Sprinkling system and method for controlling sprinkler

Abstract

This sprinkling system (1) used for demolition work comprises a camera (4), an image analysis unit (52), and a control instruction unit (53). The camera (4) images a demolition site. The image analysis unit (52) analyzes the captured image, acquired by the camera (4), according to a sprinkling mode validated in advance. The control instruction unit (53) determines control pertaining to sprinkling on the basis of an analysis of the captured image by the image analysis unit (52).

Description

Watering system and method for controlling watering machine

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

[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 suppress the dust.

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

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

[0005] Japanese Patent Application Laid-Open No. 2008-307516

[0006] However, the sprinkler system described 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] An object of the present disclosure is to provide a sprinkler system and a method for controlling a sprinkler that can reduce operator workload and improve efficiency.

[0008] A sprinkling system according to a first aspect of the present disclosure is a 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 pre-enabled water sprinkling mode. The control decision unit decides control regarding sprinkling based on the analysis of the captured images by the image analysis unit.

[0009] A sprinkler control method 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 captured images of the demolition work site. The image analysis step analyzes the captured images acquired by the imaging unit according to a water sprinkler mode that has been enabled in advance. The control decision step decides on control related to sprinkling based on the analysis of the captured images in the image analysis step. (Effects of the Invention)

[0010] According to the present disclosure, it is possible to provide a sprinkler system and a sprinkler control method that can reduce the operator's workload and improve efficiency.

[0011] 1 is a diagram showing a demolition site where the sprinkler system of this embodiment is used; FIG. 2 is a diagram showing the configuration of the sprinkler system of this embodiment; FIG. 3 is a perspective view showing a sprinkler attachment and a camera of the sprinkler system of this embodiment; FIG. 4 is a block diagram for explaining the configuration related to the control of the sprinkler system of this embodiment; FIG. 5 is a diagram showing the display device of the sprinkler system of this embodiment; FIG. 6 is a diagram showing the display device of the sprinkler system of this embodiment; FIG. 7 is a diagram showing the display device switched to a manual operation screen; FIG. 8 is a flow diagram showing the control operation when a dust mode is set in the sprinkler system of this embodiment; FIG. 9 is a flow diagram showing the control operation when a crusher following mode is set in the sprinkler system of this embodiment; FIG. 10 is a diagram showing a display screen in a modified example of this embodiment.

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

[0013] (Overview of water sprinkler system 1) Figure 1 is a diagram showing a demolition site 100 where the water sprinkler system 1 of this embodiment is used. At the demolition site 100 shown in Figure 1, two work machines 300, 400 are performing demolition work on a building 200. Also shown is a work machine 2 that performs water sprinkling. The water sprinkler system 1 of this embodiment sprinkles water at the demolition site 100.

[0014] Figure 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 unit), a controller 5, a display device 6 (an example of an alarm unit), a pump 7, and a tank 9. Figure 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 relative to the running body 13 about a rotation axis along the vertical direction. The rotating body 14 is provided with a rotation device (not shown).

[0017] As shown in Figure 2, a cab 15 serving as a driver's compartment is provided at the front left position of the rotating structure 14. The rotating structure 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 the forward direction is defined as the rearward direction. The right and left sides of the driver's seat when facing directly ahead are defined as the right direction and the left direction, respectively.

[0018] The work implement 12 has a boom 16, an arm 17, and an auto-coupler 18, and is attached to the front center position of the revolving unit 14. The base end of the boom 16 is rotatably connected to the revolving unit 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] Additionally, 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 implement 12 is driven by driving these cylinders 20 to 22. The auto-coupler 18 is driven hydraulically, and an excavation bucket, a large-piece breaker, a small-piece breaker, or a water sprinkler attachment 3 can be detachably attached to the tip of the auto-coupler 18.

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

[0021] (Watering Attachment 3) As shown in Fig. 2, the watering attachment 3 is detachably arranged 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 implement 12.

[0023] As shown in Figures 3 and 4, the first sprinkler 31 includes 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 opened, water is sprayed from the first nozzle 31a, and when the first solenoid valve 31f is closed, water spraying 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 next to the tank 9, but the tank 9 may be disposed in another location.

[0024] The first housing 31b supports the first nozzle 31a so that it can rotate up and down. The first support 31c supports the first housing 31b so that it can rotate left and right. 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 spray direction moves vertically.

[0026] The first left-right drive unit 31e rotates the first housing 31b left and 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 and right.

[0027] As shown in Figures 3 and 4, the second sprinkler 32 has a similar configuration to 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 open, water is sprayed from the second nozzle 32a, and when the second solenoid valve 32f is closed, water spraying 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 Figure 2, the water piping 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 indicated by dotted lines.

[0028] The second housing 32b, the second support 32c, the second vertical drive unit 32d, and the second horizontal drive unit 32e have the same configuration as the first sprinkler 31, and therefore description thereof will be omitted.

[0029] (Camera 4) As shown in Fig. 3, the camera 4 is fixed to the bracket 30. For example, a stereo camera can be used as the camera 4. A mounting base 30c is fixed to a second mounting surface 30b that is closer to the auto-coupler 18 than the first mounting surface 30a on which the first sprinkler 31 and the 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 the area where first sprinkler 31 and second sprinkler 32 can spray 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. This allows controller 5 to obtain the three-dimensional coordinates of each pixel in the captured image.

[0031] (Display Device 6) The display device 6 receives a signal of an image captured by the camera 4 via the controller 5. The operator uses the display device 6 to set up watering 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, via a wireless LAN or the like. Note that the display device 6 does not have to communicate with the controller 5 via the Internet, and may communicate directly with the controller 5.

[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. Figures 5A and 5B show the state in which dismantling is being carried out by the work machine 300 and the work machine 400.

[0035] The sprinkler selection unit 62 selects whether the setting is to be made 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 sprinkler mode setting unit 63 sets the sprinkler mode. The sprinkler 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 sprinkling water 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 sprinkler to sprinkle water so as to follow the crusher.

[0037] The sprinkler mode setting unit 63 includes a dust mode selection button 63a and a crusher following mode selection button 63b. Tapping either button selects the corresponding mode. The sprinkler mode setting unit 63 transmits the selected mode as a selected mode signal to the display control unit 68. If the dust mode is selected after selecting the first sprinkler 31 by the sprinkler selection unit 62, and the crusher following mode is selected after selecting the second sprinkler 32, 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 to automatically start watering 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 on, 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 off, 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 on or off to the display control unit 68 as an automatic start signal.

[0039] The crusher setting unit 65 sets the crusher that the sprinkler will follow when multiple crushers are present in 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 user selects the first sprinkler 31 in the sprinkler selection unit 62 and taps the crusher setting button 65a, the user can set the crusher. When the user taps the desired crusher using the input unit 65b, the tapped crusher is associated with the first sprinkler 31. In Figure 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. Furthermore, when the user selects the second sprinkler 32 in the sprinkler selection unit 62, taps the crusher setting button 65a, and then uses the input unit 65b to tap the large breaker 405 of the work machine 400, the tapped crusher is associated with the second sprinkler 32. In Figure 5B, the state is displayed in which the large breaker 405 of the work machine 400 has been tapped, with pointer P2 indicated on the cutting edge of the large breaker 405. When the crusher is associated with the sprinkler by the crusher setting unit 65, a crusher setting signal is sent 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 water sprinkler start signal for the first sprinkler 31 is sent to the display control unit 68. On the other hand, when the first sprinkler water sprinkler button 66a is moved to the right, a water sprinkler stop signal for the first sprinkler 31 is sent to the display control unit 68. Similarly, when the second sprinkler water sprinkler button 66b is moved to the left, a water sprinkler start signal for the second sprinkler 32 is sent to the display control unit 68. On the other hand, when the second sprinkler water sprinkler button 66b is moved to the right, a water sprinkler stop signal for the second sprinkler 32 is sent to the display control unit 68.

[0041] The manual switching unit 67 enables manual operation of the first sprinkler 31 and the second sprinkler 32. When the button on the manual switching unit 67 is moved to the left, the first sprinkler 31 and the second sprinkler 32 become manually operable, 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 on 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 Figure 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. Tapping the first sprinkler selection button 71a selects the first sprinkler 31. The first sprinkler operation button 71b includes up, down, left, and right buttons. After tapping the first sprinkler selection button 71a, 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. Tapping the second sprinkler selection button 71c selects 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 sent from the manual operation unit 71 to the display control unit 68.

[0043] The screen shown in Fig. 6 displays the sprinkler water discharge section 66 described above. For example, when water is being discharged by the first sprinkler 31 and the second sprinkler 32, the direction of water discharge by the first sprinkler 31 or the second sprinkler 32 can be changed. Also, Fig. 6 displays a back button 72, 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 also include an auxiliary storage device such as an SSD or HDD. The display control unit 68 stores programs and data for controlling the display device 6.

[0045] The display control unit 68 receives the 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 indicating that the first sprinkler 31 is selected, the display control unit 68 causes the display device 6 to display a screen for setting the first sprinkler 31. With the first sprinkler 31 set, the display control unit 68 sets the first sprinkler 31 to dust mode or 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. Alternatively, 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 predetermined 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. Note that when sprinkler settings are configured 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 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 also include an auxiliary storage device such as an SSD or HDD. The controller 5 stores 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 the 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 modes include 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 present in a captured image. The dataset for AI training may be an actual image, an image generated by a generative AI, or CG. Furthermore, an artificially generated image may be used using data augmentation technology to simulate the presence of a desired amount of dust in an image that does not contain dust.

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

[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, thereby controlling the direction of water sprinkler 31. Note that control may be performed by calculating the vertical and horizontal rotation angles of first nozzle 31a from the drive of the motors of first vertical drive unit 31d and first horizontal drive unit 31e, or feedback control may 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 up-down drive unit 32d and the second left-right drive unit 32e to move the second nozzle 32a up, down, left, and right, thereby controlling the direction of water sprinkler by the second sprinkler 32. As with the first sprinkler 31, the rotation angles in the up-down direction and left-right direction of the second nozzle 32a may be calculated and controlled by driving the motors of the second up-down drive unit 32d and the second left-right 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 the 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 and dust is detected by the image analysis unit 52, the control instruction unit 53 sends a recommendation notification to the display device 6. At this time, if an automatic start signal is received from the display device 6, the control instruction unit 53 sends the recommendation notification and causes the sprinkler device in the dust mode to sprinkle water. For example, when the dust mode is set for the first sprinkler device 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 sends an open command signal to the first solenoid valve 31f to sprinkle water from the first nozzle 31a of the first sprinkler device 31. Note that because the camera 4 is a stereo camera, the three-dimensional coordinates of the area D where dust is occurring can be confirmed. Therefore, the control instruction unit 53 can control the direction of sprinkling water by controlling the first up-down drive unit 31d and the first left-right drive unit 31e, and adjust the opening of the first solenoid valve 31f to control the amount of water sprinkled, thereby sprinkling water on the area D where dust is occurring.

[0060] When the crusher-following mode is set, the control instruction unit 53 instructs the sprinkler 31 to sprinkle water so as to follow the associated crusher. For example, when the first sprinkler 31 is associated with the large-cutting machine 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 cutting edge of the large-cutting machine 305. Note that because the camera 4 is a stereo camera, the three-dimensional coordinates of the large-cutting machine 305 can be confirmed. Therefore, the control instruction unit 53 controls the direction of sprinkling water by controlling the first vertical drive unit 31d and the first horizontal drive unit 31e, and adjusts the opening of the first solenoid valve 31f to control the amount of sprinkling water, thereby sprinkling water at the position of the large-cutting machine 305.

[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 Operation) 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 flowchart showing the control operation when the dust mode is set in the water sprinkler 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 capture timing of the camera 4. For example, if the camera 4 takes multiple pictures per second, the controller 5 acquires the captured image 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 sends 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 sent to the first solenoid valve 31f. Note that when the first solenoid valve 31f is closed, it remains closed, and if water sprinkler is being performed, the water sprinkler is stopped.

[0068] On the other hand, if it is determined in step S13 that dust is being 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 generation of dust to the display device 6 via the Internet, and causes the display device 6 to display a recommendation notice urging water sprinkling. Upon receiving the signal indicating the generation of dust, the display device 6 displays a recommendation notice, for example, "Dust generated, water sprinkling recommended."

[0070] In step S16, the control instruction unit 53 of the controller 5 determines whether the user intends to start sprinkling. Specifically, if 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. Furthermore, if the user operates the sprinkler water discharge unit 66 within a predetermined time from the recommendation notification to set the start of sprinkling by a sprinkler set to dust mode, the control instruction unit 53 determines that the user intends to start sprinkling. In step S15, if the control instruction unit 53 determines that the user does not intend to start sprinkling, control ends. On the other hand, if the control instruction unit 53 determines that the user intends to start sprinkling, control proceeds to step S17.

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

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

[0073] (Control Operation When Crusher Following Mode Is Set) FIG. 8 is a flowchart showing the control operation when the crusher following mode is set in the water sprinkler 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 mode setting unit 51 of the controller 5 sets the crusher following mode for a predetermined sprinkler.

[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 capture timing of the camera 4. For example, if the camera 4 takes multiple pictures per second, the controller 5 acquires the captured image multiple times per second.

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

[0077] In step S23, the user associates the shredder with the sprinkler using the shredder setting unit 65, and the mode setting unit 51 of the controller 5 receives a shredder 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 nozzle follow-up path plan.

[0080] After step S25, the control returns to step S21, and the controller 5 acquires an image of the demolition site 100 taken 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 image captured by the camera 4. Specifically, the image analysis unit 52 detects the crusher to be tracked and obstacles. Obstacles include, for example, a person, a cab, etc.

[0083] In step S27, if the image analysis unit 52 determines that there is an obstacle in the destination of the water sprinkler, the control instruction unit 53 sends a close command signal to the solenoid valve, and the water sprinkler is stopped. For example, if the large splitter 305 is associated with the first sprinkler 31, a close command signal is sent 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 closed, it remains closed, and if water sprinkler has been performed beforehand, the water sprinkler is stopped.

[0084] If the image analysis unit 52 determines in step S27 that there is no obstacle in the direction of the water spray, the associated sprinkler sprinkles water toward the crusher in step S29. If the large-shredding machine 305 is associated with the first sprinkler 31, the control instruction unit 53 sends an open signal command to the first electromagnetic valve 31f.

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

[0086] Next, in step S31 (an example of a control determination step), the control instruction unit 53 drives the nozzles of the sprinklers based on the updated tracking path information. For example, if the large splitter 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 splitter 305. Note that, if the large splitter 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 splitter 405.

[0087] Next, in step S32, when the control instruction unit 53 receives a stop instruction signal from the display device 6, in step S33 the control instruction unit 53 sends a close command signal to the solenoid valve, the sprinkler is stopped, and control ends. If a stop command signal is not received in step S32, 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 sprinkling so as to follow the cutting edge. 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 captured images acquired by the camera 4 according to a pre-enabled sprinkler mode, and a control instruction unit 53 that determines control over sprinkler operation by the sprinkler machine based on the analysis of the captured images by the image analysis unit 52. This makes it possible to automatically determine control over sprinkler operation by the sprinkler machine by analyzing the captured images according to the pre-enabled sprinkler mode. This reduces the operator's workload and improves work efficiency.

[0089] In the sprinkler system 1 of this embodiment, the sprinkler mode includes a dust mode that detects dust in captured images, which 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 sprinkler system 1 of this embodiment, the control instruction unit 53 determines that when dust is present, it will instruct the display device 6 to issue a notification. This eliminates the need for the user to constantly monitor the occurrence of dust, thereby improving work efficiency.

[0091] In the sprinkler 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 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 direction and amount of water to be sprinkled by the sprinkler device based on the detected area D. This allows water to be automatically sprinkled in the area where dust has occurred, thereby improving work efficiency.

[0093] In the sprinkler system 1 of this embodiment, the sprinkler mode includes a crusher tracking mode that detects the position of the crusher in the captured image. This allows control to be automatically determined 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 direction and amount of water to be sprinkled by the sprinkler so that the sprinkler follows the crusher. This eliminates the need for the user to operate the sprinkler while monitoring the position of the crusher, thereby improving work efficiency.

[0095] In the sprinkler system 1 of this embodiment, the sprinkler modes include a dust mode that detects dust in a captured image and a crusher tracking mode that detects the position of a crusher in a captured image. The sprinkler system 1 further includes a mode setting unit 51 that selects and activates 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, 32. This allows the sprinkler mode to be set individually for each of the multiple sprinklers, thereby improving work efficiency.

[0097] The sprinkler system 1 of this embodiment further includes a crusher setting unit 65 that sets the large-shredding machine to follow each of the sprinklers 31 and 32 among the multiple large-shredding machines 305 and 405. This allows the 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, 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 located at a demolition site. Furthermore, 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 dust occurrence is determined through image analysis using AI learning. However, this is not limited to this. A stereo camera cannot perform three-dimensional measurement unless it can recognize the pattern of an object in the image. However, when dust is captured, the object's pattern becomes irregular, making three-dimensional measurement impossible. Taking advantage of this, dust occurrence may be determined 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 no longer possible.

[0101] (B) In the above embodiment, the occurrence of dust is determined by image analysis using a stereo camera, but it is also possible to determine the shape of the environment from the laser light of the LiDAR and determine that dust has occurred if there is a change in the shape of the object.

[0102] (C) In the above embodiment, the occurrence of dust is determined solely through 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 visible light cameras. The visible light camera observes changes in brightness that cause dust to appear white, 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. However, the present invention is not limited to a stereo camera. Alternatively, a time-of-flight (ToF) camera, a light detection and ranging (LiDAR) camera, or a structured illumination camera may be used. Furthermore, a two-dimensional camera, such as a CCD camera or a CMOS camera, may be used. In this case, the distance to the dust and the crusher cannot be accurately detected, but the 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. Therefore, the sprinkler may be controlled to track the dust based on the center position information. 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 decide on 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 this 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 right display screen 61a displays an image captured by the camera 4 installed in the first sprinkler 31, and the left display screen 61b displays an image captured by the camera 4 installed in the second sprinkler 32. Although not shown in FIG. 9 , the sprinkler selection unit 62, sprinkler mode setting unit 63, automatic start setting unit 64, crusher setting unit 65, sprinkler discharge unit 66, and manual switching unit 67 described in FIG. 5A may also 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 also be disposed external to the work machine 2. By disposing the camera externally, it is possible to easily operate multiple sprinklers from an image captured by a single camera, based on the image captured by the camera. The camera disposed externally may be a fixed camera, or may be a drone.

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

[0108] (I) In the above embodiment, no particular mention is made of adjusting the pressure and amount of water from the pump 7. However, the controller 5 may control the pump 7, and adjust the water pressure, water volume, or both the water volume and water pressure of the water spray. The water volume or water pressure of the water spray can be controlled by adjusting the rotation speed or opening pressure of the pump 7, or by other restricting 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 it may also be provided with only one sprinkler, or with three or more sprinklers. Furthermore, separate sprinklers may be provided for the two work machines. Furthermore, each work machine may be provided with its own camera.

[0110] (K) In the above embodiment, the watering system 1 is provided with two processors, the display control unit 68 of the display device 6 and the controller 5, but either one may also 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 also be performed by the display control unit 68.

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

[0112] (M) The sprinkling system 1 of the above embodiment is provided with a dust mode that sends a recommendation notification to the display device 6 when dust is detected and starts sprinkling water when the automatic start setting unit 64 is on, but in addition to the dust mode, it may also be provided with a dust auto sprinkling mode that automatically sprinkles water toward the area D where dust has occurred when dust is detected, regardless of the on / off state of the automatic start setting unit 64. In the dust auto 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 dust has occurred, the nozzle angle range corresponding to 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 these are not limited thereto. For example, a mode in which water is sprayed intensively toward the dust generated while following the crusher, and a mode in which water is sprayed from the center to the periphery in response to dust generation and then follows the cutting edge when the dust level decreases, may be provided. In this way, the water sprinkler system 1 may have a mode that automatically switches between the dust mode and the crusher-following mode depending on the situation. Water can be sprayed intensively by increasing the water spray volume, increasing the water spray pressure, slowing the nozzle movement speed, or changing the nozzle shape, as described below. Furthermore, the water sprinkler system 1 of this embodiment has both the dust mode and the crusher-following mode, but it may also have only one of these modes, or it may have one or more of the above modes as appropriate.

[0114] (O) In the above embodiment, the sprinkling system 1 detects the area D where dust is generated, but it may also be possible to detect only the presence or absence of dust. In this case, sprinkling will resume in the direction where water was previously being sprinkled, or water will be sprinkled toward a crusher close to the dust or a predetermined sprinkling direction.

[0115] (P) In the 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 sprinkling position is misaligned, the sprinkling direction, amount, and pressure can be manually adjusted. This makes it possible to calibrate the difference between the sprinkling position recognized by the control instruction unit 53 and the actual sprinkling position.

[0116] (Q) In the sprinkler system 1 of the above embodiment, a crusher is associated with a 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 sprinkler unit 66 are operated by moving them left and right, but this is not the only way to operate them. For example, touching one button may send a sprinkler start signal, and touching it again may send a sprinkler stop signal, or other operating methods may be used. This is true not only for the buttons of the sprinkler sprinkler unit 66, but also for other buttons.

[0118] (S) In the sprinkler system 1 of the above embodiment, each sprinkler can be operated within one screen, but it is also possible to configure one screen to correspond to one sprinkler, and switch screens for each sprinkler.

[0119] (T) In the dust mode of the sprinkler system 1 of the above embodiment, unlike the crusher following mode, there is no step of detecting whether there is an obstacle in the sprinkler destination. However, a step of detecting whether there is an obstacle in the sprinkler destination may be provided. In this case, as explained with reference to Figures 7 and 8, when it is determined in step S16 of Figure 7 that the user has a position to start sprinkling, image analysis is performed to determine whether there is an obstacle in the sprinkler destination. If it is determined that an obstacle exists in the sprinkler destination, sprinkling is stopped as in step S28 of Figure 8 and control ends. On the other hand, if it is determined that there is no obstacle in the sprinkler destination, the process proceeds to step S17 of Figure 7, where sprinkling begins.

[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 automatic coupler 18. The automatic 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 automatic coupler 18, or the watering attachment 3 may be attached directly to the work machine 12 without using the automatic coupler 18.

[0121] (V) In the above embodiment, a work machine provided with a boom 16 and an arm 17 was described as an example, but it may have only one of a boom or an arm. Furthermore, the work machine is not limited to a boom and an arm, and may have a shape similar to a crane.

[0122] (W) In the above embodiment, the tip shapes of the first nozzle 31a and the second nozzle 32a are not specifically mentioned. However, by changing the tip shape of the nozzle, it is possible to change the range or distance of the water spray, or to adjust the particle size and shape of the water sprayed, thereby making it easier to suppress the generation of dust, etc. Furthermore, 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 (I) above, it can be seen that the sprinkler system 1 can determine at least one of the sprinkler direction, water spray volume, water spray pressure, and nozzle tip shape of the sprinkler based on the detected area D. Furthermore, the sprinkler system 1 can determine at least one of the sprinkler direction, water spray volume, water spray pressure, and nozzle tip shape of the sprinkler so as to follow the crusher.

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

[0124] (Y) The work machine 2 in the above embodiment may be equipped with a sensor that detects its current position and attitude, and may operate the running body 13, swivel body 14, boom 16, or arm 17 to move the water spraying 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 GNSS (Global Navigation Satellite System) receiver or an IMU (Inertial Measurement Unit) sensor may be used.

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

[0126] (Appendix 1) A sprinkling 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 acquired by the imaging unit according to a sprinkling mode that has been enabled in advance; and a control determination unit that determines control regarding sprinkling based on the analysis of the captured images by the image analysis unit.

[0127] (Supplementary Note 2) The water sprinkling system according to Supplementary Note 1, wherein the water sprinkling mode includes a mode for detecting dust in the 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 issue an alert, and the control decision unit decides to instruct the alarm unit to issue an alert when dust is present.

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

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

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

[0132] (Appendix 7) 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 determination unit determines 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. The sprinkling system described in Appendix 6.

[0133] (Appendix 8) The sprinkler system according to appendix 6 or appendix 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, amount of water sprayed, water spray pressure, and nozzle tip shape of the sprinkler so that the sprinkler follows the set crusher.

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

[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, wherein the sprinkling mode includes a mode for detecting dust in a captured image and a mode for detecting the position of a crusher in the captured image.

[0136] (Supplementary Note 11) The sprinkler system according to any one of Supplementary Note 1 to Supplementary Note 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] (Supplementary Note 12) The watering system according to any one of Supplementary Note 1 to Supplementary Note 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] (Supplementary Note 13) The water sprinkler system according to Supplementary Note 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 the demolition work site; an image analysis step for analyzing the image acquired by the acquisition step according to a sprinkler mode that has been enabled in advance; and a control determination step for determining control related to sprinkling based on the analysis of the image by the image analysis step.

[0140] The sprinkler system of the present disclosure has the effect of reducing the operator's workload and improving work efficiency, making it useful at demolition sites and the like.

[0141] 1: Watering system 4: Camera 52: Image analysis unit 53: Control instruction unit

Claims

1. A water sprinkling system for use in demolition work, comprising: an imaging unit that images the demolition work site; an image analysis unit that analyzes the images acquired by the imaging unit in accordance with a water sprinkling mode that has been enabled in advance; and a control decision unit that decides control over water sprinkling based on the analysis of the images by the image analysis unit.

2. The water sprinkling system according to claim 1, wherein the water sprinkling mode includes a mode for detecting dust in the captured image.

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

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

5. The sprinkler system of claim 2, wherein the image analysis unit detects an area where the dust is present, and the control related to the sprinkler includes at least one of the sprinkler direction, the sprinkler amount, the sprinkler pressure and the nozzle tip shape of the sprinkler device, and the control decision unit decides at least one of the sprinkler direction, the sprinkler amount, the sprinkler pressure and the nozzle tip shape of the sprinkler device based on the area.

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

7. The sprinkling system according to claim 6, wherein the control relating 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 so as to follow the crusher.

8. The sprinkler system according to claim 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 as to follow the set crusher.

9. The sprinkler system of claim 7, wherein the image analysis unit detects obstacles in the captured image, and the control decision unit determines at least one of the spray direction, the spray volume, the spray 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 water.

10. The sprinkling system of claim 1, further comprising a mode setting unit that activates a predetermined mode, wherein the sprinkling modes include a mode for detecting dust in the captured image and a mode for detecting the position of a crusher in the captured image.

11. The sprinkler system according to claim 1, further comprising a sprinkler selection unit that selects one of a plurality of sprinklers, and is capable of enabling the sprinkler mode for each of the sprinklers.

12. The water sprinkling system according to claim 1, further comprising a work machine having: a work implement with a sprinkler disposed at a tip thereof; and a vehicle body on which the work implement is disposed.

13. The watering system according to claim 12, wherein the imaging unit is disposed at the tip of the work machine.

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 in accordance with 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.

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