JP2019060184A - Excavation site monitoring device - Google Patents

Abstract

To provide an excavation site monitoring device that is simple and inexpensive, and can reduce the fatigue of an observer without burdening field workers.SOLUTION: An excavation site monitoring device 1 according to the present invention comprises a video camera 2 provided in an excavator E for photographing a face F excavated by the excavator E and a processing unit 3 that performs processing to thin out the number of frames of the moving image captured by the video camera 2 and outputs the processed moving image to a display device 4. Another excavation site monitoring device 1 according to the present invention comprises a video camera 2 provided in an excavator E and photographing a face F excavated by the excavator E at a predetermined sampling cycle, and the sampling period is set to a time that is an integral multiple of the vibration period of the excavator E.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drilling site monitoring device.

  At a drilling site such as a tunnel, shooting with a digital camera is performed to record a face immediately after drilling, but with a digital camera, the angle of view is narrow and it takes time to shoot the entire face. In order to solve this problem, a technology has been developed in which a digital camera is installed in an excavator and a computer is used to control imaging (see, for example, Patent Document 1).

JP 2002-72349 A

  However, with the conventional device, although it is possible to capture the face after excavating, only still images can be taken, and it is not suitable for monitoring the site condition in the tunnel while excavating the face with the excavator . Therefore, it is conceivable to replace the digital camera of the conventional device with a video camera, but while the excavator is digging the face, the video camera also vibrates due to the vibration of the excavator, so the captured moving image is also blurred. It will

  The watcher confirms the captured moving image on the monitor, but if the watched moving image continues to be watched, the watcher's eyes become very tired and the burden on the watcher increases. It is conceivable to process moving pictures to correct blurring, but this requires high-level technology and increases costs. In addition, if the video camera is not fixed at the drilling machine but fixedly installed at another place, it is possible to eliminate the blurring of the moving image, but then the position of the video camera is also the minute the drilling machine is advanced each time the drilling is advanced. It will be necessary to make changes to move only this time, and this will increase the burden on site workers.

  Therefore, an object of the present invention is to provide a digging site monitoring apparatus that is simple and inexpensive, and can reduce the fatigue of a supervisor without burdening the site worker.

  The drilling site monitoring apparatus according to the present invention performs processing to thin out the processed moving image by performing processing for thinning out the number of frames of the moving image captured by the video camera and a video camera provided in an excavator and capturing a face that is excavated by the excavator. And an output processing unit. In the excavation site monitoring apparatus configured as described above, the video camera vibrates due to the vibration of the excavator, and the blurring speed of the processed moving image decreases even if the captured moving image has blurring. In addition, since the video camera is installed in the excavator, the site worker does not have to work to reposition the video camera according to the position of the excavator. Furthermore, since it is only necessary to thin out the frames of the moving image captured by the video camera, advanced techniques such as image processing for correcting the blurring of the moving image are not required, and the cost of the apparatus is also low. In addition, since it is possible to photograph the face during or after the excavation during the excavation, a moving image for analyzing the face is obtained, and the analysis of the face becomes possible.

  In addition, the processing unit in the excavation site monitoring apparatus may extract frames captured every integral multiple of the vibration cycle of the excavator from the moving image captured by the video camera and thin the other frames. By processing in this way, a processed moving image with reduced blurring can be obtained.

  Furthermore, another excavation site monitoring apparatus according to the present invention includes a video camera provided in the excavator for photographing a face to be excavated by the excavator at a predetermined sampling cycle, and the sampling cycle is an integral multiple of the oscillation cycle of the excavator. The time is set. According to the excavation site monitoring device configured as described above, since a moving image with reduced shake can be taken, fatigue of a monitoring person viewing the moving image is reduced. In addition, since the video camera is installed in the excavator, the site worker does not have to work to reposition the video camera according to the position of the excavator. Furthermore, since it is only necessary to set the sampling cycle of the video camera to a time that is an integral multiple of the vibration cycle of the excavator, advanced techniques such as image processing for correcting motion blur are not required, and the equipment is inexpensive.

  The drilling site surveillance device may then be equipped with a plurality of other video cameras so that the entire perimeter of the excavator can be photographed. In this way, the operator moving the excavator can check the periphery of the excavator on the display device, and the excavator can be moved safely.

  Therefore, according to the excavation site monitoring apparatus of the present invention, it is simple and inexpensive, and it is possible to reduce the fatigue of the observer without burdening the site workers.

BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which showed the system configuration | structure of the excavation site monitoring apparatus in 1st embodiment applied to the excavator. It is a figure explaining the processing operation of the animation of the excavation site monitoring system in a first embodiment. It is a figure which shows the system configuration | structure of the excavation site monitoring apparatus in the 1st modification of 1st embodiment. It is the figure which showed the system configuration | structure of the excavation site monitoring apparatus in 2nd embodiment applied to the excavator.

  Hereinafter, the present invention will be described based on the embodiments shown in the drawings. The same reference numerals are given to the common configuration in the excavation site monitoring apparatus according to each embodiment described below, and the same has been described in the explanation of the excavation site monitoring apparatus according to one embodiment to avoid duplication of the description. About a structure, detailed description is abbreviate | omitted by description in the excavation site monitoring apparatus of other embodiment.

First Embodiment
The excavation site monitoring apparatus 1 according to the first embodiment is, as shown in FIG. 1, a video camera 2 which is provided in the excavator E and which photographs the face F which the excavator E excavates, and the video camera 2 A processing unit 3 for processing a moving image is provided, and the processed moving image processed by the processing unit 3 is output to the display device 4.

  Hereinafter, each part of the excavation site monitoring apparatus 1 will be described in detail. First, the excavator E to which the excavation site monitoring apparatus 1 is applied, in this example, enables the traveling body W provided with crawlers, turning in the lateral direction and raising and lowering in the vertical direction with respect to the traveling body W It is a free cross-section excavator equipped with a boom B attached and a cutter head C attached to the tip of the boom B and rotationally driven by a motor (not shown).

  The excavator E configured in this way drives the boom B to rotate the cutter head C with a motor (not shown) and places the cutter head C at a position where digging of the cutting face F is desired. The rock face of the face F is excavated by pressing the face F with a constant pressure.

  Although not shown, the video camera 2 includes an image element such as a CCD (charge coupled device), a lens (not shown), and a focusing section (not shown). In this example, the face F is photographed In order to make it possible, it is attached to the pole P which stood up to the traveling body W, and the front of the excavator E is made into the imaging range. In addition, the configuration of the video camera 2 can be arbitrarily changed as long as it is possible to shoot a moving image, and the structure relating to the installation of the video camera 2 on the excavator E is not limited to the above, and can be arbitrarily changed. The video camera 2 may be installed on the boom B.

  The processing unit 3 is connected to the video camera 2 via the signal line 5, and performs processing to thin out the number of frames of the moving image captured by the video camera 2. The video camera 2 and the processing unit 3 may communicate by wireless communication. Specifically, the processing unit 3 extracts only the frames for each predetermined number of frames from the frames of the moving image shot by the video camera 2 at a predetermined frame rate, and outputs the frames to the display device 4. In the part shown in FIG. 2, the processing unit 3 selects every three frames a1, a2, a3,... An of the captured moving images from the top image a1 to the frames a4, a7, a10. Are extracted and output to the display device 4. The processing unit 3 extracts the 1 + 3 m-th (m is 0 and a positive integer) frame, and outputs this to the display device 4 as a processed moving image.

  The processing unit 3 may capture moving image data captured by the video camera 2 and generate a processed moving image file for a predetermined time obtained by putting together the extracted frames, and may output the file to the display device 4. The determined frame may be sequentially extracted from the moving image data captured by 2 and the data of the frame may be sequentially transmitted to the display device 4. When the observer uses the processed moving image for monitoring the situation of the face F of the drilling site, the predetermined time may be set so that the video camera 2 can view the drilling site without any delay from the time when the shooting site was photographed. The predetermined time, which is the length of the processed moving image to be put together, can be arbitrarily set depending on the application of the processed moving image. In addition, when generating the file of the processed moving image, the compression format of the moving image may be any compression format that can be restored by the display device 4.

  Specifically, the display device 4 includes a terminal 4 a and a monitor 4 b, and the processing unit 3 and the terminal 4 a are connected by a signal line 6. The processing unit 3 and the display device 4 may communicate by wireless communication. When the data of the processed moving image processed by the processing unit 3 is received by the terminal 4a, the display device 4 causes the monitor 4b to display the processed moving image. The processed video is a video in which the number of frames of the video shot by the video camera 2 is reduced.

  Therefore, on the monitor 4b of the display device 4, first, the top frame a1 is displayed for a time corresponding to the number of thinned frames, and then the fourth frame a4 is equivalent to the number of thinned frames. And the seventh frame a7 is displayed for a time corresponding to the number of frames thinned out.

  While the drilling machine E is digging the face F, the vibration of the motor for driving the cutter head C and the vibration generated by the resistance received from the face F by the cutter head C are also transmitted to the traveling body W via the boom B. It is transmitted. Therefore, when the excavator E is digging the face F, the video camera 2 also vibrates, and a moving image taken by the video camera 2 is shaken by the influence of the vibration. Thus, even if the video shot by the video camera 2 vibrates violently and the captured moving image is blurred, the frames of the processed moving image are sequentially displayed as a still image on the monitor 4b, and the blurring speed of the moving image is apparent It appears as if it has fallen. Therefore, fatigue of the eyes of the observer who looks at the monitor 4b of the display device 4 is reduced.

  As described above, the excavation site monitoring apparatus 1 according to the first embodiment includes the video camera 2 provided in the excavator E for photographing the face F excavated by the excavator E, and the moving picture taken by the video camera 2 The processing unit 3 is configured to perform processing for thinning out the number and output a processed moving image to the display device 4. In the excavation site monitoring apparatus 1 configured in this way, the video camera 2 vibrates due to the vibration of the excavator E, and the processing speed of the processed moving image decreases even if the captured moving image has a blur, so processing The fatigue of the observer watching the finished video is reduced. In addition, since the video camera 2 is installed in the drilling machine E, the site worker does not have to work to change the position of the video camera 2 according to the position of the drilling machine E. It is reduced. Furthermore, since it is only necessary to thin out the frames of the moving image captured by the video camera 2, high-level technology such as image processing for correcting the blurring of the moving image is not required, and the apparatus can be inexpensive. As mentioned above, according to the excavation site monitoring apparatus 1 of this invention, an apparatus becomes simple and cheap, and it can reduce fatigue of a supervisor, without putting a burden on a field operator. In addition, since the video camera 2 is installed so that the face F is within the imaging range, it is possible to capture the face F regardless of whether it is excavated or excavated, so a moving image for analyzing the face F is available. It is obtained and analysis of face F becomes possible.

  The process of thinning out the frames of the moving image may be performed by the terminal 4 a in the display device 4. Specifically, the processing unit 3 may be realized by executing an application program for the terminal 4 a to perform the processing of the processing unit 3.

  As described above, while the excavator E excavates the face F, the vibration generated by the vibration of the motor for driving the cutter head C and the resistance which the cutter head C receives from the face F via the boom B It is also transmitted to the traveling body W. Therefore, the video camera 2 installed in the excavator E also vibrates, but the frames extracted by the processing unit 3 are extracted at every integral multiple of the vibration period of the excavator E and the frames extracted are extracted, and the other frames are extracted. May be thinned out. The vibration period of the drilling machine E may measure the natural period of the drilling machine E and handle it as the vibration period, but an acceleration sensor is provided around the installation location of the video camera 2 and an acceleration sensor is used. The vibration period may be determined by the processing unit 3 from the detected acceleration, and a frame to be extracted may be selected according to the determined vibration period. As described above, when a piece is extracted from the moving image at every integral multiple of the vibration period of the drilling machine E, when the amplitude of the vibration of the drilling machine E is constant, the extracted pieces were photographed in the same imaging range Since it is a frame, theoretically, any blurring is eliminated from the processed video. In fact, since the amplitude of the vibration of the excavator E is not constant, blurring remains in the processed moving image, but if processed in this way, a processed moving image with reduced blurring can be obtained.

  Therefore, as described above, when the processing unit 3 in the excavation site monitoring device 1 thins out the frames other than the frames for every time of integral multiples of the vibration period of the excavator E among the frames of the moving image, the video camera 2 Since blurring in the processed moving image can be reduced compared to blurring of the moving image taken by the camera, it is possible to reduce the fatigue of the observer more effectively.

  In this example, the shooting range of the video camera 2 is set so that the face F in front of the excavator E is included, but as shown in FIG. Not only the face F in front of the excavator E, but also the left and right side directions and the rear of the excavator E may be included in the imaging range so that the entire circumference of the excavator E can be photographed. In this way, if the operator moving the excavator E can check the surroundings of the excavator E on the display device 4, the excavator E can be moved safely. The processing unit 3 can also perform processing to thin out the number of frames for the moving image captured by the video camera 10 and output the result to the display device 4.

Second Embodiment
The excavation site monitoring apparatus 1 according to the second embodiment includes, as shown in FIG. 4, a video camera 2 provided in the excavator E for photographing the face F excavated by the excavator E at a predetermined sampling cycle. ing.

  The video camera 2 in this example is connected to the display device 4 via the signal line 7 and captures a moving image at a predetermined sampling cycle. Further, the sampling cycle is set to a time that is an integral multiple of the vibration cycle of the excavator E. In addition, about the oscillation period of the excavator E, it is possible to measure the natural period of the excavator E in advance and set it as the sampling period, similarly to the excavation site monitoring device 1 of the first embodiment. However, an acceleration sensor may be provided around the installation location of the video camera 2, the vibration period may be obtained from the acceleration detected by the acceleration sensor, and the sampling period may be changed according to the vibration period. Further, the sampling cycle of the video camera 2 may be set at the terminal 4a.

  In this way, each piece of the moving image taken by the video camera 2 while the excavator E is excavating is a piece taken in the same imaging range if the amplitude of the vibration of the excavator E is constant. In theory, the captured video has no blurring at all. In fact, since the amplitude of the vibration of the excavator E is not constant, the moving image taken in this way includes a shake, but if it is taken at such a sampling cycle, the moving image with reduced shake is taken. it can. The display device 4 causes the monitor 4 b to display moving image data sequentially transmitted from the video camera 2. Therefore, the observer can view the moving image with reduced shake displayed on the display device 4.

  As described above, the excavation site monitoring apparatus 1 according to the second embodiment displays the moving image and the video camera 2 provided in the excavator E to photograph the face F excavated by the excavator E at a predetermined sampling cycle. A display unit 4 is provided, and the sampling period is set to a time that is an integral multiple of the vibration period of the excavator. According to the excavation site monitoring apparatus 1 configured as described above, since a moving image with reduced shake can be photographed, fatigue of a monitoring person viewing the moving image is reduced. In addition, since the video camera 2 is installed in the drilling machine E, the site worker does not have to work to change the position of the video camera 2 according to the position of the drilling machine E. It is reduced. Furthermore, since it is only necessary to set the sampling cycle of the video camera 2 to a time that is an integral multiple of the vibration cycle of the excavator E, advanced techniques such as image processing for correcting motion blur are not required and the equipment is inexpensive. . As mentioned above, according to the excavation site monitoring apparatus 1 of this invention, an apparatus becomes simple and cheap, and it can reduce fatigue of a supervisor, without putting a burden on a field operator.

  This completes the description of the embodiments of the present invention, but it is to be understood that the scope of the present invention is not limited to the exact details shown or described.

1 ... excavation site monitoring device, 2 ... video camera, 3 ... processing unit, 4 ... display device, 10 ... other video camera, E ... excavator, F ... Face

Claims (4)

A video camera provided on an excavator for capturing a face to be excavated by the excavator;
A digging site monitoring apparatus comprising: a processing unit configured to thin out the number of frames of a moving image captured by the video camera and output a processed moving image to a display device. The excavation site monitoring apparatus according to claim 1, wherein the processing unit thins out the frames other than the frames every hour of the integral multiple of the vibration cycle of the excavator among the frames of the moving image. It has a video camera which is provided in an excavator and which photographs a face to be excavated by the excavator at a predetermined sampling cycle,
The excavation site monitoring device, wherein the sampling period is set to a time that is an integral multiple of a vibration period of the excavator. The drilling site monitoring apparatus according to any one of claims 1 to 3, further comprising: a plurality of video cameras installed in the drilling machine to capture an entire circumference of the drilling machine.

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