Water sprinkling system and method for controlling sprinkler

Abstract

To provide a water sprinkling system capable of reducing work of operators and improving work efficiency.SOLUTION: A water sprinkling system 1 is a water sprinkling system for use in demolition work, and comprises a camera 4, an image analysis unit 52, and a control instruction unit 53. The camera 4 captures images of a demolition work site. The image analysis unit 52 analyzes the images captured by the camera 4 according to a pre-enabled water sprinkling mode. The control instruction unit 53 determines control regarding water sprinkling on the basis of the analysis of the captured images by the image analysis unit 52.SELECTED DRAWING: Figure 5A

Description

[Technical field]

[0001] The present invention relates to a watering system and a method for controlling a watering machine. [Background technology]

[0002] At demolition sites of buildings and other structures, a large amount of dust is generated during demolition work, and water is sprayed during the work to reduce the dust.

[0003] In the demolition of a building, the interior is demolished, followed by the blocks, upper floors, framework, basement, and wooden structures, and then, if necessary, the foundation. During the multiple steps of upper floors, framework, basement, wooden structures, and foundation demolition, water sprinkling work is required to prevent dust from scattering, and water sprinkling work at demolition sites is becoming increasingly important in response to asbestos, etc.

[0004] In order to prevent such watering work from being performed by humans at demolition sites, a watering device has been disclosed in which the nozzles of the watering machine are operated based on wireless commands from a transmitter operated by an operator (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2008-307516 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the sprinkler system shown in Patent Document 1 requires the operator to constantly be aware of the area to be sprinkled while operating the sprinkler, and does not reduce the operator's workload or improve efficiency.

[0007] The present disclosure aims to provide a sprinkler system and a method for controlling a sprinkler that can reduce the workload of an operator and improve efficiency. [Means for solving the problem]

[0008] A water sprinkling system according to a first aspect of the present disclosure is a water sprinkling system used in demolition work, and includes an imaging unit, an image analysis unit, and a control decision unit. The imaging unit captures images of the demolition work site. The image analysis unit analyzes the captured images acquired by the imaging unit according to a water sprinkling mode that is enabled in advance. The control decision unit decides control regarding water sprinkling based on the analysis of the captured images by the image analysis unit.

[0009] A method for controlling a sprinkler according to a second aspect of the present disclosure is a method for controlling a sprinkler used in demolition work, and includes an acquisition step, an image analysis step, and a control decision step. The acquisition step acquires a captured image of a demolition work site. The image analysis step analyzes the captured image acquired by the imaging unit according to a water sprinkler mode that is enabled in advance. The control decision step decides control regarding water sprinkling based on the analysis of the captured image by the image analysis step. Effect of the Invention

[0010] According to the present disclosure, it is possible to provide a sprinkler system and a method for controlling a sprinkler that can reduce the workload of an operator and improve efficiency. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a demolition site where the water sprinkling system of this embodiment is used. [Diagram 2] FIG. 1 is a diagram showing the configuration of a watering system according to an embodiment of the present invention. [Diagram 3] 1 is a perspective view showing a watering attachment and a camera of the watering system of the present embodiment. FIG. [Figure 4] 2 is a block diagram for explaining the configuration relating to control of the watering system of the present embodiment. FIG. [Figure 5A] FIG. 2 is a diagram showing a display device of the watering system of the present embodiment. [Figure 5B] FIG. 2 is a diagram showing a display device of the watering system of the present embodiment. [Figure 6] FIG. 13 is a diagram showing the display device switched to a manual operation screen. [Figure 7] A flow chart showing the control operation when the dust mode is set in the watering system of this embodiment. [Figure 8] 11 is a flow chart showing the control operation when the crusher following mode is set in the water sprinkling system of this embodiment. FIG. [Figure 9] FIG. 13 is a diagram showing a display screen in a modified example of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The watering system according to the present disclosure will be described below with reference to the drawings.

[0013] (Overview of Irrigation System 1) Fig. 1 is a diagram showing a demolition site 100 where the water sprinkling system 1 of this embodiment is used. At the demolition site 100 shown in Fig. 1, demolition work of a building 200 is being carried out by two work machines 300, 400. Also shown is a work machine 2 that sprinkles water. The water sprinkling system 1 of this embodiment sprinkles water at the demolition site 100.

[0014] Fig. 2 is a diagram showing the configuration of the watering system 1. The watering system 1 has a work machine 2, a watering attachment 3, a camera 4 (an example of an imaging section), a controller 5, a display device 6 (an example of an alarm section), a pump 7, and a tank 9. Fig. 1 shows the work machine 2 and the watering attachment 3 of the watering system 1.

[0015] The work machine 2 has a vehicle body 11 and a work implement 12. The vehicle body 11 has a running body 13 and a rotating body 14. The running body 13 has a pair of running devices 13a. Each running device 13a has tracks 13b. The tracks 13b are driven by driving force from the engine, thereby driving the work machine 2.

[0016] The rotating body 14 is placed on the running body 13. The rotating body 14 is provided so as to be rotatable with respect to the running body 13 about a rotation axis along the up-down direction. The rotating body 14 is provided with a rotation device (not shown).

[0017] As shown in Fig. 2, a cab 15 serving as a driver's room is provided at the front left position of the rotating body 14. The rotating body 14 also houses an engine, a hydraulic pump, and the like (not shown). In this embodiment, unless otherwise specified, front, rear, left and right will be described based on the driver's seat in the cab 15. The direction in which the driver's seat faces directly ahead is defined as the forward direction, and the direction opposite to the forward direction is defined as the rear direction. The right and left sides when the driver's seat faces directly ahead are defined as the right direction and the left direction, respectively.

[0018] The work machine 12 has a boom 16, an arm 17, and an auto-coupler 18, and is attached to the front center position of the rotating body 14. The base end of the boom 16 is rotatably connected to the rotating body 14. The base end of the arm 17 is rotatably connected to the tip of the boom 16. The auto-coupler 18 is connected to the tip of the arm 17.

[0019] Also, a boom cylinder 20 (see FIG. 1), an arm cylinder 21, and an attachment cylinder 22 are arranged to correspond to the boom 16, the arm 17, and the auto-coupler 18, respectively. The boom cylinder 20 (see FIG. 1), the arm cylinder 21, and the attachment cylinder 22 are hydraulic cylinders. The work machine 12 is driven by driving these cylinders 20-22. The auto-coupler 18 is driven by hydraulic pressure, and an excavation bucket, a large cutter, a small cutter, or a watering attachment 3 can be detachably attached to the tip of the auto-coupler 18.

[0020] 1, the work machine 300 at the demolition site 100 has a vehicle body 301 having a running body 302 and a rotating body 303, and a work machine 304 arranged on the vehicle body 301. A large cutter 305 is attached to the tip of the work machine 304 as an attachment. Similarly to the work machine 2, the work machine 400 has a vehicle body 401 having a running body 402 and a rotating body 403, and a work machine 404 arranged on the vehicle body 401. A large cutter 405 is attached to the tip of the work machine 404 as an attachment.

[0021] (Watering attachment 3) As shown in Fig. 2, the watering attachment 3 is detachably disposed on the auto-coupler 18. Fig. 3 is a perspective view showing the watering attachment 3 and the camera 4. Fig. 4 is a block diagram for explaining the configuration related to the control of the watering system 1.

[0022] As shown in Figures 3 and 4, the sprinkler attachment 3 has a bracket 30, a first sprinkler 31, and a second sprinkler 32. The bracket 30 is detachably attached to the auto-coupler 18. The first sprinkler 31 and the second sprinkler 32 are disposed on the bracket 30. The first sprinkler 31 and the second sprinkler 32 are disposed side by side in the width direction of the work machine 12.

[0023] As shown in FIG. 3 and FIG. 4, the first sprinkler 31 has a first nozzle 31a, a first housing 31b, a first support 31c, a first vertical drive unit 31d, a first horizontal drive unit 31e, and a first solenoid valve 31f. Water supplied 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 in an open state, water is sprinkled from the first nozzle 31a, and when the first solenoid valve 31f is in a closed state, sprinkling from the first nozzle 31a is stopped. The opening and closing of the first solenoid valve 31f is controlled by a start command signal or a stop command signal from the controller 5. In this embodiment, the pump 7 is disposed beside the tank 9, but the tank 9 may be disposed in another location.

[0024] The first housing 31b supports the first nozzle 31a so as to be rotatable in the up-down direction. The first support 31c supports the first housing 31b so as to be rotatable in the left-right direction. The first support 31c is fixed to the first mounting surface 30a of the bracket 30.

[0025] The first vertical drive unit 31d rotates the first nozzle 31a in the vertical direction (see arrow B). The first vertical drive unit 31d is an actuator that drives the first nozzle 31a, and is configured, for example, as an electric cylinder that converts the rotational force of a motor (electric motor) into reciprocating motion using a rack and pinion or the like. By rotating the first nozzle 31a in the vertical direction, the water spray direction moves in the vertical direction.

[0026] The first left-right drive unit 31e rotates the first housing 31b left-right relative to the first support 31c (see arrow C). The first left-right drive unit 31e is an actuator that rotates the first housing 31b relative to the first support 31c, and is configured, for example, as an electric cylinder that converts the rotational force of a motor (electric motor) into reciprocating motion using a rack and pinion or the like. By rotating the first housing 31b relative to the first support 31c, the spray direction of the first nozzle 31a moves left-right.

[0027] As shown in Figs. 3 and 4, the second sprinkler 32 has the same configuration as the first sprinkler 31, and includes a second nozzle 32a, a second housing 32b, a second support 32c, a second vertical drive unit 32d, a second horizontal drive unit 32e, and a second solenoid valve 32f. Water is supplied to the second nozzle 32a from the tank 9 by the pump 7 via the second solenoid valve 32f. When the second solenoid valve 32f is opened, water is sprinkled from the second nozzle 32a, and when the second solenoid valve 32f is closed, water sprinkling from the second nozzle 32a is stopped. The opening and closing of the second solenoid valve 32f is controlled by a start command signal or a stop command signal from the controller 5. In Fig. 2, the water pipe 8 connecting the pump 7 to the first solenoid valve 31f of the first sprinkler 31 and the second solenoid valve 32f of the second sprinkler 32 is shown by a dotted line.

[0028] The configurations of second housing 32b, second support 32c, second vertical drive section 32d, and second horizontal drive section 32e are similar to those of first sprinkler 31, and therefore description thereof will be omitted.

[0029] (Camera 4) The camera 4 is fixed to the bracket 30 as shown in Fig. 3. For example, a stereo camera can be used as the camera 4. A mounting base 30c is fixed to a second mounting surface 30b on the auto-coupler 18 side of a first mounting surface 30a on which a first sprinkler 31 and a second sprinkler 32 are arranged. The camera 4 is fixed on the mounting base 30c.

[0030] Camera 4 captures an image of demolition site 100. Camera 4 captures an image of an area where first sprinkler 31 and second sprinkler 32 can sprinkle water. Camera 4 captures an image of demolition site 100 and transmits the captured image to controller 5 as a captured image signal. By using a stereo camera as camera 4, the captured image is given distance information corresponding to each pixel. Therefore, controller 5 can obtain the three-dimensional coordinates of each pixel in the captured image.

[0031] (Display device 6) The display device 6 receives a signal of the image captured by the camera 4 via the controller 5. The operator uses the display device 6 to set watering settings for the first sprinkler 31 and the second sprinkler 32. The display device 6 may be, for example, a mobile phone such as a smartphone, a tablet, a personal computer, a VR headset, or the like.

[0032] The display device 6 is connected to the controller 5 via the Internet. The display device 6 is connected to the Internet, for example, by wireless LAN or the like. Note that the display device 6 does not need to communicate with the controller 5 via the Internet, and may communicate with the controller 5 directly.

[0033] Fig. 5A is a diagram showing the display device 6. As shown in Fig. 4 and Fig. 5A, the display device 6 has a display screen 61 (an example of a display section), a sprinkler selection section 62, a sprinkler mode setting section 63, an automatic start setting section 64, a crusher setting section 65, a sprinkler discharge section 66, a manual switching section 67, a display control section 68, and a manual operation section 71 (see Fig. 6), and these are displayed on a liquid crystal screen.

[0034] The display screen 61 displays the image captured by the camera 4. In Figures 5A and 5B, the state in which dismantling is being carried out by the work machine 300 and the work machine 400 is displayed.

[0035] The sprinkler selection unit 62 selects whether the setting is to be performed for the first sprinkler 31 or the second sprinkler 32. As shown in FIG. 5, the sprinkler selection unit 62 is provided with a first sprinkler selection button 62a and a second sprinkler selection button 62b. When the operator taps either the first sprinkler selection button 62a or the second sprinkler selection button 62b, the tapped sprinkler is selected. The sprinkler selection unit 62 transmits information about the selected sprinkler to the display control unit 68 as a sprinkler selection signal.

[0036] The water sprinkling mode setting unit 63 sets the water sprinkling mode. The water sprinkling mode includes a dust mode for detecting dust and a crusher following mode for detecting the crusher. The dust mode is a mode for detecting dust. In the dust mode, the controller 5 detects dust and transmits a recommendation for water sprinkling to the display device 6 based on the presence or absence of dust. In FIG. 5A, an area D where dust is occurring is shown on the display screen 61. The crusher following mode is a mode for detecting the position of the crusher. In the crusher following mode, the controller 5 detects the position of the crusher and controls the sprinkling of water by the sprinkler to follow the crusher.

[0037] The water sprinkler mode setting unit 63 includes a dust mode selection button 63a and a crusher following mode selection button 63b. By tapping any of the buttons, the corresponding mode is selected. The water sprinkler mode setting unit 63 transmits the selected mode as a selected mode signal to the display control unit 68. When the dust mode is selected after the first sprinkler 31 is selected by the sprinkler selection unit 62, and the crusher following mode is selected after the second sprinkler 32 is selected, the dust mode is set for the first sprinkler 31, and the crusher following mode is selected for the second sprinkler 32.

[0038] The automatic start setting unit 64 sets whether or not watering should start automatically when a recommendation notification is received from the controller 5. When the setting button of the automatic start setting unit 64 is moved to the left, it becomes the on state, and watering starts automatically when a recommendation notification is received. On the other hand, when the setting button of the automatic start setting unit 64 is moved to the right, it becomes the off state, and watering does not start automatically even when a recommendation notification is received. The automatic start setting unit 64 sends information including whether it is the on state or the off state to the display control unit 68 as an automatic start signal.

[0039] The crusher setting unit 65 sets the crusher that the sprinkler follows when there are multiple crushers on the captured image. The crusher setting unit 65 has a crusher setting button 65a and an input unit 65b. The input unit 65b is, for example, a touch panel, and also serves as the display screen 61. For example, when the crusher setting button 65a is tapped in a state in which the user selects the first sprinkler 31 in the sprinkler selection unit 62, the user can set the crusher. When the user taps a desired crusher using the input unit 65b, the tapped crusher is associated with the first sprinkler 31. In FIG. 5B, the large breaker 305 of the work machine 300 is tapped, and a state in which a pointer P1 is indicated on the cutting edge of the large breaker 305 is displayed. In addition, when the user selects the second sprinkler 32 in the sprinkler selection unit 62, the crusher setting button 65a is tapped, and the user uses the input unit 65b to tap the large cutter 405 of the work machine 400, the tapped crusher is associated with the second sprinkler 32. In FIG. 5B, the large cutter 405 of the work machine 400 is tapped, and a state in which a pointer P2 is indicated on the cutting edge of the large cutter 405 is displayed. When the crusher is associated with the sprinkler by the crusher setting unit 65, a crusher setting signal is transmitted from the crusher setting unit 65 to the display control unit 68.

[0040] The sprinkler water discharge unit 66 sets the start or stop of water sprinkling by the first sprinkler 31 and the second sprinkler 32. The sprinkler water discharge unit 66 has a first sprinkler water sprinkler button 66a and a second sprinkler water sprinkler button 66b. When the first sprinkler water sprinkler button 66a is moved to the left, a sprinkler start signal of the first sprinkler 31 is transmitted to the display control unit 68. On the other hand, when the first sprinkler water sprinkler button 66a is moved to the right, a sprinkler stop signal of the first sprinkler 31 is transmitted to the display control unit 68. Similarly, when the second sprinkler water sprinkler button 66b is moved to the left, a sprinkler start signal of the second sprinkler 32 is transmitted to the display control unit 68. On the other hand, when the second sprinkler water sprinkler button 66b is moved to the right, a sprinkler stop signal of the second sprinkler 32 is transmitted to the display control unit 68.

[0041] The manual switching unit 67 enables the first sprinkler 31 and the second sprinkler 32 to be manually operated. When the button of the manual switching unit 67 is moved to the left, it becomes available for manual operation, and a screen switching signal is sent to the display control unit 68. When the display control unit 68 receives the screen switching signal, it switches the display of the display device 6 to a manual operation screen. Figure 6 is a diagram showing the display device 6 switched to the manual operation screen. When the manual switching unit 67 is operated, a manual switching signal is sent to the display control unit 68.

[0042] The user can manually operate the first sprinkler 31 and the second sprinkler 32 by operating the manual operation unit 71 shown in FIG. 6. The manual operation unit 71 has a first sprinkler selection button 71a, a first sprinkler operation button 71b, a second sprinkler selection button 71c, and a second sprinkler operation button 71d. The first sprinkler selection button 71a is tapped to select the first sprinkler 31. The first sprinkler operation button 71b includes up, down, left, and right buttons. After the first sprinkler selection button 71a is tapped, the first nozzle 31a of the first sprinkler 31 can be operated up, down, left, and right by operating the first sprinkler operation button 71b. The second sprinkler selection button 71c is tapped to select the second sprinkler 32. The second sprinkler operation button 71d includes up, down, left and right buttons. After the second sprinkler selection button 71c is tapped, the second nozzle 32a of the second sprinkler 32 can be operated up, down, left and right by operating the second sprinkler operation button 71d. When the manual operation unit 71 is operated, a manual operation signal is transmitted from the manual operation unit 71 to the display control unit 68.

[0043] The screen shown in Fig. 6 displays the above-mentioned sprinkler water discharge section 66. For example, when water is being discharged by the first sprinkler 31 and the second sprinkler 32, the water discharge direction of the first sprinkler 31 or the second sprinkler 32 can be changed. Also, a back button 72 is displayed in Fig. 6, and by tapping the back button 72, the screen can be returned to the screen shown in Fig. 5A.

[0044] The display control unit 68 controls the display device 6. The display control unit 68 includes memories such as RAM and ROM, and a processor such as a CPU. The display control unit 68 may include an auxiliary storage device such as an SSD or an HDD. The display control unit 68 records programs and data for controlling the display device 6.

[0045] The display control unit 68 receives a captured image signal captured by the camera 4 via the controller 5 and the Internet. The display control unit 68 displays the captured image captured by the camera 4 on the display screen 61 based on the received captured image signal.

[0046] When the display control unit 68 receives a sprinkler selection signal from the sprinkler selection unit 62, it controls the display screen 61 to perform sprinkler setting for the selected sprinkler. When the display control unit 68 receives a sprinkler selection signal in which the first sprinkler 31 is selected, the display control unit 68 sets the display device 6 to a screen for setting the first sprinkler 31. In a state in which the first sprinkler 31 is set, the display control unit 68 sets the first sprinkler 31 to a dust mode or a crusher following mode based on the received selection mode signal. For example, the dust mode may be set for the first sprinkler 31, and the crusher following mode may be set for the second sprinkler 32. Also, the sprinkler mode may be set for only one of the first sprinkler 31 and the second sprinkler 32, and the sprinkler mode may not be set for the other.

[0047] The display control unit 68 receives an automatic start signal from the automatic start setting unit 64. The display control unit 68 receives a crusher setting signal from the crusher setting unit 65.

[0048] The display control unit 68 creates a sprinkler setting signal for a specific sprinkler from the received sprinkler selection signal, selection mode signal, automatic start signal, and crusher setting signal, and transmits the signal to the controller 5 via the Internet. When sprinkler settings are performed for both the first sprinkler 31 and the second sprinkler 32, a sprinkler setting signal for the first sprinkler 31 and a sprinkler setting signal for the second sprinkler 32 are output to the controller 5.

[0049] (Controller 5) The controller 5 is programmed to control the sprinkling of water from the first sprinkler 31 and the second sprinkler 32 based on a water sprinkling setting signal transmitted from the display device 6. The controller 5 can be disposed in the cab 15, for example, but is not limited to this.

[0050] The controller 5 includes memories such as RAM and ROM, and a processor such as a CPU. The controller 5 may include an auxiliary storage device such as an SSD or an HDD. The controller 5 records programs and data for controlling the work machine 2. The controller 5 executes processing for controlling the first sprinkler 31 and the second sprinkler 32 based on the programs and data.

[0051] The controller 5 executes a program to realize the following functions. As shown in Fig. 4, the controller 5 has a mode setting unit 51, an image analysis unit 52, and a control instruction unit 53 (an example of a control determination unit).

[0052] The mode setting unit 51 sets the water sprinkling mode based on the selected mode signal received from the display device 6. The water sprinkling mode includes a dust mode and a crusher following mode. The mode setting unit 51 selects the dust mode or the crusher following mode based on the selected mode signal.

[0053] The image analysis unit 52 analyzes the captured image captured by the camera 4 based on the set mode. When the dust mode is set by the mode setting unit 51, the image analysis unit 52 detects the presence or absence of dust. For example, the controller 5 is trained to use AI (Artificial Intelligence) to determine whether or not dust is generated in each captured image. The data set for AI training may be an actual image, an image generated by a generation AI, or CG. In addition, an artificially generated image may be used so that an arbitrary amount of dust is present in an image that does not contain dust, using data augmentation technology.

[0054] When the crusher tracking mode is set by the mode setting unit 51, the image analysis unit 52 detects the position of a crusher such as a large cutter or a small cutter. For example, the controller 5 is made to learn the shapes of crushers such as a large cutter and a small cutter using AI (Artificial Intelligence). The data set for AI learning can use actual images, but images generated by a generation AI or the like may also be used, or CG may also be used.

[0055] The control instruction unit 53 sends an open command signal or a close command signal to the first solenoid valve 31f to sprinkle water from the first nozzle 31a of the first sprinkler 31 or stop sprinkling water. The control instruction unit 53 sends an open command signal or a close command signal to the second solenoid valve 32f to sprinkle water from the second nozzle 32a of the second sprinkler 32 or stop sprinkling water.

[0056] The control instruction unit 53 sends drive commands to each of the first vertical drive unit 31d and the first horizontal drive unit 31e to move the first nozzle 31a up, down, left and right. This controls the direction of water sprinkler 31. Note that control may be performed by calculating the rotation angle in the vertical direction and the rotation angle in the horizontal direction of first nozzle 31a by driving the motors of the first vertical drive unit 31d and the first horizontal drive unit 31e, but feedback control may also be performed by providing a sensor that detects the rotation angle of first nozzle 31a.

[0057] The control instruction unit 53 sends drive commands to each of the second vertical drive unit 32d and the second horizontal drive unit 32e to move the second nozzle 32a up, down, left, and right. This controls the direction of water sprinkler 32. As with the first sprinkler 31, the rotation angles in the vertical direction and the horizontal direction of the second nozzle 32a may be calculated and controlled by driving the motors of the second vertical drive unit 32d and the second horizontal drive unit 32e, but feedback control may also be performed by providing a sensor that detects the rotation angle of the second nozzle 32a.

[0058] When the control instruction unit 53 receives an image captured by the camera 4, it transmits the image to the display device 6 via the Internet and causes the display device 6 to display the image.

[0059] When the dust mode is set, the control instruction unit 53 transmits a recommendation notification to the display device 6 when dust is detected by the image analysis unit 52. At this time, when an automatic start signal is received from the display device 6, the control instruction unit 53 transmits the recommendation notification and executes water sprinkling by the sprinkler in which the dust mode is set. For example, when the dust mode is set in the first sprinkler 31 and the automatic start setting unit 64 is set to the on state, when dust is detected by the image analysis unit 52, the control instruction unit 53 transmits an open command signal to the first solenoid valve 31f to perform water sprinkling from the first nozzle 31a of the first sprinkler 31. Since the camera 4 is a stereo camera, the three-dimensional coordinates of the area D where dust is generated can be confirmed. For this reason, the control instruction unit 53 can control the direction of water sprinkling by controlling the first vertical drive unit 31d and the first horizontal drive unit 31e, and adjust the opening degree of the first solenoid valve 31f to control the amount of water sprinkled, thereby sprinkling water in the area D where dust is generated.

[0060] When the crusher following mode is set, the control instruction unit 53 instructs the sprinkler to sprinkle water so as to follow the associated crusher. For example, when the first sprinkler 31 is associated with the large cutter 305, the control instruction unit 53 drives the first vertical drive unit 31d, the first horizontal drive unit 31e, and the first solenoid valve 31f to control the first nozzle 31a so as to follow the movement of the blade tip of the large cutter 305. Since the camera 4 is a stereo camera, the three-dimensional coordinates of the large cutter 305 can be confirmed. Therefore, the control instruction unit 53 can sprinkle water at the position of the large cutter 305 by controlling the first vertical drive unit 31d and the first horizontal drive unit 31e to control the sprinkling direction and adjusting the opening of the first solenoid valve 31f to control the amount of sprinkling water.

[0061] The controller 5 is connected to the first sprinkler 31, the second sprinkler 32, and the camera 4 via communication wiring 39. The communication wiring 39 is indicated by a two-dot chain line in Fig. 2. Note that communication between the controller 5 and the first sprinkler 31, the second sprinkler 32, and the camera 4 is not limited to being wired, and may be wireless.

[0062] (Control Action) Next, the control operation of the watering system 1 of this embodiment will be described.

[0063] (Control operation when dust mode is set) FIG. 7 is a flow diagram showing the control operation when the dust mode is set in the watering system 1 of this embodiment.

[0064] The user sets the dust mode in advance using the water sprinkler mode setting unit 63 of the display device 6, and the dust mode is set by the mode setting unit 51 of the controller 5. For example, the dust mode is set for the first sprinkler 31.

[0065] In step S11 (an example of an acquisition step), an image of the demolition site 100 captured by the camera 4 is acquired by the controller 5. The acquired image by the controller 5 is captured at each image capturing timing of the camera 4. For example, when the camera 4 captures multiple images per second, the controller 5 acquires the captured images multiple times per second.

[0066] Next, in step S12 (an example of an image analysis step), the image analysis unit 52 of the controller 5 performs image analysis on the image captured by the camera 4 to detect dust.

[0067] Next, in step S13, if the image analysis unit 52 of the controller 5 determines that dust is not being generated, in step S14, the control instruction unit 53 transmits a close command signal to the solenoid valve, the sprinkler is stopped, and the control is terminated. For example, if the dust mode is set for the first sprinkler 31, a close command signal is transmitted to the first solenoid valve 31f. Note that when the first solenoid valve 31f is closed, it remains closed, and when water sprinkling is being performed, the water sprinkling is stopped.

[0068] On the other hand, if it is determined in step S13 that dust is generated, the control proceeds to step S15.

[0069] In step S15 (an example of a control decision step), the control instruction unit 53 of the controller 5 transmits a signal indicating the occurrence of dust to the display device 6 via the Internet, and causes the display device 6 to display a recommendation notice encouraging water sprinkling. Upon receiving the signal indicating the occurrence of dust, the display device 6 displays a recommendation notice, for example, "Dust occurring, water sprinkling recommended."

[0070] In step S16, the control instruction unit 53 of the controller 5 determines whether or not the user intends to start sprinkling. Specifically, when the control instruction unit 53 determines that the automatic start setting unit 64 is in the on state based on the automatic start signal from the automatic start setting unit 64, it determines that the user intends to start sprinkling. In addition, when the user operates the sprinkler discharge unit 66 within a predetermined time from the recommendation notification to set the start of sprinkling by the sprinkler with the dust mode set, the control instruction unit 53 determines that the user intends to start sprinkling. In step S15, when the control instruction unit 53 determines that the user does not intend to start sprinkling, the control ends. On the other hand, when the control instruction unit 53 determines that the user intends to start sprinkling, the control proceeds to step S17.

[0071] In step S17, the control instruction unit 53 uses the sprinkler set to the dust mode to perform sprinkling of water on the area D where dust has been detected.

[0072] Next, in step S18, when the control instruction unit 53 receives a stop command signal from the display device 6, in step S19, the control instruction unit 53 sends a close command signal to the solenoid valve, water sprinkling is stopped, and control is terminated. If a stop signal is not received in step S18, control returns to step S11. If dust is occurring, the controller 5 repeats the control of steps S11 to S13 and S15 to S18 to sprinkle water on area D until a close command signal is received in step S18. Note that area D where dust is occurring may be shown on the display screen 61 by surrounding it with a line, for example.

[0073] (Control operation when crusher following mode is set) FIG. 8 is a flow diagram showing the control operation when the crusher following mode is set in the water sprinkling system 1 of this embodiment.

[0074] The user sets the crusher following mode in advance using the water sprinkler mode setting unit 63 of the display device 6, and the crusher following mode is set for a specific water sprinkler by the mode setting unit 51 of the controller 5.

[0075] In step S21 (an example of an acquisition step), an image of the demolition site 100 captured by the camera 4 is acquired by the controller 5. The acquired image by the controller 5 is captured at each image capturing timing of the camera 4. For example, when the camera 4 captures multiple images per second, the controller 5 acquires the captured images multiple times per second.

[0076] Next, in step S22, the mode setting unit 51 determines whether or not the crusher is associated with the sprinkler in the crusher following mode based on the crusher setting signal. Since the crusher is not associated with the sprinkler in the first captured image, the control proceeds to step S23.

[0077] In step S23, the user associates the crusher with the sprinkler using the crusher setting unit 65, and the mode setting unit 51 of the controller 5 receives a crusher setting signal from the display device 6.

[0078] In step S24, the control instruction unit 53 of the controller 5 calculates the characteristics of the crusher to be followed and creates a path plan for the nozzle to follow.

[0079] Next, in step S25, the control instruction unit 53 of the controller 5 stores the tracing path plan of the nozzle.

[0080] After step S25, the control returns to step S21, and the controller 5 acquires an image of the demolition site 100 captured by the camera 4.

[0081] Since the crusher has already been associated with the sprinkler in the crusher following mode, the control proceeds from step S22 to step S26.

[0082] In step S26 (an example of an image analysis step), the image analysis unit 52 performs image analysis of the captured image captured by the camera 4. Specifically, the image analysis unit 52 detects the crusher to be tracked and detects obstacles. The obstacles are, for example, people, cabs, etc.

[0083] In step S27, if the image analysis unit 52 determines that there is an obstacle in the water sprinkling destination, the control instruction unit 53 transmits a close command signal to the solenoid valve, and water sprinkling is stopped. For example, if the large splitter 305 is associated with the first sprinkler 31, a close command signal is transmitted to the first solenoid valve 31f when a person, a cab, or the like is present near the large splitter 305. When the first solenoid valve 31f is in a closed state, the closed state is maintained, and when water sprinkling has been performed beforehand, water sprinkling is stopped.

[0084] In step S27, if the image analysis unit 52 determines that there is no obstacle in the water sprinkler direction, in step S29, water is sprinkled from the associated sprinkler toward the crusher. In the case where the large cutter 305 is associated with the first sprinkler 31, the control instruction unit 53 transmits an open signal command to the first solenoid valve 31f.

[0085] Next, in step S30, the control instruction unit 53 updates the tracking path information of the crusher based on the acquired captured image.

[0086] Next, in step S31 (an example of a control decision step), the control instruction unit 53 drives the nozzle of the sprinkler based on the updated tracking path information. For example, when the large cutter 305 is associated with the first sprinkler 31, the control instruction unit 53 drives the first nozzle 31a of the first sprinkler 31 so as to follow the cutting edge of the large cutter 305. When the large cutter 405 is associated with the second sprinkler 32, the control instruction unit 53 drives the second nozzle 32a of the second sprinkler 32 so as to follow the cutting edge of the large cutter 405.

[0087] Next, in step S32, when the control instruction unit 53 receives a stop command signal from the display device 6, in step S33, the control instruction unit 53 transmits a close command signal to the solenoid valve, the sprinkler is stopped, and the control ends. If a stop command signal is not received in step S32, the control returns to step S21. Until a close command signal is received in step S32, the controller 5 repeats the control of steps S26, S27, and S29 to S31, and performs water sprinkling so as to follow the blade tip. Note that the pointers P1 and P2 may or may not be displayed on the display screen 61.

[0088] (Features, etc.) The sprinkler system 1 of this embodiment includes an image analysis unit 52 that analyzes the captured image acquired by the camera 4 according to a sprinkler mode that has been enabled in advance, and a control instruction unit 53 that determines control related to the sprinkler of the sprinkler machine based on the analysis of the captured image by the image analysis unit 52. This makes it possible to automatically determine control related to the sprinkler of the sprinkler machine by analyzing the captured image according to the sprinkler mode that has been enabled in advance. This reduces the operator's work and improves work efficiency.

[0089] In the water sprinkling system 1 of this embodiment, the water sprinkling mode includes a dust mode that detects dust in a captured image. This allows automatic control to be determined when dust is detected, eliminating the need for the user to constantly monitor dust generation, and improving work efficiency.

[0090] In the water sprinkler system 1 of this embodiment, the control instruction unit 53 determines that when dust is present, it instructs the display device 6 to issue a notification. This eliminates the need for the user to constantly monitor the occurrence of dust, and improves work efficiency.

[0091] In the sprinkling system 1 of this embodiment, the control instruction unit 53 determines to sprinkle water using the sprinkler when dust is present. This allows water to be sprinkled automatically when dust is generated, thereby improving work efficiency.

[0092] In the water sprinkler system 1 of this embodiment, an area D where dust exists is detected, and the control instruction unit 53 determines at least one of the water sprinkler direction and the water sprinkler amount of the sprinkler based on the detected area D. This makes it possible to automatically sprinkle water in the area where dust has occurred, thereby improving work efficiency.

[0093] In the sprinkling system 1 of this embodiment, the sprinkling mode includes a crusher tracking mode that detects the position of the crusher in the captured image. This makes it possible to automatically determine control when the position of the crusher is detected, eliminating the need for the user to constantly monitor the position of the crusher, and improving work efficiency.

[0094] In the sprinkler system 1 of this embodiment, the control instruction unit 53 determines at least one of the sprinkler direction and the amount of water to be sprinkled by the sprinkler so as to follow the crusher. This eliminates the need for the user to operate the sprinkler while monitoring the position of the crusher, thereby improving the efficiency of the work.

[0095] In the water sprinkling system 1 of this embodiment, the water sprinkling modes include a dust mode for detecting dust in a captured image and a crusher tracking mode for detecting the position of a crusher in a captured image. The water sprinkling system 1 further includes a mode setting unit 51 for selecting and activating a predetermined mode. This allows the user to select either the dust mode or the crusher tracking mode according to their needs.

[0096] The sprinkler system 1 of this embodiment includes a sprinkler selection unit 62 that selects one of the multiple sprinklers 31 and 32. This allows the sprinkler mode to be set individually for the multiple sprinklers, thereby improving work efficiency.

[0097] The water sprinkler system 1 of this embodiment further includes a crusher setting unit 65 that sets the large-shredding machine to follow each of the water sprinklers 31 and 32 among the multiple large-shredding machines 305 and 405. This allows the water sprinklers to automatically follow the multiple crushers, improving work efficiency.

[0098] The sprinkler system 1 of this embodiment is equipped with a work machine 2 having a work implement 12 with a first sprinkler 31 and a second sprinkler 32 arranged at the tip thereof, and a vehicle body 11 on which the work implement 12 is arranged. As a result, sprinkler work can be easily performed by attaching the sprinkler to the work machine 2 present at a demolition site. Also, when sprinkler work is not required, the sprinkler can be removed and another attachment can be attached, allowing the work machine to engage in other work.

[0099] (Other embodiments) Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0100] (A) In the above embodiment, a stereo camera is used as the camera 4, and occurrence of dust is determined by image analysis using AI learning, but this is not limited to the above. A stereo camera cannot perform 3D measurement unless it can recognize the pattern of an object in an image, but when dust is captured, the pattern of the object becomes irregular and 3D measurement may not be possible. Using this, it may be determined that dust has occurred when measurement using the stereo camera becomes impossible. In this case, the amount of dust may be determined based on the percentage of pixels in the image at which distance measurement is not possible.

[0101] (B) In the above embodiment, the occurrence of dust is determined by image analysis using a stereo camera. However, the environmental shape may be determined from the laser light of the LiDAR, and it may be determined that dust has occurred if there is a change in the shape of an object.

[0102] (C) In the above embodiment, the occurrence of dust is determined only by image analysis using a stereo camera, but an infrared camera may also be used. A stereo camera and an infrared camera may also be used together as a visible light camera. The visible light camera observes the brightness change that appears white when dust occurs, but if the infrared camera recognizes no change in the image, it may be determined that dust has occurred.

[0103] (D) In the above embodiment, a stereo camera, which is a three-dimensional camera, is used as the camera 4, but it is not limited to a stereo camera, and a three-dimensional camera such as a ToF (Time of Flight) camera, a Lidar (Light Detection And Ranging) camera, or a structured illumination camera may be used. Also, it is not limited to a three-dimensional camera, and a two-dimensional camera such as a CCD camera or a CMOS camera may be used. In this case, the dust and the distance to the crusher cannot be accurately detected, but the sprinkling direction of the sprinkler can be controlled. Even if a two-dimensional camera that cannot detect depth is used, the presence or absence of dust and the two-dimensional center position of the dust can be detected, so that the dust may be tracked based on the information on the center position to perform sprinkling. For example, a certain angle range may be input in advance, and water may be sprinkled within that angle range from the center position of the dust.

[0104] (E) In the above embodiment, the controller 5 issues control instructions, but the controller 5 may also determine the control and issue control instructions by another control device.

[0105] (F) In the sprinkler system 1 of the above embodiment, only one camera 4 is provided, but multiple cameras may be provided. For example, a camera 4 may be provided in each of the first housing 31b of the first sprinkler 31 and the second housing 32b of the second sprinkler 32 shown in FIG. 3. In that case, since the first housing 31b and the second housing 32b move left and right, images from each camera 4 may be displayed on the display device 6 as shown in FIG. 9. In FIG. 9, the image captured by the camera 4 arranged in the first sprinkler 31 is displayed on the display screen 61a on the right side, and the image captured by the camera 4 arranged in the second sprinkler 32 is displayed on the display screen 61b on the left side. Although omitted in FIG. 9, the sprinkler selection unit 62, the sprinkler mode setting unit 63, the automatic start setting unit 64, the crusher setting unit 65, the sprinkler discharge unit 66, and the manual switching unit 67 described in FIG. 5A may be displayed. Furthermore, the manual operation unit 71 and the sprinkler water discharge unit 66 described in FIG. 6 may be displayed.

[0106] (G) In the above embodiment, the camera 4 is disposed on the sprinkler attachment 3, but it may be disposed outside the work machine 2. By disposing a camera outside, it is possible to easily operate a plurality of sprinklers from an image captured by a single camera, based on an image captured by the camera. The camera disposed outside may be a fixed camera, or may be a drone.

[0107] (H) In the above embodiment, the camera 4 is disposed on the bracket 30, but the camera may be disposed on the nozzle of the sprinkler. In this case, the center coordinates of the captured image and the direction in which the nozzle of the sprinkler faces generally coincide without being affected by rotation or the operation of the work machine, making it easy to determine the target position for sprinkling water.

[0108] (I) In the above embodiment, no particular mention is made of adjustment of the pressure and amount of water from the pump 7, but the controller 5 may control the pump 7, and the water pressure, water amount, or both the water amount and water pressure of the water spray may be adjustable. The water amount or water pressure of the water spray may be controlled by adjusting the rotation speed or opening pressure of the pump 7, or may be controlled by other restricting devices or additional devices. The display device 6 may also be provided with an operation unit for adjusting the pressure and amount of water from the pump 7.

[0109] (J) In the above embodiment, the sprinkler system 1 is provided with two sprinklers, the first sprinkler 31 and the second sprinkler 32, but only one sprinkler may be provided, or three or more sprinklers may be provided. Also, separate sprinklers may be provided on the two work machines. Also, each work machine may be provided with an individual camera.

[0110] (K) In the watering system 1 of the above embodiment, two processors are provided: the display control unit 68 of the display device 6 and the controller 5, but either one may serve as the other. For example, in the above embodiment, the calculation of the nozzle tracking longitude plan is performed by the controller 5, but it may be performed by the display control unit 68.

[0111] (L) In the water sprinkling system 1 of the above embodiment, the controller 5 sends a recommendation notification to the display device 6 when dust is detected, but water sprinkling may be started automatically without displaying the recommendation notification. In this case, the automatic start setting unit 64 may not be provided.

[0112] (M) The water sprinkling system 1 of the above embodiment is provided with a dust mode in which a recommendation notification is sent to the display device 6 when dust is detected and water sprinkling is started when the automatic start setting unit 64 is in the on state, but in addition to the dust mode, the system may also be provided with a dust auto water sprinkling mode in which, when dust is detected, water is automatically sprinkled toward the area D where the dust has occurred, regardless of the on / off state of the automatic start setting unit 64. In the dust auto water sprinkling mode, a recommendation notification may be sent to the display device 6, but does not have to be sent. When automatically sprinkling water toward the area D where the dust has occurred, the nozzle angle range corresponding to the area D can be determined and water can be sprinkled.

[0113] (N) In the above embodiment, the dust mode and the crusher following mode are given as examples, but the present invention is not limited to these. For example, a mode in which water is sprayed intensively toward the dust when dust is generated while following the crusher, and a mode in which water is sprayed from the center to the periphery when dust is generated and the cutting edge is followed when the dust is reduced may be provided. In this way, the water sprinkling system 1 may have a mode that automatically switches between the dust mode and the crusher following mode depending on the situation. In addition, water can be sprayed intensively by increasing the amount of water sprayed, increasing the water spray pressure, slowing down the nozzle movement speed, or changing the nozzle shape described later. In addition, the water sprinkling system 1 of this embodiment has both the dust mode and the crusher following mode, but may have only one of them, or may have one or more of the above-mentioned modes as appropriate.

[0114] (O) In the above embodiment, the water sprinkling system 1 detects the area D where dust is generated, but it may detect only the presence or absence of dust generation. In that case, water sprinkling will be resumed in the direction where water sprinkling was previously performed, or water sprinkling will be started toward a crusher close to the dust or toward a water sprinkling direction that was set in advance.

[0115] (P) In the water sprinkling system of the above embodiment, water is automatically sprinkled toward the area D where dust is generated and the cutting edge of the crusher, but if the water sprinkling position is misaligned, the water sprinkling direction, water sprinkling amount, and water sprinkling pressure can be manually adjusted. This makes it possible to calibrate the misalignment between the water sprinkling position recognized by the control instruction unit 53 and the actual water sprinkling position.

[0116] (Q) In the above embodiment of the sprinkler system 1, the crusher is associated with the sprinkler, but if the image analysis unit 52 recognizes only one crusher on the display screen 61, or if there is only one crusher generating dust and operating, the automatically recognized crusher may be associated with the selected sprinkler.

[0117] (R) In the sprinkler system 1 of the above embodiment, for example, the first sprinkler sprinkler button 66a and the second sprinkler sprinkler button 66b of the sprinkler discharge unit 66 are moved left and right, but the operation method is not limited to this. For example, a sprinkler start signal may be sent when touched, and a sprinkler stop signal may be sent when touched again, or other operation methods may be used. This is not limited to the buttons of the sprinkler discharge unit 66, but is similar for other buttons.

[0118] (S) In the above embodiment of the sprinkler system 1, each sprinkler can be operated within one screen, but it may also be configured so that one screen corresponds to one sprinkler and the screen is switched for each sprinkler.

[0119] (T) In the dust mode of the water sprinkling system 1 of the above embodiment, compared to the crusher following mode, a step of detecting whether there is an obstacle at the water sprinkling destination is not provided, but a step of detecting whether there is an obstacle at the water sprinkling destination may be provided. In that case, as explained with reference to Figs. 7 and 8, when it is determined in step S16 of Fig. 7 that the user has a position to start water sprinkling, image analysis is performed to determine whether there is an obstacle at the water sprinkling destination. Then, when it is determined that an obstacle exists at the water sprinkling destination, the water sprinkling is stopped as in step S28 of Fig. 8 and the control ends. On the other hand, when it is determined that there is no obstacle at the water sprinkling destination, the process proceeds to step S17 of Fig. 7 and water sprinkling is started.

[0120] (U) In the above embodiment, it is described that the watering attachment 3 can be detachably attached to the work machine 12 by the auto-coupler 18. The auto-coupler 18 is a device that allows the operator to attach and detach the attachment simply by operating a lever inside the cab 15, but another coupler may be used instead of the auto-coupler 18, or the watering attachment 3 may be directly attached to the work machine 12 without using the auto-coupler 18.

[0121] (V) In the above embodiment, a working machine provided with the boom 16 and the arm 17 has been described as an example, but it may have only one of the boom and the arm. Also, the working machine is not limited to a boom and an arm, and may have a shape such as a crane.

[0122] (W) In the above embodiment, the tip shapes of the first nozzle 31a and the second nozzle 32a are not specifically described, but by changing the tip shape of the nozzle, the range or distance of the water sprinkling can be changed, or the particle size and shape of the water to be discharged can be adjusted to make it easier to suppress the generation of dust, etc. Also, the sprinkler may be equipped with multiple nozzles, and the nozzles may be changed by operating the display device 6. From the description of the above embodiment, the description of (W), and the above (I), the sprinkler system 1 can determine at least one of the sprinkler direction, water sprinkler amount, water sprinkler pressure, and nozzle tip shape of the sprinkler based on the detected area D. Also, the sprinkler system 1 can determine at least one of the sprinkler direction, water sprinkler amount, water sprinkler pressure, and nozzle tip shape of the sprinkler so as to follow the crusher.

[0123] (X) In the above embodiment, water sprinkling is started in step S29, but a step may be provided before or after step S29 of determining whether the target crusher is operating, and if it is not operating, terminating control without starting water sprinkling, or stopping water sprinkling. Also, in addition to or instead of this step, a step may be provided of detecting whether dust is generated before or after step S29, and if dust is not generated, terminating control without starting water sprinkling, or stopping water sprinkling.

[0124] (Y) The work machine 2 in the above embodiment may be equipped with a sensor that detects the current position and attitude, and may operate the running body 13, the rotating body 14, the boom 16, or the arm 17 to move the water sprinkling location based on information from the sensor and information from the area D where dust has been generated or the cutting edge of the crusher. As the sensor, for example, a Global Navigation Satellite System (GNSS) receiver or an Inertial Measurement Unit (IMU) sensor may be used.

[0125] (Z) In the above embodiment, an example is given of the sprinkling system being used at a demolition site, but the sprinkling system may also be used at other sites where sprinkling work is required due to the generation of dust, such as industrial waste disposal sites or mining sites.

[0126] (Appendix 1) A watering system for use in demolition work, comprising: an imaging unit that captures images of the demolition work site; an image analysis unit that analyzes the captured images obtained by the imaging unit according to a watering mode that has been enabled in advance; and a control decision unit that decides control regarding watering based on the analysis of the captured images by the image analysis unit.

[0127] (Appendix 2) 2. The watering system of claim 1, wherein the watering mode includes a mode for detecting dust in a captured image.

[0128] (Appendix 3) A sprinkling system as described in Appendix 2, further comprising an alarm unit that alerts an operator of the presence of dust, wherein the control related to sprinkling includes instructing the alarm unit to give an alert, and the control decision unit decides to instruct the alarm unit to give an alert when dust is present.

[0129] (Appendix 4) The water sprinkling system according to claim 2 or 3, wherein the control related to water sprinkling includes water sprinkling using a sprinkler, and the control decision unit decides to sprinkle water using the sprinkler when dust is present.

[0130] (Appendix 5) A sprinkling system as described in any one of Appendices 2 to 4, wherein the image analysis unit detects an area where dust is present, and the control related to the sprinkling includes at least one of the sprinkling direction, the sprinkling amount, the sprinkling pressure, and the nozzle tip shape of the sprinkler, and the control decision unit decides at least one of the sprinkling direction, the sprinkling amount, the sprinkling pressure, and the nozzle tip shape of the sprinkler based on the area.

[0131] (Appendix 6) 6. The water sprinkling system according to any one of appendix 1 to appendix 5, wherein the water sprinkling mode includes a mode for detecting the position of the crusher in the captured image.

[0132] (Appendix 7) The water sprinkling system described in Appendix 6, wherein the control regarding the water sprinkling includes at least one of the water sprinkling direction, water sprinkling amount, water sprinkling pressure, and nozzle tip shape of the water sprinkler, and the control decision unit decides at least one of the water sprinkling direction, water sprinkling amount, water sprinkling pressure, and nozzle tip shape of the water sprinkler so as to follow the crusher.

[0133] (Appendix 8) The sprinkler system according to claim 6 or 7, further comprising a crusher setting unit that sets the crusher that the sprinkler will follow, and the control decision unit determines at least one of the sprinkler direction, the sprinkler amount, the sprinkler pressure, and the nozzle tip shape of the sprinkler so that the sprinkler follows the set crusher.

[0134] (Appendix 9) A sprinkling system as described in any one of Appendices 6 to 8, wherein the image analysis unit detects obstacles in the captured image, and the control decision unit decides at least one of the sprinkling direction, the sprinkling amount, the sprinkling pressure, and the nozzle tip shape of the sprinkler so as to follow the crusher when there is no obstacle in the path of the sprinkler.

[0135] (Appendix 10) The sprinkling system according to any one of appendices 1 to 9, further comprising a mode setting unit that enables a predetermined mode, the sprinkling mode including a mode for detecting dust in a captured image and a mode for detecting the position of a crusher in the captured image.

[0136] (Appendix 11) The sprinkler system of any one of claims 1 to 10, further comprising a sprinkler selection unit that selects one of the plurality of sprinklers, and is capable of enabling a sprinkler mode for each of the sprinklers.

[0137] (Appendix 12) 12. The water sprinkling system according to any one of claims 1 to 11, further comprising a work machine having a work implement with the sprinkler disposed at a tip thereof, and a vehicle body on which the work implement is disposed.

[0138] (Appendix 13) 13. The watering system of claim 12, wherein the imaging unit is disposed at a tip of the work machine.

[0139] (Appendix 14) A method for controlling a sprinkler used in demolition work, comprising: an acquisition step for acquiring an image of a demolition work site; an image analysis step for analyzing the image acquired by the acquisition step according to a water sprinkler mode that has been enabled in advance; and a control decision step for deciding control related to sprinkling based on the analysis of the image by the image analysis step. [Industrial Applicability]

[0140] The watering system disclosed herein has the effect of reducing the workload of operators and improving work efficiency, and is useful at demolition sites, etc. [Explanation of symbols]

[0141] 1: Watering system 4: Camera 52: Image Analysis Department 53: Control instruction section

Claims

1. A water sprinkler system for use in demolition work, comprising: an imaging unit that images the demolition work site; an image analysis unit that analyzes the captured image acquired by the imaging unit according to a water sprinkling mode that has been enabled in advance; A control determination unit that determines control regarding water sprinkling based on analysis of the captured image by the image analysis unit. Watering system.

2. The water sprinkling mode includes a mode for detecting dust in the captured image. The watering system of claim 1 .

3. Further comprising an alarm unit that notifies an operator of the presence of the dust, The control regarding the water sprinkling includes an instruction to the notification unit to notify, The control decision unit decides to instruct the notification unit to notify the user when the dust is present. The watering system of claim 2.

4. The control related to the water sprinkling includes water sprinkling by a sprinkler, The control decision unit decides to sprinkle water by the sprinkler when the dust is present. The watering system of claim 2.

5. The image analysis unit detects an area where the dust exists, The control of the water sprinkler includes at least one of the water sprinkler direction, the water sprinkler amount, the water sprinkler pressure, and the nozzle tip shape of the water sprinkler, The control determination unit determines at least one of the water sprinkling direction, the water sprinkling amount, the water sprinkling pressure, and the nozzle tip shape of the water sprinkler based on the area. The watering system of claim 2.

6. The water sprinkling mode includes a mode for detecting the position of a crusher in the captured image. The watering system of claim 1 .

7. The control of the water sprinkler includes at least one of the water sprinkler direction, the water sprinkler amount, the water sprinkler pressure, and the nozzle tip shape of the water sprinkler, The control determination unit determines at least one of the water sprinkling direction, the water sprinkling amount, the water sprinkling pressure, and the nozzle tip shape of the water sprinkler so as to follow the crusher. The watering system of claim 6.

8. A crusher setting unit is further provided for setting the crusher to be followed by the sprinkler, The control determination unit determines at least one of the water sprinkling direction, the water sprinkling amount, the water sprinkling pressure, and the nozzle tip shape of the water sprinkler so as to follow the set crusher. The watering system of claim 7.

9. The image analysis unit detects an obstacle in the captured image, The control determination unit determines at least one of the water sprinkling direction, the water sprinkling amount, the water sprinkling pressure, and the nozzle tip shape of the sprinkler so as to follow the crusher when there is no obstacle in the water sprinkler destination. The watering system of claim 7.

10. The watering mode is A mode for detecting dust in the captured image; A mode for detecting the position of a crusher in the captured image, Further comprising a mode setting unit for enabling a predetermined mode. The watering system of claim 1 .

11. Further comprising a sprinkler selection unit for selecting one of the sprinklers from among a plurality of sprinklers; The watering mode can be enabled for each of the water sprinklers. The watering system of claim 1 .

12. A work machine having a sprinkler mounted at the tip; A vehicle body on which the working machine is disposed; The working machine further comprises: The watering system of claim 1 .

13. The imaging unit is disposed at the tip of the work machine.

13. The watering system of claim 12.

14. A method for controlling a water sprinkler used in demolition work, comprising: An acquisition step of acquiring an image of a demolition work site; an image analysis step of analyzing the captured image acquired by the acquisition step according to a watering mode that has been enabled in advance; A control determination step of determining control regarding water sprinkling based on the analysis of the captured image by the image analysis step. How to control a sprinkler.

Images