Industrial machine

1. An industrial machine, comprising an industrial machine main unit, a construction working implement installed on said industrial machine main unit, two cameras each mounted at a known position with respect to a machine center of said industrial machine main unit, at least three targets being installed on said working implement so that the targets are within visual field of each of said two cameras, wherein one of said targets comprises a GPS device, said GPS device adapted to determine a coordinate position, and an arithmetic processing device for extracting images of at least three targets in common to the images from stereo-images taken by said two cameras, for obtaining a three-dimensional position of each target, for calculating a position and a posture of said working implement with respect to the industrial machine main unit based on the three-dimensional position obtained and said coordinate position of said GPS device, and for controlling said working implement based on said position and posture.

2. An industrial machine according to claim 1 , wherein said cameras are video-cameras adapted to acquire frame images, and wherein said arithmetic processing device is so designed as to calculate a position and a posture of targets for each frame image acquired by said video-cameras.

3. An industrial machine according to claim 1 , wherein each of said targets is a plate or a plate-like object where a reflecting portion in circular shape and a non-reflecting portion around said reflecting portion are formed.

4. An industrial machine according to claim 1 , wherein a target image formed by a reflecting portion of each of said targets occupies at least 5 pixels of a photodetector of each camera, and wherein said arithmetic processing device calculates a center of the target image by a moment method.

5. An industrial machine according to claim 1 , further comprising a second GPS device being installed on said industrial machine main unit and used for obtaining a position coordinate of said industrial machine main unit, wherein said arithmetic processing device calculates a position coordinate of said working implement based on the position coordinate measured by said second GPS device.

6. An industrial machine according to claim 1 , wherein an antenna of said GPS device is integrally mounted with said target.

7. An industrial machine according to claim 1 , said industrial machine is a bulldozer or a motor grader and the working implement is a blade.

8. An industrial machine according to claim 1 , said industrial machine is a power shovel of a construction machine and the working implement is a bucket.

9. An industrial machine according to claim 1 , said industrial machine is a paver of the construction machine and the working implement is a screed.

10. An industrial machine according to claim 1 , said industrial machine is a mining industrial machine.

11. An industrial machine according to claim 1 , said industrial machine is a sprinkler of an agricultural machine and the working implement is a sprinkler instrument.

12. An industrial machine according to claim 1 , said industrial machine is a leveling instrument of an agricultural machine and the working implement is a blade.

13. An industrial machine according to claim 1 , said industrial machine is a farming machine of an agricultural machine and the working implement is a plow.

14. A method for controlling the posture and position of a working implement of an industrial machine, said industrial machine comprising an industrial machine main unit and said working implement installed on said industrial machine main unit, said method comprising:

mounting two cameras each at a known position with respect to a machine center of said industrial machine main unit;

installing a GPS device on said industrial machine main unit;

using said GPS device to obtain a coordinate position of said industrial machine main unit;

installing at least three targets on said working implement so that said targets are within visual field of each of said two cameras;

extracting images of at least three targets in common to the images from stereo-images taken by said two cameras, using a arithmetic processing unit to obtain a three dimensional position of each target,

calculating a position and a posture of said working implement with respect to the industrial machine main unit based on the three-dimensional position obtained and based on the coordinate position measured by said GPS device, and

using said arithmetic processing unit to control said working implement based on said position and posture.

15. A method for controlling the posture and position of a working implement of an industrial machine, said industrial machine comprising an industrial machine main unit and said working implement installed on said industrial machine main unit, said method comprising:

mounting two cameras each at a known position with respect to a machine center of said industrial machine main unit;

installing at least three targets on said working implement so that said targets are within visual field of each of said two cameras;

installing a GPS device on said working implement within visual field of each of said two cameras;

extracting images of at least three targets in common to the images from stereo-images taken by said two cameras,

using said GPS device to obtain a coordinate position of said working implement;

using a arithmetic processing unit to obtain a three dimensional position of each target,

calculating a position and a posture of said working implement with respect to the industrial machine main unit based on the three-dimensional position obtained and based on the coordinate position measured by said GPS device, and

using said arithmetic processing unit to control said working implement based on said position and posture.