JP7303008B2 - Image display method and remote control system - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image display method and a remote control system suitable for use in remotely controlling a vehicle or construction machine, which is a robot, using a remote control device having a display.

Conventionally, there is a vehicle-type mobile robot described in Patent Document 1, for example, as the above-described robot.

This mobile robot has a laser range finder that scans a laser beam to obtain a group of laser measurement points in the traveling direction, a self-positioning unit such as a GPS that obtains its own position, and a moving direction side obtained by the laser range finder. A control section is provided to which the data of the laser measurement point cloud is input and the self-position data obtained by the self-position measurement section is input.

The data of the laser measurement point cloud on the traveling direction side acquired by the laser range finder is the laser measurement points with the position of the laser range finder as the origin, which is acquired by the self-position measurement unit each time the mobile robot moves in the control unit. Group data is updated, transmitted from the control unit to the remote control unit, and displayed on the display in real time.

In this case, as a method for making the image of the laser measurement point cloud displayed on the display of the remote control device more realistic, the laser measurement point cloud, which is the profile data obtained by the laser range finder, is coordinated (height and distance). ).

JP 2012-159954

However, since the profile data obtained by the above-described laser range finder has a low density of the laser measurement point cloud, even if the coloring process is performed based on the position information of the laser measurement points, the image useful for remote control can be obtained remotely. There is a problem that it cannot be displayed on the display of the control device, and solving this problem has been a conventional problem.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the conventional art, and is intended to display useful images on the display of a remote control device in real time when, for example, a robot is remotely controlled by a remote control device having a display. It is an object of the present invention to provide an image display method and a remote control system capable of

According to a first aspect of the present invention, a robot equipped with a laser sensor that scans a laser beam to obtain a group of laser measurement points in the surrounding area, a self-position measurement unit that obtains self-position data, and a color digital camera is remotely operated. When the robot is remotely controlled by a remote control device having a display on which a control image is displayed, the laser measurement point cloud obtained by the laser sensor of the robot is colored based on the image obtained by the color digital camera. , the laser measurement point group subjected to the coloring process is converted from the sensor coordinate system to the global coordinate system based on the self-position data obtained by the self-position measurement unit , and the laser measurement after the coloring process is performed. After converting the point cloud from the sensor coordinate system to the global coordinate system, the range of the display data and the range of the measurement frame of the laser measurement point cloud acquired by the laser sensor are moved at a slow moving speed of the robot. In this case, a wide display range is determined, and when the robot moves at a high speed, a narrow display range is determined. It is configured to be displayed on the display of the remote control device.

In a second aspect of the present invention, among the laser measurement point group acquired by the laser sensor of the robot, the laser measurement points have a preset height within a range that hinders movement of the robot. is extracted, and the display viewpoint is changed to the side where there are many laser measurement points within the set range, and displayed on the display of the remote control device.

Further, in the third aspect of the present invention, the robot has an operating section, and the laser measurement point closest to the operating section is extracted from the group of laser measurement points acquired by the laser sensor of the robot. and, when the distance between the extracted laser measurement point and the operating unit is equal to or less than a preset threshold value, the display viewpoint is changed to the side of the extracted laser measurement point and displayed on the display of the remote control device. there is

On the other hand, a fourth aspect of the present invention is a remote control system for remotely controlling a robot by a remote control device, wherein the robot includes a laser sensor for scanning a laser beam and acquiring a group of laser measurement points around the robot. , a self-localization unit that acquires self-position data, and a color digital camera are installed, and the remote control device is equipped with a display that displays an image for remote control, and either the robot or the remote control device is provided with a control unit to which the data of the laser measurement point cloud obtained by the laser sensor of the robot is input and the self-position data obtained by the self-position measurement unit is input, and the control unit is The laser measurement point group acquired by the laser sensor of the robot is subjected to coloring processing based on the image by the color digital camera, and the self-position measurement is performed for the laser measurement point group subjected to the coloring processing. After converting from the sensor coordinate system to the global coordinate system based on the self-position information obtained in the section, and converting the laser measurement point group after the coloring process from the sensor coordinate system to the global coordinate system , the display data range and the measurement frame range of the laser measurement point cloud acquired by the laser sensor are determined to be a wide display range when the moving speed of the robot is slow, and when the moving speed of the robot is fast A narrow display range is determined, and the laser measurement point cloud sequentially acquired as the robot moves is superimposed each time it is updated and displayed on the display of the remote control device.

Further , in the fifth aspect of the present invention, the control unit determines that the height of the laser measurement point group acquired by the laser sensor of the robot is set in advance to a range that hinders the movement of the robot. Then, the display viewpoint is changed to the side where there are many laser measurement points within the set range and displayed on the display of the remote control device.

Furthermore, in the sixth aspect of the present invention, the robot has an operating section, and the control section is closest to the operating section in the laser measurement point group acquired by the laser sensor of the robot. A laser measurement point is extracted, and when the distance between the extracted laser measurement point and the operating unit is equal to or less than a preset threshold value, the display viewpoint is changed to the side of the extracted laser measurement point, and the display of the remote control device is displayed. It is configured to be displayed on

In the image display method and the remote control system according to the present invention, a horizontal line scan type 1-axis laser range finder, for example, is sufficient as a laser sensor for acquiring the laser measurement point group (profile data) around the robot.

In addition, as a self-position measurement unit that obtains self-position data (including attitude angle and azimuth in addition to self-position), for example, GPS, INS (inertial navigation system), IMU (inertial measurement unit), and dead reckoning are used. be able to.

In the image display method according to the first aspect of the present invention and the remote control system according to the fourth aspect of the present invention, when a remote control device having a display is used to remotely control a robot, an image such as a camera image capable of distinguishing an object to be measured is displayed. That is, it is possible to display an image useful for remote control on the display of the remote control device in real time.

The image display method according to the first aspect of the present invention and the remote control system according to the fourth aspect of the present invention can display an image matching the moving speed of the robot on the display of the remote control device in real time when the robot is moved. can be displayed.

Furthermore, in the image display method according to the second aspect and the remote control system according to the fifth aspect of the present invention, detailed information can be displayed on the display of the remote control device in real time.

Furthermore, in the image display method according to the third aspect and the remote control system according to the sixth aspect of the present invention, in the case of operating the operating part of the robot, an image matching the motion of the operating part of the robot is remotely controlled. It can be displayed in real time on the display of the device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration explanatory diagram showing an overview of a vehicle that employs an image display method and a remote control system according to an embodiment of the present invention; FIG. 2 is a connection block diagram of control equipment of the vehicle in FIG. 1; FIG. 4 is an image diagram of an image displayed after being subjected to coloring processing of the image display method according to one embodiment of the present invention; 4 is an operation flowchart of an image display method according to an embodiment of the present invention; 5 is an operation flowchart of coloring processing in the operation flowchart of the image display method shown in FIG. 4; FIG. 5 is an operation flowchart of speed correspondence processing in the operation flowchart of the image display method shown in FIG. 4; FIG. FIG. 5 is an operation flowchart of position display viewpoint change processing in the operation flowchart of the image display method shown in FIG. 4 ; FIG. 5 shows a display state (a) before execution and a display state (b) after execution showing a display state when the image display method is executed in accordance with the operation flowchart of the image display method shown in FIG. FIG. 10 is an image diagram of a construction machine employing an image display method and a remote control system according to another embodiment of the present invention, viewed from the side; 8 is an operation flowchart of another display viewpoint change process corresponding to the operation flowchart of the position display viewpoint change process shown in FIG. 7; 11 shows a display state (a) before execution and a display state (b) after execution, which show the display display state when the other display viewpoint change processing is executed along the operation flowchart in FIG. 10 .

Embodiments of the present invention will be described below with reference to the drawings.
1 to 8 show a vehicle employing an image display method and remote control system according to one embodiment of the present invention.

This remote control system, as shown in FIG. 1, is a system used to control the movement of a vehicle B by means of a portable remote control device A. As shown in FIG. A sensor data processing computer 30 connected to the vehicle control computer 10 via a LAN 11 is provided. Note that the remote control device A is not limited to a portable type.

An antenna 12 is connected to the input side of the vehicle control computer 10 via an input/output circuit 15, a GPS 16 for position information acquisition, a vertical gyro 17 for attitude control, and a vehicle speed measurement for moving speed measurement. A pulse (moving speed measuring means) 18 is connected via a serial line.

A steering actuator 22 and a brake/accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21. It constitutes a unit 20.

The vehicle control computer 10 has a function of transmitting various kinds of information such as its own position and attitude acquired by the GPS 16 and the vertical gyro 17 to the sensor data processing computer 30 via the LAN 11. It has a function of operating and stopping the steering actuator 22 and the brake/accelerator actuator 23 via the motor driver 21 based on the transmitted operation information.

On the other hand, on the input side of the sensor data processing computer 30, a laser range finder (laser sensor) 31 for scanning laser light to obtain a group of laser measurement points around the vehicle B, and A laser measurement point coloring camera (digital camera) 32 is connected to perform coloring processing on the laser measurement point cloud. It has a function to transmit the measured laser point cloud data to the remote control device A.

The remote control device A sends data to the display 40 that displays the laser measurement point cloud data colored by the laser measurement point coloring camera 32 of the vehicle B, the vehicle control computer 10, and the sensor data processing computer 30. A control unit 60 for communication is provided, and the display 40 is incorporated in the control unit 60 together with a CPU, a keyboard 61 and an antenna 62 (not shown).

In this case, the sensor data processing computer 30 mounted on the vehicle B has a function of coloring the group of laser measurement points acquired by the laser range finder 31 based on the image of the laser measurement point coloring camera 32. have. The sensor data processing computer 30 has a coloring function based on the position information of the laser measurement point cloud in addition to the coloring function based on the image of the laser measurement point coloring camera 32 .

This coloring process is to give RGB (each component of red, green and blue) information to the laser measurement point group around the vehicle B. FIG. If this RGB information is based on the image of the laser measurement point coloring camera 32, it becomes position information such as a camera image that can clearly distinguish the measurement object. If it is based on positional information, RGB information that differs depending on the altitude is added, and positional information that can distinguish between the ground and obstacles (including depressions such as holes) is obtained.
In this way, the sensor data processing computer 30 creates an image based on the position information of the laser measurement point cloud, and the created image is displayed on the display 40 of the remote control device A as shown in FIG. be done. The image in FIG. 3 is an image created by adding RGB information based on the camera image to the laser measurement point group.

Since the data of the laser measurement point group that has undergone the coloring process is the relative distance between the laser range finder 31 and the laser measurement point group, the sensor data processing computer 30 processes the laser measurement point group after the coloring process. On the other hand, the sensor coordinate system based on the self-location information acquired by the GPS 16 is converted to the global coordinate system, and the display 40 of the remote control device A is made to display it.

Further, the sensor data processing computer 30 determines the display data range and the measurement frame range of the laser measurement point cloud acquired by the laser range finder 31 according to the moving speed of the vehicle B. FIG.
Here, the range of the display data of the laser measurement point group acquired by the laser range finder 31 is the range of coordinates of the laser measurement point group to be displayed. , and the coordinates of the laser measurement point group within a predetermined angle in front of the vehicle B are displayed.
On the other hand, the range of measurement frames is the number of measurement frames (one measurement by the laser range finder 31) of the laser measurement point cloud to be displayed. The frames are superimposed (displayed at the same time).
In other words, when the moving speed of the vehicle B is slow, the change in the object to be measured by the laser range finder 31 is small. When the moving speed of B is fast, the change in the object to be measured by the laser range finder 31 is large. is displayed on the display 40 of.

Furthermore, the sensor data processing computer 30 extracts laser measurement points whose height is within a preset range from the group of laser measurement points acquired by the laser range finder 31 of the vehicle B, and extracts the extracted laser measurement points. It has a function of calculating the distribution of the measurement points around the vehicle B, changing the display viewpoint to the side where there are many laser measurement points equal to or greater than a preset threshold value, and displaying it on the display 40 of the remote control device A. there is
Calculation of the distribution of laser measurement points in the vicinity of vehicle B is performed by using the laser measurement points closest to vehicle B and statistical values (average, variance covariance, etc.) of all laser measurement points above a preset threshold value. ), a value such as a representative value of laser measurement points above the threshold is obtained.

Therefore, the image display procedure by the sensor data processing computer 30 will be described. First, as shown in FIG. 4, in step S1, laser light is scanned by the laser range finder 31 to acquire a laser measurement point group around the vehicle B, and self-position information is obtained by a self-position measurement unit such as the GPS 16. get.

Next, in step S2, the laser measurement point group is subjected to coloring processing based on the image of the laser measurement point coloring camera 32, and coordinate conversion is performed to the laser measurement point group that has been subjected to the coloring processing.

Subsequently, in step S3, the laser measurement point group is updated according to the moving speed of the vehicle B, and in step S4, the display viewpoint on the display 40 of the remote control device A is changed.

After each processing in steps S2 to S4, the colored laser measurement point cloud after processing is displayed on the display 40 of the remote control device A in step S5, and a new laser measurement point cloud is displayed by the laser range finder 31 in step S1. Steps S2 to S5 are repeatedly executed each time the acquisition of is made.

Specifically, as shown in FIG. 5, the coloring process and the coordinate conversion process in step 2 are performed by the operator C when the operator C selects (selects Yes) using the laser measurement point coloring camera 32, which is a color digital camera, in step S21. By doing so, a signal is sent from the remote control device A to the sensor data processing computer 30, and in step S22, for the laser measurement point group acquired by the laser range finder 31, the image of the laser measurement point coloring camera 32 is displayed. Coloring process based on.

Next, in step S23, the sensor coordinate system is converted to the global coordinate system based on the self-location information acquired by the GPS 16 for the laser measurement point cloud that has undergone the coloring process.

Note that the process of step S24 is an alternative process for coloring using the laser measurement point coloring camera 32, and the operator C selects not to use the laser measurement point coloring camera 32, which is a color digital camera, in step S21. By selecting (No), in this step S24, the laser measurement point group is colored based on the self-location information (height and distance from the ground) acquired by GPS 16. Areas of low elevation are colored in red and blue.

In addition, as shown in FIG. 6, the update process according to the moving speed in step 3 acquires the moving speed of the vehicle B from the vehicle speed pulse 18 in step S31, and in step S32, the laser measurement point cloud by the laser range finder 31. is a process of determining the display data range and the measurement frame range according to the moving speed of the vehicle B. For example, when the moving speed of vehicle B is slow, the display range of the laser measurement point cloud is widened and the number of measurement frames is decreased. and increase the number of measurement frames.

Then, in step S33, each time the group of laser measurement points that are sequentially acquired as the vehicle B moves is updated, the current measurement frame (one measurement by the laser range finder 31), which is the latest measurement data, is updated. The measurement frame, which is the previous measurement data, is superimposed and displayed on the display 40 of the remote control device A.

Further, in the display viewpoint change processing of step 4, as shown in FIG. (for example, the lowest ground height of vehicle B to the highest ground height of vehicle B +α). For example, as shown in FIG. 8A, when there is a wall W on the left side of the vehicle B, many laser measurement points P displayed on the display 40 of the remote control device A are reflection points on the wall W. and a laser measurement point P2 that is a reflection point of the ground other than the wall W or a distant object (obstacle), and the laser measurement points extracted from among the many laser measurement points P P is the laser measurement point P1 from the left wall W of the vehicle B.

Subsequently, for the laser measurement points P1 on the wall W extracted from among the many laser measurement points P, the distribution around the vehicle B is calculated in step S42. In calculating this distribution, based on the laser measurement point P closest to the vehicle B and the statistical values (statistical values such as the average value and the variance-covariance value) of the entire laser measurement point P1 on the wall W, A value such as a representative value of the laser measurement point P1 is obtained.
Finally, based on the values obtained as described above (recognizing that many of the extracted laser measurement points P1 exist on the left side of the display 40), in step S43, the extracted laser measurement points The display viewpoint is changed to the left side of the display 40 where many points P1 exist, and the display 40 of the remote control device A is caused to display. Specifically, since the position of the vehicle B and the position (coordinates) of the laser measurement point P1 regarded as the wall W are both known, for example, as shown in FIG. The middle line L between the formed left part and the vehicle B is displayed so as to come to the center of the screen.

As described above, in the above-described embodiment, the sensor data processing computer 30 generates color information based on the image obtained by the laser measurement point coloring camera 32 for the laser measurement point group acquired by the laser range finder 31. , and transforms the laser measurement point group after the coloring process from the sensor coordinate system to the global coordinate system.
Therefore, even if the density of the laser measurement point cloud is low, the display 40 of the remote control device A can be used as an image such as a camera image that can clearly recognize the wall W, which is the object to be measured, that is, an image useful for remote control. can be displayed in real time.

In addition, after converting the laser measurement point cloud after the coloring process from the sensor coordinate system to the global coordinate system, the range of the display data of the laser measurement point cloud acquired by the laser range finder 31 and the measurement frame The range is determined according to the moving speed of the vehicle B, and the display 40 of the remote control device A superimposes it every time the group of laser measurement points sequentially acquired as the vehicle B moves is updated.
That is, when the moving speed of the vehicle B is slow, a small number of measurement frames are superimposed over a wide display range and displayed on the display 40 of the remote control device A, and when the moving speed of the vehicle B is fast, a narrow display range is displayed. In addition, since many measurement frames are superimposed and displayed on the display 40 of the remote control device A, when the vehicle B is moved, detailed information matching the moving speed of the vehicle B can be displayed on the display of the remote control device A. 40 can be displayed in real time.

Furthermore, in the above-described embodiment, the sensor data processing computer 30 sets the height of the laser measurement point group acquired by the laser range finder 31 of the vehicle B within a preset range (which does not hinder the vehicle B from traveling). The laser measurement points P1 within the range of the vehicle B are extracted, and the distribution of the extracted laser measurement points P1 around the vehicle B is calculated. , the display viewpoint of the display 40 of the remote control device A can be changed more freely and easily than a single viewpoint camera image. The resulting image can be displayed on the display 40 of the remote control device A in real time.

9 to 11 show an image display method and a remote control system according to another embodiment of the present invention. In this embodiment, as shown in FIG. A case of a construction machine BK having Ba is shown.

The construction machine BK in this embodiment has a sensor data processing computer 30 as in the case of the vehicle B in the previous embodiment, and also detects the angle and direction of the boom Bb supporting the bucket Ba via the arm Bc. and a sensor (not shown) for detecting the angle between the boom Bb and the arm Bc. 10, another display viewpoint change process (step S4A) shown in FIG. 10 is performed instead of the display viewpoint change process (step S4).

That is, in step S41A, the display viewpoint change process of step S4A extracts the laser measurement point PM closest to the bucket Ba among the plurality of laser measurement points P acquired by the laser range finder 31 of the construction machine BK. For example, as shown in FIG. 11(a), when a bucket Ba is displayed on the display 40 of the remote control device A, the laser measurement point PM closest to this bucket Ba is extracted.
At this time, the positions of the plurality of laser measurement points P acquired by the laser range finder 31 in each global coordinate system are known, while the position of the bucket Ba in the global coordinate system is also arranged around the boom Bb and the arm Bc. The laser measurement point PM closest to the bucket Ba can be extracted using, for example, a known nearest neighbor search method.

Next, in step S42A, if the distance between the extracted laser measurement point PM and the bucket Ba is equal to or less than a preset threshold value d, the display viewpoint is changed to the side of the extracted laser measurement point PM, and the remote control device A displayed on the display 40. For example, as shown in FIG. 11(b), the display 40 of the remote control device A is displayed by shifting the viewpoint to the vicinity of the bucket Ba.

As described above, in the above-described embodiment, when the bucket Ba of the construction machine BK is operated, the sensor data processing computer 30 controls the bucket Ba among the large number of laser measurement points P acquired by the laser range finder 31. Since the nearest laser measurement point PM is extracted and the display viewpoint is changed to the side of this extracted laser measurement point PM, the display of the remote control device A is displayed based on the relationship between the bucket Ba of the construction machine BK and the surroundings. 40 can be changed, and as a result, an image matching the movement of the bucket Ba of the construction machine BK can be displayed on the display 40 of the remote control device A in real time.

In the above-described embodiment, the sensor data processing computer 30 performs the coloring process, the coordinate conversion process, the update process according to the moving speed, and the display viewpoint change process. A configuration performed by the unit 60 may be employed.

In the above-described embodiment, the updating process (step 3) and the display viewpoint changing process (step 4) according to the moving speed are performed following the coloring process and the coordinate conversion process (step 2). and coordinate conversion processing only, only update processing according to the moving speed is performed following coloring processing and coordinate conversion processing, or only display viewpoint change processing is performed following coloring processing and coordinate conversion processing. may

The image display method and the configuration of the remote control system according to the present invention are not limited to the above-described embodiments.

16 GPS (self-positioning unit)
18 vehicle speed pulse (moving speed measuring means)
30 Sensor data processing computer (control unit)
31 laser range finder (laser sensor)
32 Laser measurement point coloring camera (color digital camera)
40 Display A Remote control device B Vehicle (robot)
BK construction machine (robot)
Ba bucket (actuating part)
d threshold P laser measurement point (laser measurement point group)
P1 Laser measurement point PM within a range that hinders movement for the vehicle (robot) Laser measurement point W closest to the bucket Wall (range that hinders movement for the vehicle (robot))

Claims (6)

A robot equipped with a laser sensor that scans a laser beam and acquires the surrounding laser measurement point cloud, a self-position measurement unit that acquires self-position data, and a color digital camera, and a display that displays images for remote control. When remotely controlled by the remote control device possessed,
The laser measurement point group acquired by the laser sensor of the robot is subjected to coloring processing based on the image by the color digital camera, and the laser measurement point group subjected to the coloring processing is subjected to the self-positioning. Transform from the sensor coordinate system to the global coordinate system based on the self-position data obtained by the measurement unit ,
After converting the laser measurement point cloud after the coloring process from the sensor coordinate system to the global coordinate system, the display data range and the measurement frame range of the laser measurement point cloud acquired by the laser sensor are When the moving speed of the robot is slow, the display range is determined to be wide, and when the moving speed of the robot is fast, the display range is determined to be narrow. An image display method for displaying an image on the display of the remote control device by superimposing each time the image is updated . Among the laser measurement point group acquired by the laser sensor of the robot, the laser measurement points are extracted within a preset range of heights that interfere with movement of the robot, and the laser measurement points within the set range are extracted. 2. The image display method according to claim 1, wherein the display of the remote control device is displayed by changing the display viewpoint to the side where there are many measurement points. The robot has an operating section, extracts a laser measurement point closest to the operating section from the laser measurement point group acquired by the laser sensor of the robot, and extracts the laser measurement point and the operating section. 2. The image display method according to claim 1, wherein the display viewpoint is changed to the side of the extracted laser measurement point and displayed on the display of the remote control device when the distance to and from is equal to or less than a preset threshold value. A remote control system for remotely controlling a robot by a remote control device,
The robot is equipped with a laser sensor that scans a laser beam to obtain a group of surrounding laser measurement points, a self-position measurement unit that obtains self-position data, and a color digital camera.
The remote control device is equipped with a display on which an image for remote control is displayed,
Control in which the data of the laser measurement point cloud obtained by the laser sensor of the robot and the self-position data obtained by the self-position measurement unit are input to either the robot or the remote control device. is equipped with
The control unit performs coloring processing based on the image by the color digital camera on the laser measurement point group acquired by the laser sensor of the robot, and the laser measurement point group that has been subjected to the coloring processing. converts the sensor coordinate system to the global coordinate system based on the self-position information obtained by the self-position measurement unit, and converts the laser measurement point group after the coloring process from the sensor coordinate system to the global coordinate system. is performed, the display data range and the measurement frame range of the laser measurement point cloud acquired by the laser sensor are determined to be a wide display range when the moving speed of the robot is slow, and the moving speed of the robot A remote control system that determines a narrow display range when the movement of the robot is fast, and superimposes the laser measurement point cloud sequentially acquired with the movement of the robot and displays it on the display of the remote control device each time it is updated. The control unit extracts, from the group of laser measurement points obtained by the laser sensor of the robot, laser measurement points whose heights are within a preset range where movement of the robot is hindered, and 5. The remote control system according to claim 4, wherein the display viewpoint of the remote control device is displayed on the side where there are many laser measurement points within the range. The robot has an operating unit, and the control unit extracts a laser measurement point closest to the operating unit from among the laser measurement point group acquired by the laser sensor of the robot, and extracts the extracted laser measurement point. 5. The remote control system according to claim 4 , wherein when the distance between the point and the operating part is equal to or less than a preset threshold value, the display viewpoint is changed to the side of the extracted laser measurement point and displayed on the display of the remote control device. .

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