Water spray system, display device, and water spray machine control method

Abstract

A water spray system (1) is used for demolition work, and comprises a camera (4), a display screen (61), and a controller (5). The camera (4) captures an image of the site of the demolition work. The display screen (61) displays the captured image acquired by the camera (4). The controller (5) determines at least one of a water spray direction, a water spray amount, and a water spray pressure of a first water spray machine (31) or a second water spray machine (32), on the basis of a water spray area designated on the captured image displayed on the display screen (61).

Description

Watering system, display device, and method for controlling a watering machine

[0001] The present invention relates to a sprinkler system, a display device, and a method for controlling a sprinkler.

[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 disclosed in Patent Document 1 requires the operator to always directly recognize the area to be sprinkled while operating the sprinkler, which does not allow for work efficiency.

[0007] An object of the present disclosure is to provide a sprinkler system, a display device, and a method for controlling a sprinkler that can improve work efficiency.

[0008] A sprinkler system according to a first aspect of the present disclosure is a sprinkler system used in demolition work, and includes an imaging unit, a display unit, and a control unit. The imaging unit captures images of the demolition work site. The display unit displays the captured images acquired by the imaging unit. The control unit determines at least one of the sprinkler direction, sprinkler volume, and sprinkler pressure of the sprinkler device based on a sprinkler area specified on the captured image displayed on the display unit.

[0009] A display device according to a second aspect of the present disclosure is a display device used for controlling a sprinkler used in demolition work, and includes a display screen and an instruction unit. The display screen displays a demolition site using a captured image or a 3D model. The instruction unit indicates an area to be sprinkled with water on the displayed 3D model or the captured image.

[0010] A sprinkler control method according to a third aspect of the present disclosure is a method for controlling a sprinkler used in demolition work, and includes an acquisition step, a display step, and a determination step. The acquisition step acquires a captured image of the demolition work site. The display step displays the captured image acquired in the acquisition step. The determination step determines at least one of the sprinkler direction, sprinkler volume, and sprinkler pressure of the sprinkler based on a sprinkler area specified on the captured image displayed in the display step.

[0011] A sprinkler system according to a fourth aspect of the present disclosure is a sprinkler system used in demolition work, and includes a work machine, an operation unit, an imaging unit, a display unit, and a control unit. A sprinkler is attached to the work machine. The operation unit operates the sprinkler. The imaging unit captures images of the demolition work site. The display unit displays the captured images acquired by the imaging unit. The control unit controls the sprinkler based on operations performed by the operation unit.

[0012] A sprinkler control method according to a fifth aspect of the present disclosure is a method for controlling a sprinkler used in demolition work, and includes an acquisition step, a display step, and a control step. The acquisition step acquires a captured image of the demolition work site. The display step displays the captured image acquired in the acquisition step. The control step controls the sprinkler's watering in response to an operation based on the captured image displayed in the display step. (Effects of the Invention)

[0013] According to the present disclosure, it is possible to provide a sprinkler system, a display device, and a method for controlling a sprinkler that can improve work efficiency.

[0014] 1 is a diagram showing a demolition site where the sprinkling system of the present embodiment 1 is used. FIG. 1 is a diagram showing the configuration of the sprinkling system of the present embodiment 1. FIG. 2 is a perspective view showing a sprinkling attachment and a camera of the sprinkling system of the present embodiment 1. FIG. 3 is a block diagram for explaining the configuration related to the control of the sprinkling system of the present embodiment 1. FIG. 4 is a diagram showing a display device of the sprinkling system of the present embodiment 1. FIG. 5 is a diagram showing a state in which a sprinkling execution area is designated on the display device. FIG. 6 is a diagram showing a state in which a watering prohibition area is designated on the display device. FIG. 7 is a diagram showing a state in which a watering focus area is designated on the display device. FIG. 8 is a diagram showing a state in which a watering execution area for a first sprinkler and a watering execution area for a second sprinkler are designated on the display device. FIG. 9 is a diagram showing another example of a method for designating an area. FIG. 10 is a diagram showing another example of a method for designating an area. FIG. 11 is a diagram showing another example of a method for designating an area. FIG. 12 is a diagram showing another example of a method for designating an area. FIG. 13 is a diagram showing another example of a method for designating an area. FIG. 14 is a diagram showing an example of a watering route. FIG. 15 is a diagram showing an example of a watering route. FIG. 16 is a diagram showing a watering route when vibration is added. FIG. 17 is a diagram showing a watering route on the display device. Fig. 1 is a block diagram for explaining a configuration related to control of the sprinkler system of the present embodiment 2. Fig. 2 is a diagram showing an example of a display on a display device. Fig. 3 is a flow diagram showing the control operation of the sprinkler system of the present embodiment 2. Fig. 4 is a diagram showing a display screen of a display device in a modified example of the present embodiment 2.

[0015] The watering system according to the present disclosure will be described below with reference to the drawings.

[0016] (First embodiment) A watering system 1 according to a first embodiment will be described below.

[0017] (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.

[0018] 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 unit), a controller 5 (an example of a control unit), a display device 6, a pump 7, and a tank 9. Fig. 1 shows the work machine 2 and the watering attachment 3 of the watering system 1.

[0019] 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.

[0020] 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).

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] (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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 3, the camera 4 is fixed to the bracket 30. 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.

[0034] 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 sprinkle water. Camera 4 captures an image of demolition site 100 and transmits the captured image to controller 5 as a captured image signal.

[0035] (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 made by the display device 6, which will be described later. The controller 5 can be disposed in the cab 15, for example, but is not limited to this.

[0036] 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.

[0037] The controller 5 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 controller 5 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.

[0038] The controller 5 sends drive commands to 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 in which water is sprayed by the first sprinkler 31.

[0039] The controller 5 sends drive commands to the second vertical drive unit 32d and the second horizontal drive unit 32e to move the second nozzle 32a up, down, left, and right, thereby controlling the direction in which water is sprayed by the second sprinkler 32.

[0040] The controller 5 receives the image signal captured by the camera 4 and transmits it via the Internet to the display device 6. The controller 5 is connected to the Internet via, for example, a wireless LAN.

[0041] 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.

[0042] The controller 5 creates a nozzle scanning path plan for both or one of the first nozzle 31a of the first sprinkler 31 and the second nozzle 32a of the second sprinkler 32 based on a water sprinkler setting signal (described later) received from the display device 6, and saves the created nozzle scanning path plan. The nozzle scanning path plan is used to set the nozzle scanning path so as to follow the water sprinkler route R (described later). The controller 5 controls the first up-down drive unit 31d and the first left-right drive unit 31e to operate the first nozzle 31a based on the saved nozzle scanning path plan. The controller 5 also controls the second up-down drive unit 32d and the second left-right drive unit 32e to operate the second nozzle 32a based on the saved nozzle scanning path plan.

[0043] (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.

[0044] 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.

[0045] Fig. 5 is a diagram showing display device 6. As shown in Figs. 4 and 5, display device 6 has a display screen 61 (an example of a display section), a sprinkler selection section 62, an area selection section 63, an area designation section 64, a sprinkler route setting section 65, a vibration setting section 66, a sprinkler discharge section 67, and a display control section 68 (an example of a control section). Note that display screen 61, sprinkler selection section 62, area selection section 63, area designation section 64, sprinkler route setting section 65, vibration setting section 66, and sprinkler discharge section 67 are displayed on a liquid crystal screen.

[0046] The display screen 61 displays the image captured by the camera 4. In Fig. 5, the state in which dismantling is being carried out by the work machine 300 and the work machine 400 is displayed.

[0047] 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.

[0048] As will be described in detail later, the watering area and the watering route for watering are specified on the display screen 61. The position and the watering direction on the display screen 61 are associated in advance for each of the first sprinkler 31 and the second sprinkler 32.

[0049] For example, when a water sprinkling command is given to the center position of the display screen 61, it is preset to sprinkle water in a predetermined direction at a predetermined water sprinkling pressure. When a water sprinkling command is given to a position to the left of the center position on the display screen 61, it is set to sprinkle water more to the left than when water was sprinkled to the center position, and the further left from the center position the water is sprinkled, the more leftward it is set. When a water sprinkling command is given to a position above the center position on the display screen 61, it is set to sprinkle water more upward than when water was sprinkled to the center position, and the further up from the center position the water is sprinkled, the more upward it is set. This allows the first sprinkler 31 and the second sprinkler 32 to adjust the sprinkling direction in accordance with the water sprinkling command on the display screen 61 and sprinkle water.

[0050] Specifically, pixels in the XY coordinate system on the display screen 61 are associated in advance with the nozzle angles. The X axis is the horizontal direction of the display screen 61, and the Y axis is the vertical direction of the display screen 61. The number of pixels in the XY coordinate system from the position where the watering command is issued to the center position of the display screen 61 is converted into an angle using a conversion parameter, and the first nozzle 31a or the second nozzle 32a is driven in the horizontal and vertical directions by that angle.

[0051] In addition, if the camera 4 is zoomable and the conversion parameters are set based on the display screen 61 when the camera 4 is zoomed out to the maximum, when a water spray command is issued to the leftmost position of the display screen 61 when the camera 4 is zoomed out to the maximum, the nozzle will point significantly to the left so as to face the targeted position. However, when a water spray command is issued to the leftmost position of the display screen 61 when the camera 4 is zoomed in to the maximum, the nozzle will point significantly to the left beyond the targeted position. For this reason, when the camera 4 is zoomable, conversion parameters are set that convert pixels on the display screen 61 to nozzle angles in stages or continuously depending on the zoom value. For example, with respect to the angle corresponding to one pixel at a predetermined zoom value, the angle corresponding to one pixel when zoomed in further than the predetermined zoom value may be set smaller, and the angle corresponding to one pixel when zoomed out further than the predetermined zoom value may be set larger.

[0052] Like the water spray direction, the water spray pressure and water spray volume are also associated with positions on the display screen 61. For example, when a water spray instruction is given to the central position of the display screen 61, it is preset to spray water at a predetermined water spray pressure or water spray volume. When a water spray instruction is given to a position above the central position on the display screen 61, the water spray pressure or water spray volume is set to be higher than when watering is given to the central position, and the water spray pressure or water spray volume is set to increase as the distance from the central position increases upward. Furthermore, when a water spray instruction is given to a position below the central position on the display screen 61, the water spray pressure or water spray volume is set to be lower than when watering is given to the central position, and the water spray pressure or water spray volume is set to decrease as the distance from the central position decreases downward.

[0053] The correspondence between the position on the display screen 61 and the water spray direction, water spray pressure, and water spray amount described above may be set separately for the first sprinkler 31 and the second sprinkler 32, or may be the same.

[0054] The correspondence between the position on the display screen 61 and the water spray direction, water spray pressure, and water spray amount is stored in the controller 5 as screen-nozzle correspondence information, but may also be stored in the display control unit 68, which will be described later. The screen-compatible nozzle information may also be stored in advance in the controller 5 or the display control unit 68, or may be set by the display device 6.

[0055] The area selection unit 63 selects a watering area. A watering area is an area where settings related to watering are made. The watering area includes a watering execution area A1, a watering prohibition area A2, and a watering concentration area A3. The watering execution area A1 is an area where watering is performed by a sprinkler. The watering prohibition area A2 is an area where watering by a sprinkler is prohibited. The watering concentration area A3 is an area where watering by a sprinkler is concentrated. The watering concentration area A3 is an area where a larger amount of water is set to be sprinkled than in the watering execution area A1.

[0056] The area selection unit 63 selects which area to set from among the watering execution area A1, the watering prohibition area A2, and the watering focus area A3. As shown in FIG. 5 , the area selection unit 63 includes a watering execution area selection button 63a, a watering prohibition area selection button 63b, and a watering focus area selection button 63c. Tapping any of the buttons selects the corresponding area. The area selection unit 63 transmits the selected area as a selected area signal to the display control unit 68.

[0057] The area designation unit 64 designates the area selected by the area selection unit 63 for the sprinkler selected by the sprinkler selection unit 62. The area designation unit 64 is, for example, a touch panel, and also serves as the display screen 61. FIG. 6A is a diagram showing a state in which a sprinkler execution area A1 is being set on the display screen 61. After the sprinkler execution area selection button 63a is tapped in the area selection unit 63, as shown in FIG. 6A, for example, an area surrounded by the operator's finger is designated as the sprinkler execution area A1. Multiple sprinkler execution areas A1 may be set. Information on the designated area is sent from the area designation unit 64 to the display control unit 68 as an area designation signal.

[0058] FIG. 6B is a diagram showing the state in which the no-watering area A2 is being input on the display screen 61. After the no-watering area selection button 63b is touched in the area selection unit 63, the area circled by the operator's finger is designated as the no-watering area A2, as shown in FIG. 6B . For example, hatching or dots may be displayed inside the no-watering area A2. FIG. 6C is a diagram showing the state in which the watering focus area A3 is being input on the display screen 61. After the watering focus area selection button 63c is touched in the area selection unit 63, the area circled by the operator's finger is designated as the watering focus area A3, as shown in FIG. 6C . In FIG. 6C , the watering focus area A3 is designated inside the watering execution area A1, but the watering focus area A3 may also be input outside the watering execution area A1. It should be noted that multiple sprinkler areas A1, no-sprinkler areas A2, or focused-sprinkler areas A3 may be specified for one sprinkler device. Furthermore, when multiple sprinkler areas A1 are set, priority may be set. Sprinklers are primarily watered in descending order of priority.

[0059] 6D shows a display screen 61 in which the first sprinkler 31 is selected by the sprinkler selection unit 62 to specify the sprinkler execution area A1, and then the second sprinkler 32 is selected to specify the sprinkler execution area A1. In FIG. 6D, the sprinkler execution area for the first sprinkler 31 is shown as A1(1), and the sprinkler execution area for the second sprinkler 32 is shown as A1(2). In this way, when a sprinkler area is set for each of multiple sprinklers, the sprinkler areas may be displayed on a single display screen 61.

[0060] When the lines drawn by the operator are connected, each of the areas A1, A2, and A3 is confirmed, but this is not limited to this. A confirmation button may be provided separately, and each of the areas A1, A2, and A3 may be confirmed by tapping the confirmation button. Furthermore, instead of using the confirmation button, an area may be confirmed by double tapping, or may be confirmed automatically if no tap is made for a certain period of time.

[0061] 6A to 6D, the area enclosed by tracing a finger over the display screen 61, which also serves as the area designation unit 64, is designated as the watering area A1, the no-watering area A2, or the watering focus area A3, but the method of designating the area is not limited to this. Instead of using a finger, an area may be enclosed by a line using a touch pen or the like. Alternatively, a watering area may be created by tapping multiple points and automatically connecting the tapped points.

[0062] Also, as shown in FIG. 7A, by tracing a line L1 diagonally with a finger or the like, a rectangular shape with the line as its diagonal may be designated as the watering execution area A1.

[0063] As shown in FIG. 7B , a square watering execution area A1 may be expanded depending on the time the point P1 is tapped with a finger or the like, and the watering execution area A1 is confirmed when the finger is released. The shape is not limited to a square, and it may be circular as shown in FIG. 7C . A circular watering execution area A1 may be expanded depending on the time the point P1 is tapped with a finger or the like, and the watering execution area A1 is confirmed when the finger is released. Alternatively, the size of the area may not change depending on the time elapsed since the tapping, and the area may be preset. Furthermore, the shape of the watering execution area A1 is not limited to a circle, and may be a horizontally or vertically elongated ellipse. Furthermore, a certain angular range may be specified as the area, up, down, left, or right, centered on the tapped point.

[0064] 7D, by tapping two points P1 and P2, a predetermined parallelogram-shaped watering execution area A1 may be specified based on the distance and position of the two points. The watering execution area A1 is set based on the distance and positional relationship between the two points P1 and P2. Also, as shown in FIG. 7E, when the two points P1 and P2 are arranged horizontally, a rectangular watering execution area A1 may be specified. The shape is not limited to a parallelogram or a rectangle, and may also be a polygon.

[0065] 7F, a predetermined elliptical watering area A1 may be specified based on the distance and positions of two points P1 and P2. When specifying the watering area A1 based on the positions of two points P1 and P2, the watering area A1 may be finalized when the finger is released from both points P1 and P2.

[0066] Alternatively, the area may be set by approximating a circle, ellipse, or polygon based on a drawing, or by filling the screen with a drawing.

[0067] 7A to 7F, the explanation is given using the watering execution area A1, but the same applies to the watering prohibition area A2 and the watering focus area A3.

[0068] The watering route setting unit 65 sets the watering route for the specified watering execution area A1 and watering focus area A3. The watering route is the route along which the first sprinkler 31 or the second sprinkler 32 will sprinkle water. The first nozzle 31a of the first sprinkler 31 and the second nozzle 32a of the second sprinkler 32 move up, down, left, and right along the watering route. As shown in FIG. 5 , the watering route setting unit 65 includes a first setting button 65a, a second setting button 65b, and a third setting button 65c. Tapping the first setting button 65a sets the watering route R in the specified watering execution area A1 and watering focus area A3 using a raster scan method along the horizontal direction. Specifically, as shown in FIG. 8A , the watering route R is set so that it moves horizontally from left to right, then downward, and then horizontally from right to left, repeating this process.

[0069] Furthermore, when the second setting button 65b is selected, a watering route is set in the specified watering execution area A1 and watering focus area A3 using a raster scan method along the vertical direction. Specifically, as shown in FIG. 8B, a watering route R is set that moves vertically from top to bottom, then to the left, and then vertically from bottom to top, repeating this process, as in the watering execution area A1. When the third setting button 65c is selected, a watering route R is set randomly in the specified watering execution area A1, as shown in FIG. 8C. The set watering route R is transmitted from the watering route setting unit 65 to the display control unit 68 as a watering route setting signal. For example, the watering route R can be set randomly as follows: First, the starting point of the watering route R is set to fall within the watering execution area A1, and then the watering route moves linearly from the starting point within the watering execution area A1. When the moving point hits an edge of the watering execution area A1, it bounces off the edge with a restitution coefficient of 1. The bouncing point then moves in a straight line, hits the edge, and bounces off again. The locus of points obtained by repeating this process can be set as the watering route R.

[0070] The watering route R set by the watering route setting unit 65 is also applied to the watering focus area A3, but is set so that watering is performed more intensively than in the watering execution area A1. Figure 8D is a diagram showing the watering route R in the watering execution area A1 and the watering focus area A3. In Figure 8D, the watering route R in the watering execution area A1 is indicated as R1, and the watering route R in the watering focus area A3 is indicated as R3. For example, as shown in Figure 8D, the raster scan movement width W3 of the watering route in the watering focus area A3 is set smaller than the raster scan movement width W1 of the watering route R1 in the watering execution area A1. This allows watering to be performed more intensively in the watering focus area A3 than in the watering execution area A1. Furthermore, without being limited to this, watering may be performed more intensively in the watering focus area A3 by slowing down the nozzle movement speed. The level of emphasis may also be set by drawing, using a button, etc.

[0071] The vibration setting unit 66 sets whether or not to vibrate the first nozzle 31a or the second nozzle 32a when sprinkling water along the watering route. As shown in FIG. 5 , moving the indicator to the left sets the setting to vibrate, and moving it to the right sets the setting to not vibrate. When vibration is applied, water is sprinkled along the watering route R while vibrating in a direction perpendicular to the watering route R, as shown in FIG. 8E . When vibration is applied, the vibration setting unit 66 sends a vibration application signal to the display control unit 68. Note that the vibration direction is not limited to a direction perpendicular to the watering route R, but may be a direction along the watering route R or another direction.

[0072] Figure 9 is a diagram in which the water sprinkler route R is superimposed on the display screen 61 of Figure 6B. As shown in Figure 9, at the demolition site 100, an area where dust is likely to be generated is designated as a water sprinkler execution area A1, and a water sprinkler route R is set inside that area, so that water sprinklers can be performed automatically. Note that the water sprinkler route R does not need to be displayed on the display screen 61, but may be displayed.

[0073] The sprinkler water discharge unit 67 sets the start or stop of water sprinkling by the first sprinkler 31 and the second sprinkler 32. The sprinkler water discharge unit 67 has a first sprinkler water sprinkler button 67a and a second sprinkler water sprinkler button 67b. When the first sprinkler water sprinkler button 67a 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 67a 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 67b 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 67b is moved to the right, a water sprinkler stop signal for the second sprinkler 32 is sent to the display control unit 68.

[0074] 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.

[0075] 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.

[0076] 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 settings 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 sets the display screen 61 to a screen for performing settings for the first sprinkler 31. When the first sprinkler 31 is selected, the specified sprinkler execution area A1, sprinkler prohibition area A2, sprinkler focus area A3, sprinkler route R, and whether or not vibration is to be performed become the sprinkler settings for the first sprinkler 31. When the second sprinkler 32 is selected, the specified sprinkler execution area A1, sprinkler prohibition area A2, sprinkler focus area A3, sprinkler route R, and whether or not vibration is to be performed become the sprinkler settings for the second sprinkler 32.

[0077] The display control unit 68 receives a selected area signal from the area selection unit 63. By receiving the selected area signal, the display control unit 68 recognizes whether the next input area designation signal relates to the watering execution area A1, the watering prohibition area A2, or the watering focus area A3.

[0078] The display control unit 68 receives an area designation signal from the area designation unit 64. The display control unit 68 receives a watering route setting signal from the watering route setting unit 65. The display control unit 68 receives a vibration application signal from the vibration setting unit 66.

[0079] The display control unit 68 creates a water sprinkler setting signal for a specified sprinkler from the received sprinkler selection signal, selected area signal, area designation signal, water sprinkler route setting signal, and vibration application signal, which signal includes information on the position of the water sprinkler area and the water sprinkler route in the image captured by the camera 4, and whether vibration occurs during water sprinkling, and sends this signal to the controller 5 via the Internet. Note that if water sprinkler settings have been made for both the first sprinkler 31 and the second sprinkler 32, a water sprinkler setting signal for the first sprinkler 31 and a water sprinkler setting signal for the second sprinkler 32 are output to the controller 5.

[0080] When the display control unit 68 receives a sprinkler start signal from the sprinkler discharge unit 67, it transmits the signal to the controller 5 via the Internet. When the controller 5 receives the sprinkler start signal, it controls the first up-down drive unit 31d, the first left-right drive unit 31e, the first solenoid valve 31f, the second up-down drive unit 32d, the second left-right drive unit 32e, and the second solenoid valve 32f so that water is sprinkled along the set sprinkler route based on the nozzle scanning path plan created from the sprinkler setting signal received from the display control unit 68 and the screen-nozzle correspondence information. When the controller 5 receives the sprinkler start signal for the first sprinkler 31, it opens the first solenoid valve 31f to supply water from the tank 9, which is generated by the operation of the pump 7, to the first nozzle 31a, and controls the first up-down drive unit 31d and the first left-right drive unit 31e so that water is sprinkled along the set sprinkler route R. When the controller 5 receives a water sprinkler start signal for the second sprinkler 32, it opens the second solenoid valve 32f to supply water from the tank 9 to the second nozzle 32a by operating the pump 7, and controls the first up-down drive unit 31d and the first left-right drive unit 31e to follow the water sprinkler route R. Note that if the display control unit 68 has stored screen-nozzle correspondence information, the display control unit 68 may create a nozzle scanning path plan from the water sprinkler setting signal and the nozzle correspondence information, and send the nozzle scanning path plan to the controller 5.

[0081] (Control Operation) FIG. 10 is a flow chart showing the control operation of the watering system 1 of this embodiment.

[0082] First, in step S10 (an example of an acquisition step), the controller 5 acquires an image of the demolition site 100 captured by the camera 4. The controller 5 acquires the image at each image capture timing of the camera 4. For example, if the camera 4 takes multiple images per second, the controller 5 acquires the image multiple times per second.

[0083] Next, in step S11 (an example of a display step), the captured image acquired by the controller 5 is displayed on the display screen 61 of the display device 6 .

[0084] Next, in step S12, the controller 5 determines whether or not watering settings such as watering area settings have been made for the acquired captured image. The controller 5 sets whether or not settings for the watering execution area A1, the watering prohibition area A2, and the watering focus area A3, the watering route R, and vibration application settings have been made. Since no watering settings have been made for the initially captured image, control proceeds to step S13.

[0085] In step S13, the user operates the watering settings. Specifically, the user selects a sprinkler, sets areas A1, A2, and A3, sets the watering route R, and sets vibration application using display device 6, which displays the image captured by camera 4. When the user performs the watering settings, display device 6 transmits a watering setting signal to controller 5 via the Internet.

[0086] Next, in step S14 (an example of a determination step), controller 5 calculates a nozzle scanning path plan for moving the nozzles based on the water sprinkler setting signal received from display device 6 and the stored screen-nozzle correspondence information. Note that if water sprinkler settings have been made for each of first sprinkler 31 and second sprinkler 32, a nozzle scanning path plan is calculated for each.

[0087] Next, in step S15, the controller 5 stores the calculated nozzle scanning path plan.

[0088] After step S15, the control returns to step S10, and the controller 5 acquires an image of the demolition site 100 taken by the camera 4.

[0089] Next, control proceeds to step S12 via step S11. In step S12, since watering setting has been performed, control proceeds to step S16.

[0090] In step S16, when the controller 5 receives a sprinkler start signal for the first sprinkler 31 from the display device 6 via the Internet, it sends an open command signal to the first solenoid valve 31f to open it. Also, when the controller 5 receives a sprinkler start signal for the second sprinkler 32 from the display device 6 via the Internet, it sends an open command signal to the second solenoid valve 32f to open it.

[0091] Next, in step S17, controller 5 controls the nozzles based on the nozzle scanning path plan. Controller 5 controls first up-down drive unit 31d and first left-right drive unit 31e for first sprinkler 31 based on the nozzle scanning path plan. Controller 5 also controls second up-down drive unit 32d and second left-right drive unit 32e for second sprinkler 32 based on the nozzle scanning path plan.

[0092] (Features, etc.) In the sprinkler system 1 of this embodiment, the direction of sprinkling by the first sprinkler 31 or the second sprinkler 32 is determined based on the sprinkler area depicted on the captured image displayed on the display device 6. This eliminates the need to manually operate the sprinklers, thereby reducing the operator's workload and saving manpower.

[0093] 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.

[0094] In the sprinkler system 1 of this embodiment, the camera 4 is disposed at the tip of the work machine 12. This allows the camera to be installed at the location where the sprinkler is installed, making it easier for the camera 4 to capture an image of the location where water is to be sprinkled.

[0095] In the sprinkler system 1 of this embodiment, the sprinkler area includes a sprinkler execution area A1 where sprinkling is performed and a sprinkler prohibition area A2 where sprinkling is prohibited. This allows users to specify areas where they want to sprinkle water, such as areas being demolished or areas where dust is generated. It also allows users to specify areas where sprinkling of water is prohibited, such as people or the cabs of work machines.

[0096] In the watering system 1 of this embodiment, the watering area includes a watering focus area A3 where watering is concentrated. This makes it possible to specify an area where watering is particularly concentrated, such as a location where dust is generated heavily.

[0097] In the sprinkling system 1 of this embodiment, the display control unit 68 sets a sprinkling route R for sprinkling water by the first sprinkler 31 or the second sprinkler 32 based on the sprinkling execution area A1. This makes it possible to automatically set the sprinkling route R in the sprinkling execution area A1, and to sprinkle water along the sprinkling route R.

[0098] In the watering system 1 of this embodiment, the watering route R for watering by the first sprinkler 31 or the second sprinkler 32 is set based on the watering execution area A1. This makes it possible to automatically set the watering route R in the watering execution area A1, and to perform watering along the watering route R.

[0099] In the watering system 1 of this embodiment, the watering route R is set using the raster scan method. The watering system 1 includes a watering route setting unit 65 that sets the raster scan direction. The watering route R is set based on the set raster scan direction. This allows the watering execution area A1 or the watering focus area A3 to be watered using the raster scan method based on the direction set by the user.

[0100] The watering system 1 of this embodiment includes a vibration setting unit 66 that applies vibration to the first nozzle 31a or the second nozzle 32a when watering along the watering route R. This allows watering to be performed while effectively suppressing dust.

[0101] (Embodiment 2) The following describes a watering system 1' of embodiment 2. Unlike the watering system 1 of embodiment 1, the watering system 1' of embodiment 2 does not set a watering area, and instead uses a display device 6' to operate the first sprinkler 31 and the second sprinkler 32. In embodiment 2, the differences from embodiment 1 will be mainly described.

[0102] The watering system 1' of this embodiment 2 has a work machine 2, a watering attachment 3, a camera 4 (an example of an imaging unit), a controller 5 (an example of a control unit), a display device 6', a pump 7, and a tank 9.

[0103] Figure 11 is a block diagram showing the control configuration of the sprinkler system 1 of the second embodiment. Figure 12 is a diagram showing the display of the display device 6' of the sprinkler system 1 of the second embodiment. As shown in Figure 11, the display device 6 of the second embodiment has a display screen 61 (an example of a display unit), a sprinkler discharge unit 67, and a manual operation unit 71 (an example of an operation unit). By operating the manual operation unit 71 shown in Figure 12, the user can manually operate the first sprinkler 31 and the second sprinkler 32.

[0104] As in the first embodiment, the display screen 61 displays the image captured by the camera 4 under the control of the display control unit 68 .

[0105] The manual operation unit 71 has a first sprinkler selection button 71a (an example of a sprinkler selection unit), a first sprinkler operation button 71b, a second sprinkler selection button 71c (an example of a sprinkler selection unit), and a second sprinkler operation button 71d. The first sprinkler 31 is selected by tapping the first sprinkler selection button 71a. 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 32 is selected by tapping the second sprinkler selection button 71c. 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, or 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.

[0106] As in the first embodiment, the sprinkler water discharge unit 67 sets the start or stop of water sprinkling by the first sprinkler 31 and the second sprinkler 32. The sprinkler water discharge unit 67 has a first sprinkler water sprinkler button 67a and a second sprinkler water sprinkler button 67b. When the first sprinkler water sprinkler button 67a 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 67a 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 67b 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 button 67 b is moved to the right, a signal to stop the second sprinkler 32 from sprinkling water is sent to the display control unit 68 .

[0107] 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.

[0108] When the display control unit 68 receives a manual operation signal from the manual operation unit 71, it sends a nozzle drive signal to the controller 5 so as to move the nozzle of the selected sprinkler in accordance with the operation of the sprinkler operation button. The controller 5 drives the up-down drive unit or the left-right drive unit of the corresponding nozzle in accordance with the nozzle drive signal. For example, if the first sprinkler selection button 71a is tapped and then the first sprinkler operation button 71b is operated, the display control unit 68 sends a nozzle drive signal to the controller 5 that drives the first nozzle 31a in accordance with the first sprinkler operation button 71b. When the controller 5 receives the nozzle drive signal, it drives the first up-down drive unit 31d or the first left-right drive unit 31e to set the nozzle to an angle in accordance with the first sprinkler operation button 71b.

[0109] When the display control unit 68 receives a sprinkler start signal from the sprinkler discharge unit 67, it transmits the signal to the controller 5 via the Internet. When the controller 5 receives the sprinkler start signal, it starts sprinkling water by opening the solenoid valve of the corresponding sprinkler. When the controller 5 receives the sprinkler start signal for the first sprinkler 31, it opens the first solenoid valve 31f to supply water from the tank 9, which is generated by the operation of the pump 7, to the first nozzle 31a, thereby sprinkling water. Water is sprinkled at the angle of the first nozzle 31a set by the manual operation unit 71. Note that while the first sprinkler 31 or the second sprinkler 32 is discharging water, the direction of water discharge by the first sprinkler 31 or the second sprinkler 32 can be changed by operating the first sprinkler operation button 71b or the second sprinkler operation button 71d.

[0110] FIG. 13 is a flow chart showing a control method of the sprinkler system 1' of the second embodiment.

[0111] First, in step S20 (an example of an acquisition step), an image of the demolition site 100 captured by the camera 4 is acquired by the controller 5.

[0112] Next, in step S21 (an example of a display step), the captured image acquired by the controller 5 is displayed on the display screen 61 of the display device 6.

[0113] Next, in step S22 (an example of a control step), controller 5 controls the sprinkler in response to user operation using display device 6'. Controller 5 controls first up-down drive unit 31 d, first left-right drive unit 31 e, first solenoid valve 31 f, second up-down drive unit 32 d, second left-right drive unit 32 e, or second solenoid valve 32 f based on a manual operation signal transmitted from display device 6' and the stored screen-nozzle correspondence information, a watering start signal, or a watering stop signal.

[0114] (Features, etc.) In the sprinkler system 1 ′ of this embodiment, the sprinkler can be remotely operated using the display device 6 ′ while viewing the image captured by the camera 4 , thereby improving the efficiency of the work.

[0115] The sprinkler system 1' of this embodiment can sprinkle water in a desired location by controlling the direction of sprinkler spray.

[0116] The sprinkler system 1' of this embodiment includes 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.

[0117] In the sprinkler system 1' of this embodiment, the manual operation unit 71 includes a first sprinkler selection button 71a and a second sprinkler selection button 71c for selecting either the first sprinkler 31 or the second sprinkler 32. This allows multiple sprinklers to be operated using a single display device 6'.

[0118] The configuration of the sprinkler system 1' of the second embodiment may be appropriately combined with the sprinkler system of the first embodiment.

[0119] (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.

[0120] (A) In the above embodiment 1, a watering focus area A3 is set, but instead of setting a watering focus area A3, the watering route may be set to focus on the central part of the watering execution area A1.

[0121] (B) In the sprinkler systems 1 and 1' of the first and second embodiments, only one camera 4 is provided, but multiple cameras may be provided.

[0122] (C) In the above first and second embodiments, the camera 4 is disposed on the sprinkler attachment 3, but it may also be disposed on the work machine 2 or work implement 12, or may be disposed external to the work machine 2. By disposing the camera externally, multiple sprinklers can be captured in a single camera image based on the image captured by the camera, allowing operation while viewing the watering status of each, thereby improving efficiency. Furthermore, even in the case of a single sprinkler, the watering status can be captured from a bird's-eye view, making remote operation easier. The camera disposed externally may be a fixed camera or a drone.

[0123] (D) In ​​the above first and second embodiments, the camera 4 is disposed on the bracket 30, but it may also be disposed on both or either the first sprinkler 31 and the second sprinkler 32. The camera may also be disposed on the nozzle of a sprinkler. 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 easy to determine the target position for sprinkling water.

[0124] (E) In the above embodiment 1, it is described that sprinkler settings can be made for both the first sprinkler 31 and the second sprinkler 32. However, as in embodiment 2, operation buttons for manually operating each of the first sprinkler 31 and the second sprinkler 32 may be arranged on the display device 6. In this case, while the sprinkler execution area A1 and the sprinkler route R are set for either the first sprinkler 31 or the second sprinkler 32 and the other is operating automatically, the other can be operated manually.

[0125] (F) In the above first and second embodiments, it is described that the watering attachment 3 can be detachably attached to the work machine 12 using 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.

[0126] (G) In the above first and second embodiments, a work machine provided with a boom 16 and an arm 17 has been 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.

[0127] (H) In the above-described first and second embodiments, no particular mention is made of the shapes of the first nozzle 31a and the second nozzle 32a, but by changing the shape of the nozzle tip, 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. Also, the sprinkler may be equipped with multiple nozzles, and the nozzles may be changeable by operating the display device 6.

[0128] (I) Although the above first and second embodiments describe the water spray direction and do not specifically mention adjusting the water pressure and water volume of the sprinkler, the water pressure, water volume, or both the water pressure and water volume may be adjustable using the display device 6. The water volume or water pressure of the sprinkler can be controlled by adjusting the rotation speed or opening of the pump 7, or by other restricting devices or additional devices. The water pressure and water volume can also be controlled by the opening degrees of the first solenoid valve 31f and the second solenoid valve 32f. From the description of the above second embodiment, the description of (I), and the description of (H), the water spray system 1' of the second embodiment can determine at least one of the water spray direction, water spray volume, water spray pressure, and nozzle tip shape of the sprinkler.

[0129] (J) In the above embodiments 1 and 2, the camera 4 is a two-dimensional camera. However, a three-dimensional camera or a device combining a two-dimensional camera with a distance sensor may also be used. Examples of three-dimensional cameras that can be used include a stereo camera, a time-of-flight (ToF) camera, a light detection and ranging (lidar) camera, or a structured illumination camera. When a three-dimensional camera is used, the distance from the sprinkler to the sprinkler execution area can be calculated. Therefore, the controller 5 may determine the water volume, water pressure, or both the water volume and water pressure based on the distance to the sprinkler execution area A1 or the sprinkler focus area A3. Based on the description of embodiment 1, the description of (J), and the descriptions of (I) and (H) above, the sprinkler system 1 of embodiment 1 can determine at least one of the sprinkler direction, water volume, water pressure, and nozzle tip shape of the sprinkler.

[0130] As described above, a device that combines a 3D camera or a 2D camera with a distance sensor such as Lidar can be used to set the water spray direction, amount, and pressure taking into account not only the up, down, left, and right directions of the image, but also the depth information of the image. For example, if the distance (depth information) from the 3D camera or distance sensor to the target position for water spraying is a predetermined distance, the water spray pressure or amount can be preset, and the water spray pressure or amount can be increased as the distance to the target position becomes farther than the predetermined distance, and decreased as the distance to the target position becomes closer than the predetermined distance.

[0131] Furthermore, as described in the above embodiment, the position on the display screen 61 may be associated with the water spray direction, and the depth information may be associated with at least one of the water spray pressure and the water spray amount.

[0132] Furthermore, the distance to the target position (depth information) may be associated with the direction of water spraying. For example, the direction of water spraying may be set to move upward as the distance to the target position increases, and downward as the distance to the target position decreases.

[0133] (K) In the above embodiment and the description of (J), it has been described that a position on the display screen 61 is associated with a water spray direction, a water spray pressure, and a water spray volume, but it is also possible to associate only a position on the display screen 61 with a water spray direction. It is also possible to associate only a position on the display screen 61 with a water spray pressure. It is also possible to associate only a position on the display screen 61 with a water spray volume. Furthermore, it is also possible to associate only the depth information with the water spray direction, or only the depth information with the water spray pressure, or only the depth information with the water spray volume, or it is also possible to associate all or any two of the water spray direction, water spray pressure, and water spray volume with the depth information.

[0134] The correspondence between the top, bottom, left, right position and depth information on the display screen 61 and the water spray direction, water spray pressure and water spray amount can be freely set to suit the site.

[0135] (L) The work machine 2 in the first and second embodiments may be equipped with a sensor that detects its current position and attitude, and may operate the traveling body 13, the swivel body 14, the boom 16, or the arm 17 to move the watering location based on information from the sensor and information about the depicted watering area. Examples of sensors that can be used include a Global Navigation Satellite System (GNSS) receiver or an Inertial Measurement Unit (IMU) sensor. In the first embodiment, the traveling body 13, the swivel body 14, the boom 16, or the arm 17 may be automatically controlled according to the set watering execution area A1 and watering focus area A3. In the second embodiment, for example, an operation unit for operating the traveling body 13, the swivel body 14, the boom 16, or the arm 17 may be provided on the display device 6'. The ability to extend the work implement 12 to aim at the watering location widens the watering range, improving work efficiency. Furthermore, traveling and swinging widens the range of watering that can be achieved, improving work efficiency.

[0136] (M) In the first embodiment described above, as shown in Figure 6D, the watering execution area A1(1) of the first sprinkler 31 and the watering execution area A1(2) of the second sprinkler 32 are displayed on the same display screen 61, but they may also be displayed separately. In this case, the display screen for the first sprinkler 31 and the display screen for the second sprinkler 32 are switchable, and the watering execution area A1(1) of the first sprinkler 31 is displayed on the display screen for the first sprinkler 31, and the watering execution area A1(2) of the second sprinkler 32 is displayed on the display screen for the second sprinkler 32.

[0137] (N) In the sprinkler system 1, 1' of the above embodiment, in order to operate multiple sprinklers, each sprinkler can be operated within a single screen, but it is also possible to configure one screen to correspond to one sprinkler and switch the screen for each sprinkler. In this case, a switch button can be provided to switch the sprinkler to be operated.

[0138] (O) The sprinkler systems 1 and 1' of the above-mentioned embodiments 1 and 2 are 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.

[0139] (P) In the above first and second embodiments, two sprinklers are provided on one work machine 2, but one or more sprinklers may be provided on each of a plurality of work machines. Also, one or more cameras 4 may be provided on each of the watering attachments 3 provided on a plurality of work machines. Images taken by the multiple cameras 4 may be displayed simultaneously on the display devices 6, 6', or may be switched for each camera 4. For example, two work machines may each be equipped with a watering attachment 3, each of which may be provided with one sprinkler and equipped with one camera 4. Figure 12 is a diagram showing a state in which images taken by cameras 4 provided on sprinkler attachments 3 attached to two work machines are displayed on the same display screen of a single display device 6". The left screen 61a displays an image taken by one of the two cameras 4, and the sprinkler on the watering attachment 3 to which that camera 4 is attached is shown as the first sprinkler. A first sprinkler selection button 71a, a first sprinkler operation button 71b, and a first sprinkler sprinkler button 67a are displayed on the lower side of the screen 61a. Furthermore, the right-side screen 61b displays an image captured by the other of the two cameras 4, and the sprinkler of the sprinkler attachment 3 to which the other camera 4 is attached is designated as the second sprinkler. A second sprinkler selection button 71c, a second sprinkler operation button 71d, and a second sprinkler sprinkler button 67b are displayed on the lower side of the screen 61b. In this manner, multiple images captured by cameras 4 corresponding to multiple sprinklers may be displayed on a single display device 6'', and sprinklers attached to separate work machines may be operated using a single display device 6''. By splitting the images captured by cameras corresponding to multiple sprinklers onto a single display screen, remote operation can be performed while viewing the watering status of each sprinkler. In addition, even when a plurality of cameras 4 are arranged on one sprinkler attachment 3, they may be displayed simultaneously as shown in FIG.

[0140] (Q) In the sprinkler systems 1 and 1' of the above embodiments, for example, the first sprinkler sprinkler button 67a and the second sprinkler sprinkler button 67b of the sprinkler sprinkler unit 67 are operated by moving them left and right, but this is not the only way to operate them. For example, touching them may send a sprinkler start signal, and touching them 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 67, but also for other buttons.

[0141] (R) 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 nozzle path plan is calculated by the controller 5, but it may also be calculated by the display control unit 68.

[0142] (S) In the sprinkler system 1 of the above embodiment, the image captured by the camera 4 is displayed on the display device 6, but this is not limiting and a 3D model of the demolition site may also be displayed.

[0143] (T) In the watering system 1 of the above embodiment, the watering route R is set in the watering execution area A1 or the watering focus area A3, but the watering route may be predetermined. In this case, the user only needs to set the watering execution area A1 or the watering focus area A3.

[0144] (U) The device may have both the mode in which watering is performed by setting the watering area as described in the first embodiment and the manual operation mode as described in the second embodiment. In this case, for example, a manual switch button may be displayed on the display shown in Fig. 5 of the first embodiment, and touching the manual switch button may switch to the display shown in Fig. 11.

[0145] (V) In the above-described second embodiment, the display screen 61 and the manual operation unit 71 are both provided on the display device 6', but the manual operation unit 71 may be separated from the display device 6'. Similarly, in the first embodiment, the operation units, such as the area selection unit 63 and the watering route setting unit 65, and the display screen 61 are provided on the display device 6, but the operation units may be separated from the display device 6.

[0146] (W) In the second embodiment described above, the first nozzle 31a or the second nozzle 32a is operated by the manual operation unit 71 of the display device 6' to control the water spray direction, but the water spray direction may be controlled by tapping on the display screen 61 in addition to or instead of the manual operation unit 71. For example, the water spray direction may be set based on the position where the tap is made on the display screen 61, and the first nozzle 31a or the second nozzle 32a may be operated to face the set water spray direction.

[0147] (X) 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.

[0148] (Appendix 1) A sprinkler system for use in demolition work, comprising: an imaging unit that captures images of the demolition work site; a display unit that displays the captured images acquired by the imaging unit; and a control unit that determines at least one of the direction, amount, and pressure of water sprayed by the sprinkler device based on a water spray area specified on the captured image displayed on the display unit.

[0149] (Supplementary Note 2) The water sprinkler system according to Supplementary Note 1, 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.

[0150] (Supplementary Note 3) The water sprinkler system according to Supplementary Note 2, wherein the imaging unit is disposed at a tip of the work machine.

[0151] (Supplementary Note 4) The watering system according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the watering area is designated by being drawn on the captured image.

[0152] (Supplementary Note 5) The watering system according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the watering area includes a watering execution area where watering is executed and a watering prohibition area where watering is prohibited.

[0153] (Supplementary Note 6) The watering system according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the watering area includes a watering focus area where watering is concentrated.

[0154] (Appendix 7) A sprinkling system according to any one of appendices 1 to 7, wherein the sprinkling area includes a sprinkling execution area where sprinkling is performed, and a sprinkling route for sprinkling water by the sprinkler is set based on the sprinkling execution area.

[0155] (Supplementary Note 8) The watering system according to Supplementary Note 7, further comprising a vibration setting unit that applies vibration to the sprinkler when sprinkling water along the watering route.

[0156] (Appendix 9) A display device used for controlling a sprinkler used in demolition work, the display device comprising: a display unit that displays the demolition site using an image or a 3D model; and an area designation unit that designates an area to be sprinkled on the displayed image or 3D model.

[0157] (Supplementary Note 10) The display device according to Supplementary Note 9, wherein the display unit is capable of displaying sprinkler areas related to a plurality of sprinklers, and further includes a sprinkler selection unit that selects a sprinkler that specifies a sprinkler area.

[0158] (Appendix 11) A method for controlling a sprinkler used in demolition work, comprising: an acquisition step for acquiring an image of the demolition work site; a display step for displaying the image acquired in the acquisition step; and a determination step for determining at least one of the direction of sprinkling water, the amount of water sprayed, and the pressure of water sprayed by the sprinkler based on a watering area specified on the image displayed in the display step.

[0159] (Supplementary Note 12) The method for controlling a sprinkler according to Supplementary Note 11, wherein the watering area includes a watering execution area where watering is executed and a watering prohibition area where watering is prohibited.

[0160] (Appendix 13) A method for controlling a sprinkler according to appendix 11 or appendix 12, wherein the sprinkler area includes a sprinkler execution area where sprinklering is performed, and a sprinkler route for sprinkling water by the sprinkler is set based on the sprinkler execution area.

[0161] (Appendix 14) A sprinkler system for use in demolition work, comprising: a work machine to which a sprinkler is attached; an operating unit for operating the sprinkler; an imaging unit for capturing images of the demolition work site; a display unit for displaying the captured images acquired by the imaging unit; and a control unit for controlling at least one of the direction of sprinkling water, the amount of water sprayed, and the pressure of water sprayed by the sprinkler based on operation by the operating unit.

[0162] (Appendix 15) The watering system described in Appendix 14, wherein the work machine has a work implement with a sprinkler disposed at a tip thereof and a vehicle body on which the work implement is disposed, and the vehicle body has a running body and a rotating body mounted so as to be rotatable relative to the running body.

[0163] (Supplementary Note 16) The water sprinkling system according to Supplementary Note 15, wherein the control unit further performs any one of operation of the work machine, travel by the traveling body, and rotation by the rotating body based on an operation by the operation unit.

[0164] (Supplementary Note 17) The sprinkler system according to Supplementary Note 15 or Supplementary Note 16, wherein the imaging unit is disposed in the sprinkler or the work machine.

[0165] (Appendix 18) A sprinkler system according to any one of appendices 13 to 17, which has a plurality of work machines on which sprinklers are arranged, and the display unit displays a plurality of captured images acquired by the imaging units arranged on each of the work machines on the same display screen.

[0166] (Supplementary Note 19) The sprinkler system according to any one of Supplementary Note 14 to Supplementary Note 18, wherein the operation unit further includes a sprinkler selection unit that selects one of the plurality of sprinklers, and is capable of operating each of the sprinklers.

[0167] (Appendix 20) A method for controlling a sprinkler used in demolition work, comprising: an acquisition step for acquiring an image of the demolition work site; a display step for displaying the image acquired in the acquisition step; and a control step for controlling the sprinkler's water spraying in accordance with operations based on the image displayed in the display step.

[0168] The sprinkler system of the present disclosure makes it possible to improve work efficiency and is useful at demolition sites, etc.

[0169] 1: Sprinkler system 4: Camera 5: Controller 31: First sprinkler 32: Second sprinkler

Claims

1. A sprinkling system for use in demolition work, comprising: an imaging unit that images the demolition work site; a display unit that displays the image acquired by the imaging unit; and a control unit that determines at least one of the sprinkling direction, amount of water sprayed, and water spray pressure of a sprinkler based on a sprinkling area specified on the image displayed on the display unit.

2. The water sprinkler system according to claim 1, 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.

3. The watering system according to claim 2, wherein the imaging unit is disposed at the tip of the work machine.

4. The watering system according to claim 1, wherein the watering area is specified by drawing it on the captured image.

5. The watering system of claim 1, wherein the watering areas include a watering execution area in which watering is performed and a watering prohibition area in which watering is prohibited.

6. The watering system according to claim 1 or 5, wherein the watering area includes a watering focus area for concentrated watering.

7. The watering system according to claim 1, wherein the watering area includes a watering execution area in which watering is performed, and a watering route for watering by the sprinkler is set based on the watering execution area.

8. The watering system according to claim 7, further comprising a vibration setting unit that imparts vibration to the sprinkler when sprinkling water along the watering route.

9. A display device used for controlling operations to sprinkle water used in demolition work, comprising: a display unit that displays the demolition site using captured images or a 3D model; and an area designation unit that designates an area to be sprinkled water on the displayed captured images or 3D model.

10. The display device according to claim 9, wherein the display unit is capable of displaying watering areas relating to a plurality of the sprinklers, and further comprises a sprinkler selection unit that selects the sprinkler that specifies the watering area.

11. A method for controlling a sprinkler used in demolition work, comprising: an acquisition step for acquiring an image of a demolition work site; a display step for displaying the image acquired in the acquisition step; and a determination step for determining at least one of the sprinkler direction, amount of water sprayed, and water spray pressure of the sprinkler based on a water spray area specified on the image displayed in the display step.

12. The method for controlling a sprinkler as described in claim 11, wherein the watering area includes a watering execution area in which watering is executed, and a watering prohibition area in which watering is prohibited.

13. A method for controlling a sprinkler as described in claim 11, wherein the watering area includes a watering execution area in which watering is performed, and a watering route for spraying water by the sprinkler is set based on the watering execution area.

14. A sprinkler system for use in demolition work, comprising: a work machine to which a sprinkler is attached; an operation unit for operating the sprinkler; an imaging unit for capturing images of the demolition work site; a display unit for displaying images captured by the imaging unit; and a control unit for controlling at least one of the sprinkler direction, amount and pressure of water sprayed by the sprinkler based on operation by the operation unit.

15. The watering system described in claim 14, wherein the work machine has a working implement with the sprinkler disposed at the tip, and a vehicle body on which the working implement is disposed, and the vehicle body has a running body and a rotating body mounted so as to be rotatable relative to the running body.

16. The watering system according to claim 15, wherein the control unit further controls any one of the following based on the operation of the operating unit: operation of the working machine, travel of the traveling body, and rotation of the rotating body.

17. The sprinkler system according to claim 15, wherein the imaging unit is disposed in the sprinkler or the work machine.

18. A sprinkler system as described in claim 17, comprising a plurality of work machines on which the sprinklers are arranged, and wherein the display unit displays a plurality of captured images acquired by the imaging unit arranged on each of the work machines on the same display screen.

19. The sprinkler system according to claim 14, wherein the operation unit further comprises a sprinkler selection unit that selects one of the plurality of sprinklers, and is capable of operating each of the sprinklers.

20. A control method for a sprinkler used in demolition work, comprising: an acquisition step of acquiring an image of a demolition work site; a display step of displaying the image acquired in the acquisition step; and a control step of controlling the sprinkler's sprinkling in response to an operation based on the image displayed in the display step.

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