When operating a forestry machine wirelessly from a remote location, the operator operates the machine while watching the image of the camera installed on the machine. However, if you only rely on camera images to operate the machine, you will lose the machine's own angle of view and posture and other information, thereby reducing operability. Therefore, in this research, the relative positional relationship between the machine and the workpiece and the workpiece is based on the camera image. The purpose is to supplement the missing information and provide the operator with useful information for the operation of the machine. We have developed a device that automatically measures size and shape.
The laser pointer is mounted on a rotating table with two rotating shafts so that the operator can irradiate the laser in any direction. Rotary encoders are installed on each rotating shaft and can measure the angle of rotation. The linear Laser pointer can be specified according to the rotation angle of each axis.
In order to clarify the measurement accuracy of the device, a three-dimensional position measurement test of the object was carried out. In the test, the distance between the camera and the high power laser pointer (baseline length) is set to three stages of 1.0m, 1.5m, and 2.0m, and the accuracy of the position of the object from 2.0m to 10.0m is measured to verify the accuracy. went. As a result, as the measurement distance becomes longer, the accuracy of the measurement decreases, while in long-distance measurement, as the length of the baseline becomes longer, the accuracy increases. However, the results show that at very close distances from the measuring equipment, the difference due to the baseline length is small (Figure 4). In summary, when this equipment is used for such forestry machinery with a working range of 2.0 m to 6.0 m, setting the baseline length between 1.5 m and 2.0 m can improve the measurement accuracy. Fixed within l cm. It can be said that this is sufficient accuracy for operating the working machine. In addition, Figure 5 shows the workpiece scanned with this device and the result output on the screen. In this way, information such as the size and shape and location of the workpiece can be provided to the operator.
