the water sprinkler of the water sprinkler attachment 3, on which one camera 4 is located, is shown as the first water sprinkler. The selection button 71a, the activation button 71b, and the water sprinkler control button 67a of the first water sprinkler are displayed at the bottom of the screen 61a.Furthermore, on screen 61b on the right, the image from the other of the two cameras 4 is displayed, and the water sprinkler of the water spray attachment 3, on which the other camera 4 is located, is shown as the second water sprinkler. On the lower side of screen 61b, the selection button 71c, the operating button 71d, and the water spray button 67b of the second water sprinkler are displayed. In this way, the multiple images provided by the cameras 4, corresponding to the multiple water sprinklers, are displayed on each individual display 6," and the water sprinklers mounted on the separate work machines can be operated via the individual display 6. The images from the cameras corresponding to the multiple water sprinklers are displayed in a split format on the individual display screen.This allows for remote control while displaying the water spray status of each individual sprinkler. Note that the display is similar to [previous example]. Fig. 12 illustrates how this can be done when the multitude of cameras 4 are arranged on the single water sprinkler attachment 3. (Q)

[0139] In the water sprinkler systems 1 and 1' of the embodiments described above, the operating method for moving the water sprinkler control button 67a of the first water sprinkler and the water sprinkler control button 67b of the second water sprinkler of the water dispensing unit 67 of the water sprinkler in a left-right direction is described as an example, but the operating method need not be limited to this. For example, the water sprinkler start signal is transmitted in response to a touch, and the water sprinkler stop signal can be transmitted in response to a subsequent touch. Alternatively, other operating methods can also be used. This is not limited to the buttons of the water dispensing unit 67 of the water sprinkler and applies equally to the other buttons. (R)

[0140] In the water sprinkler system 1 of the embodiment described above, two processors are provided, namely the display control unit 68 of the display device 6 and the control unit 5. However, one can function as the other. For example, in the embodiment described above, the calculation of the nozzle path plan is performed by the control unit 5, but can also be performed by the display control unit 68. (S)

[0141] In the water sprinkler system 1 of the embodiment described above, the image captured by the camera 4 is displayed on the display device 6. However, the image is not limited to this; a 3D model of the demolition site can also be displayed. (T)

[0142] In the water sprinkler system 1 of the embodiment described above, the water sprinkler route R is set in the sprinkler's operating area A1 or in the sprinkler's center of gravity area A3. However, the water sprinkler route can be preset. In such a case, the user only needs to set the sprinkler's operating area A1 or center of gravity area A3. (U)

[0143] Both the mode in which the water spray area is set to execute the water spray, as described in the first embodiment above, and the manual operating mode, as described in the second embodiment, can be used. In such a case, for example, a button for switching to manual operation can be placed on the Fig. The display illustrated in section 5 of the first embodiment is shown, and switching to the display in Fig. The display shown in step 11 can be executed by touching the button to switch to manual operation. (V)

[0144] In the second embodiment described above, the display screen 61 and the manual operation unit 71 are both provided on the display device 6'. However, the manual operation unit 71 can also be arranged separately from the display device 6'. Similarly, in the first embodiment, the operating units, such as the area selection unit 63 and the water irrigation route setting unit 65, and the display screen 61, are provided on the display device 6, but the operating units can also be separate from the display device 6. (W)

[0145] In the second embodiment described above, the first nozzle 31a or the second nozzle 32a is controlled by the unit 71 for manual operation of the display device 6', thereby controlling the direction of the water spray. However, in addition to or instead of the unit 71 for manual operation, the direction of the water spray can also be controlled by tapping the display screen 61. For example, the direction of the water spray can be set based on the position tapped on the display screen 61, and the first nozzle 31a or the second nozzle 32a can be controlled so that the first nozzle 31a or the second nozzle 32a points in the set direction of the water spray. (X)

[0146] The embodiment described above illustrates the use of the water sprinkler system at a demolition site. However, the water sprinkler system can also be used at other locations, such as an industrial waste treatment plant or a mining site, where water sprinkler operations are necessary due to dust generation. (Supplement 1)

[0147] A water sprinkler system for demolition work, comprising an image acquisition unit for capturing an image of a demolition site, a display unit for displaying an image acquired by the image acquisition unit, and a control unit for determining at least one of the water sprinkler direction, water sprinkler quantity, or water sprinkler pressure based on a water sprinkler area specified in the image displayed on the display unit. (Supplement 2)

[0148] The water sprinkler system according to Supplement 1 further includes a working machine with a working device at the distal end of which the water sprinkler is arranged, and a vehicle body on which the working device is arranged. (Supplement 3)

[0149] The water sprinkler system according to Supplement 2, wherein the image acquisition unit is located at the distal end of the working device. (Supplement 4)

[0150] The water sprinkler system according to one of the amendments 1 to 3, wherein the water sprinkler area is specified by drawing it on the image. (Supplement 5)

[0151] The water sprinkler system according to one of the amendments 1 to 5, wherein the water sprinkler area includes an implementation area of ​​water sprinkler in which water sprinkler is implemented and a prohibition area of ​​water sprinkler in which water sprinkler is prohibited. (Supplement 6)

[0152] The water sprinkler system according to one of the amendments 1 to 5, wherein the water sprinkler area includes a focus area of ​​the water sprinkler in which the water sprinkler is intensive. (Supplement 7)

[0153] The water sprinkler system according to one of the amendments 1 to 7, wherein the water sprinkler area includes an execution area of ​​the water sprinkler in which the water sprinkler is carried out, and based on the execution area of ​​the water sprinkler, a water sprinkler route is set along which the water sprinkler carries out the water sprinkler. (Supplement 8)

[0154] The water sprinkler system according to Supplement 7, further including a vibration adjustment unit which applies a vibration to the water sprinkler when the water sprinkler is carried out along the water sprinkler route. (Supplement 9)

[0155] A display device used for operating a water sprinkler used for demolition work, wherein the display device includes a display unit that indicates a demolition site based on an image or 3D model, and an area preselection unit that specifies a water sprinkler area on the displayed image or 3D model. (Supplement 10)

[0156] The display device according to Supplement 9, wherein the display unit can display water sprinkler areas relating to a plurality of water sprinklers, and the display device further includes a water sprinkler selection unit that selects the water sprinkler that specifies the water sprinkler area. (Supplement 11)

[0157] A control method for a water sprinkler used in demolition work, wherein the control method includes a acquisition step for obtaining an image acquired by recording a demolition site, a display step for displaying the image acquired in the acquisition step, and a decision step for determining at least one of the water sprinkler direction, water sprinkler quantity, or water sprinkler pressure based on a water sprinkler area specified on the image displayed in the display step. (Supplement 12)

[0158] The control procedure for a water sprinkler according to Supplement 11, wherein the water sprinkler area includes an operating area of ​​water sprinkler in which water sprinkler is operated and a prohibition area of ​​water sprinkler in which water sprinkler is prohibited. (Supplement 13)

[0159] The control method for a water sprinkler according to Supplement 11 or 12, wherein the water sprinkler area includes a water sprinkler execution area in which the water sprinkler is executed, and based on the water sprinkler execution area, a water sprinkler route is set along which the water sprinkler executes the water sprinkler. (Supplement 14)

[0160] A water sprinkler system for demolition work, comprising a work machine with an attached water sprinkler, a control unit for operating the water sprinkler, an image acquisition unit for recording a demolition site, a display unit for displaying an image acquired by the image acquisition unit, and a control unit for controlling at least one aspect of the water sprinkler's direction, quantity, or pressure based on an actuation of the control unit. (Supplement 15)

[0161] The water sprinkler system according to Supplement 14, wherein the working machine includes a working device at the distal end of which the water sprinkler is arranged, and a vehicle body on which the working device is arranged, and the vehicle body includes a driving body and a rotating body arranged to rotate in relation to the driving body. (Supplement 16)

[0162] The water sprinkler system according to Supplement 15, wherein the control unit further performs any operation of the working device, travel movement of the driving body and rotation of the rotating body based on operation by the control unit. (Supplement 17)

[0163] The water sprinkler system according to Supplement 15 or 16, wherein the image acquisition unit is arranged on the water sprinkler or on the working device. (Supplement 18)

[0164] The water sprinkler system according to any of Amendments 13 to 17, further comprising a plurality of working machines on which the water sprinkler is arranged, wherein the display unit displays on the same display screen a plurality of image recordings obtained from the image recording units arranged on the working machines. (Supplement 19)

[0165] The water sprinkler system according to one of the amendments 14 to 18, wherein the control unit further includes a water sprinkler selection unit which selects any one of the plurality of water sprinklers and is operable with respect to each of the water sprinklers. (Supplement 20)

[0166] A control method for a water sprinkler used in demolition work, wherein the control method includes a acquisition step for obtaining an image acquired by recording a demolition site, a display step for displaying the image acquired in the acquisition step, and a control step for performing a control regarding the water spraying by a water sprinkler in response to an operation based on the image displayed in the display step. Industrial applicability

[0167] According to the water sprinkler system of the present disclosure, work efficiency can be improved, which is advantageous on demolition sites and the like. Reference symbol list 1 Water sprinkler system 4 cameras 5 Control unit 31 first water sprinkler 32 second water sprinkler QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2008-307516 A

[0005]

Claims

[1] Water sprinkler system for use in demolition work, the water sprinkler system comprising: an image acquisition unit configured to record a demolition site; a display unit configured to display an image acquired by the image acquisition unit; and a control unit configured to, based on a water sprinkler area specified in the image displayed on the display unit, at least one of To determine the direction, quantity, or pressure of water spray from a water sprinkler. [2] Water sprinkler system according to claim 1, further comprising: a working machine that includes: a piece of equipment at the distal end of which the water sprinkler is arranged; and a vehicle body on which the work equipment is arranged. [3] Water sprinkler system according to claim 2, wherein the image acquisition unit is arranged at the distal end of the working device. [4] Water sprinkler system according to claim 1, wherein the water sprinkler area is specified by drawing it on the image. [5] Water sprinkler system according to claim 1, wherein the water sprinkler area includes: an area where the water irrigation is carried out; and a restricted area for water irrigation, in which water irrigation is prohibited. [6] Water sprinkler system according to claim 1 or 5, wherein the water sprinkler area includes a focus area of ​​the water sprinkler in which intensive water sprinkler spraying takes place. [7] Water sprinkler system according to claim 1, wherein the water irrigation area includes an execution area of ​​the water irrigation in which the water irrigation is carried out, and Based on the area of ​​operation of the water irrigation, a water irrigation route is defined along which the water sprinkler carries out the water irrigation. [8] Water sprinkler system according to claim 7, further comprising: a vibration control unit configured to apply vibration to the water sprinkler when performing water irrigation along the water irrigation route. [9] Display device for use by an operator to control a water sprinkler used in demolition work, the display device comprising: a display unit configured to show a termination point using an image or a 3D model; and an area specification unit configured to specify a water sprinkler area on the displayed image or 3D model. [10] Display device according to claim 9, wherein The display unit can show water sprinkler zones relating to a variety of water sprinklers, and The display device further includes a water sprinkler selection unit configured to select the water sprinkler that defines the water sprinkling area. [11] Control method for a water sprinkler used in demolition work, the method comprising: a step towards obtaining an image, which is achieved by taking a picture of a demolition site; a display step to show the image acquired in the acquisition step; and a decision step to determine at least one of the water sprinkler direction, water sprinkler quantity or water sprinkler pressure based on a water sprinkler area specified on the image displayed in the display step. [12] Control method for a water sprinkler according to claim 11, wherein the water sprinkler area includes: an area where the water irrigation is carried out; and a restricted area for water irrigation, in which water irrigation is prohibited. [13] Control method for a water sprinkler according to claim 11, wherein the water irrigation area includes an execution area of ​​the water irrigation in which the water irrigation is carried out, and Based on the area of ​​operation of the water irrigation, a water irrigation route is defined along which the water sprinkler carries out the water irrigation. [14] Water sprinkler system for use in demolition work, the water sprinkler system comprising: a machine to which a water sprinkler is attached; a control unit configured to operate the work equipment; an image acquisition unit configured to record a demolition site; a display unit configured to display an image acquired by the image acquisition unit; and a control unit configured to control at least one of the water sprinkler's direction, amount of water, or water sprinkler pressure based on operation of the control unit. [15] Water sprinkler system according to claim 14, wherein the working machine includes: a piece of equipment at the distal end of which the water sprinkler is arranged; and a vehicle body on which the work equipment is arranged, and the main body of the vehicle includes: a vehicle and a rotating body that is arranged so that it rotates in relation to the vehicle. [16] Water sprinkler system according to claim 15, wherein the control unit further performs any operation of the working device, a movement of the driving body or a rotation of the rotating body based on operation by the control unit. [17] Water sprinkler system according to claim 15, wherein the image acquisition unit is arranged on the water sprinkler or on the working device. [18] Water sprinkler system according to claim 17, further comprising: a variety of work machines on which the water sprinkler is arranged, wherein The display unit shows a multitude of images on the same display screen, which are obtained from the image acquisition units arranged on the respective working machines. [19] Water sprinkler system according to claim 14, wherein the control unit further includes a water sprinkler selection unit configured to select any one of the plurality of water sprinklers and operable with respect to each of the water sprinklers. [20] Control method for a water sprinkler used in demolition work, the method comprising: a step towards obtaining an image, which is achieved by photographing a demolition site; a display step to show the image acquired in the acquisition step; and a control step in which the water spray of a water sprinkler is controlled in response to an operation based on the image captured in the display step.

Images