JPH08111876A - Stereoscopic video image display device and remote operation system utilizing stereoscopic video image - Google Patents

Abstract

PURPOSE: To provide a device capable of switching the stereoscopic video images and normal video images of a remote site without the feeling of incompatibility without letting an operator take eyes off a display in a remote operation. CONSTITUTION: This device is provided with a camera 6 for photographing the normal video images P2 between the cameras 4a and 4b for photographing the stereoscopic video images P1, the display 1 for displaying the video images photographed by the respective cameras and a detector for detecting whether or not spectacles 6 for the stereoscopic video images are present in front of the eyes of the operator H. Corresponding to the output of the detector, the stereoscopic video images P1 and the normal video images P2 are switched and displayed on the display 1. Thus, since the stereoscopic video images are viewed through one action only when it is required, the fatigue of the operator is reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic image device used for remote work, and more particularly to a stereoscopic image device and a stereoscopic image for reducing an uncomfortable feeling felt by an operator when switching between a stereoscopic image and a normal image. Remote work system.

[0002]

2. Description of the Related Art A stereoscopic image has an advantage that it gives an operator a sense of reality and a sense of depth, which is effective for remote work. The following devices are known as devices for presenting stereoscopic images.

(1) A method of installing a display in front of each of the left and right eyes (2) High speed switching of the images of the left and right cameras on a single display, and switching between the left and right of the glasses worn by the operator in synchronization with the display switching Method of alternately opening and closing the provided liquid crystal shutters (3) Images on the left and right cameras that have passed through the deflection filters orthogonal to each other are displayed on a single display, and the operator operates the deflection filters orthogonal to each other. Method of using spectacles such as wearing the spectacles provided on the left and right spectacles (4) Method of disposing a lenticular plate on the display and providing image display electrodes for the right eye and the left eye in the display. Electronics 444 (1988) 2
It is disclosed on pages 06-210.

Further, as a technique for using a stereoscopic image for remote work, there are techniques disclosed in Japanese Patent Laid-Open Nos. 5-228855 and 6-65949. JP-A-5-228855 discloses that
There is disclosed a device in which a display is built in a helmet worn by a remote operator so that the operator looks as if he or she is looking directly at a work site. Further, Japanese Patent Laid-Open No. 6-65949 discloses a remote work device in which left and right eyeglasses are composed of deflection filters which are orthogonal to each other and observe a stereoscopic image to facilitate work.

However, with any of the above three-dimensional image display methods, it is necessary for the left and right eyes to see different images while focusing on the display screen, and the operator does not see the actual space. It will be placed in a different state. Therefore, there was a problem that the operator was tired of feeling tired (Nikkei Electronics 444 (1
988) as pointed out on pages 206-209).

[0006]

However, when performing remote work, stereoscopic images are not required at all points of the work, and when observing the appearance of the work environment or grasping the depth with rough accuracy, stereoscopic images are not required. Normal screen excluding video (hereinafter,
It is often sufficient to simply use the "normal screen"). Therefore, in such a case, it is easier for the operator to use a normal image with less fatigue.

The next problem is that the stereoscopic image glasses worn in front of the operator's eyes become a problem when performing work while observing stereoscopic images and normal images. Wearing stereoscopic glasses or something similar in front of the eye is a special function for separating the images observed by the left and right eyes, which makes workability easier when viewing anything other than stereoscopic images. May cause significant harm.

Further, when the above-mentioned helmet-mounted type display is used, inconvenience arises when viewing something other than a stereoscopic image such as when checking instruments and operating switches.

Therefore, in response to the fact that stereoscopic eyeglasses or the like are attached and detached in front of the operator's eyes,
It is desirable that switching between a stereoscopic image and a normal image is performed reliably and smoothly. The important point here is
The operator's intention to switch the image is to unconsciously lead to wearing or removing the glasses for stereoscopic images or the like.

Further, when observing a stereoscopic image, as described above, the operator is forced to perform a severe sensation adjustment in which the left and right eyes must see different images while focusing on the display screen. . At this time, by making the display for observing the stereoscopic image and the normal image one, it becomes unnecessary for the operator to make visual adjustments to the display screen when switching between the two images. It is effective for mitigation. Further, it is desirable to make the size and position of the observed object substantially equal when switching between the two images in order to facilitate the operator's sense adjustment.

An example of the above case is a work for positioning a hand with a master-slave type robot arm. When switching from a normal work while watching a stereoscopic image to a fine work, when the images of different cameras are used before and after switching, the composition of the screen is different and the operator feels the operation of the robot arm. It is necessary to adjust the composition of the changed display.

An object of the present invention is to reduce the burden on an observer or an operator such as fatigue by enabling the use of a stereoscopic image and a normal image depending on the purpose of observation or the contents of work. Another object of the present invention is to provide a stereoscopic image display device or a remote work system using stereoscopic images.

Still another object of the present invention is to use a stereoscopic image display device or a remote work system using the stereoscopic image to remotely observe a stereoscopic image and a normal image by using an observer or a stereoscopic image device. It is to reduce the feeling adjustment that the operator who performs the work must make for both images.

[0014]

In order to solve the above-mentioned problems, first and second image capturing means for capturing two kinds of stereoscopic images for generating a stereoscopic image, and the first And first processing means for processing the video captured by the second video capturing means, display means for receiving and displaying the video processed by the processing means, and processing the video displayed on the display means. In a stereoscopic video display device including a second processing means, a third video capturing means for capturing a normal video, and the video and the third video captured by the first and second video capturing means. An image selection unit for selecting one of the images captured by the capturing unit and displaying the selected image on the display unit.

In order to solve the above-mentioned problems, first and second cameras for photographing two kinds of stereoscopic video images for generating stereoscopic video images, and the first and second cameras. And a display device for receiving and displaying the image processed by the processing device, and a second processing device for processing the image displayed on the display device. In the stereoscopic image display device, the first and second cameras have the same angle of view as the first and second cameras.
And a third camera disposed intermediate the second camera,
An image selection device is provided for selecting one of the images of the first and second cameras and the image of the third camera and displaying the selected image on the display device.

In order to solve the above problems, first and second image capturing means for capturing two types of stereoscopic images for generating a stereoscopic image, and the first and second image capturing means. First processing of the video captured by the video capturing means
In the stereoscopic image display device, the processing means, the display means for receiving and displaying the image processed by the processing means, and the second processing means for processing the image displayed on the display means, Only one of the stereoscopic images captured by the first image capturing unit and the stereoscopic image captured by the second image capturing unit is selected and continuously displayed on the display unit. The image selection means is provided.

In order to solve the above-mentioned problems, first and second cameras for photographing two kinds of stereoscopic video images for generating stereoscopic video images, and the first and second cameras. A first processing device that processes the image, a display device that receives and displays the image processed by the processing device, and stereoscopic image observation glasses that process the image displayed on the display device. In the stereoscopic image display device, a normal image is captured by a third camera, one of the images of the first and second cameras, and the image of the third camera is selected to select the image. An image selection device for displaying on a display device, the image selection device is a spectacle wearing detector that detects wearing of the stereoscopic image observing glasses in front of the eye, and based on a detection result of the spectacle wearing detector. , The first and second Camera image and switching between images of the third camera is obtained is composed of a switching device.

Further, in order to solve the above-mentioned problems, first and second cameras for photographing two kinds of stereoscopic images for generating a stereoscopic image, and the first and second cameras. A first processing device for processing a video image captured by the display device, a display device for receiving and displaying the video image processed by the processing device, and stereoscopic image viewing glasses for processing the video image displayed on the display device. In the configured stereoscopic image display device, of the stereoscopic image captured by the first camera and the stereoscopic image captured by the second camera,
An eyeglass wearing detector that includes an image selecting device that continuously displays on one of the display devices by selecting only one of the stereoscopic images, and the image selecting device detects the wearing of the stereoscopic image observing glasses in front of the eyes. A switching device for switching between the image of the first camera and the image of the second camera based on the detection result of the spectacle wearing detector.

In order to solve the above problems, the first
And a second camera, a third camera having the same angle of view as the first and second cameras and arranged in the middle of the first and second cameras, and first and second cameras for controlling each camera. , Third
Camera controller, first switching means for switching the video of the first and second cameras, and second switching means for switching the video switched by the first switching means and the video of the third camera. A display device for displaying an image selected by the second switching means, and a stereoscopic image observation device for observing a stereoscopic image from the images of the first and second cameras displayed on the display device, A stereoscopic image observation device controller for controlling the stereoscopic image observation device, the first, second, and third camera controllers, the first switching unit, the second switching unit, and the stereoscopic image observation device It is provided with a sync signal generator for generating a reference sync signal for the controller.

Further, in order to solve the above-mentioned problems, any one of the above three-dimensional image display devices is provided in a remote work system utilizing three-dimensional images for observing a three-dimensional image and operating a work machine from a remote location. It is a thing.

[0021]

The first and second image capturing means are means for capturing images to be presented to the left and right eyes of the observer or operator (hereinafter, both are not distinguished and referred to as operator). When the first video capturing means captures the video presented to either the left eye or the right eye, the second video capturing means captures the video presented to the other eye.

As such an image capturing means, for example, a photographing device such as a television camera can be used.

The display means (apparatus) displays the images captured by the first and second image capturing means and the image captured by the third image capturing means, which will be described later. The image can be viewed on one display means (device). At this time, the images captured by the respective image capturing means may be appropriately processed and displayed.

As such means, for example, CR
There are displays using T, liquid crystal, plasma display panels, etc., screens and projectors projecting on them.

In the first processing means and the second processing means, the respective images captured by the first and second image capturing means are presented while being reliably separated from each other in the left or right eye of the operator. Acts like. For example, the first processing means may process the respective images captured by the first and second image capturing means,
The screens are alternately sent to the display means. In this sense, it can be regarded as the first video switching means.
The second processing means is means for observing a stereoscopic image from the image displayed on the display means (stereoscopic image observing means). That is, the display means alternately selects the left-eye and right-eye images to be presented to the respective eyes.

As such a stereoscopic image observing means, for example, stereoscopic image observing glasses provided with liquid crystal shutters which alternately open and close in front of the left and right eyes of an observer. Further, a deflection filter is placed between the display means and the observer, the deflection direction is changed for each image captured by the first and second image capturing means, and the deflection filters corresponding to this deflection direction are respectively observed. There is a means to observe by arranging them in front of the left and right eyes.

The third image capturing means is for capturing a normal image displayed on the display means (device). For example, when a television camera is used as the image capturing means, the angle of view of the third camera is made equal to the angles of view of the first and second cameras, and the third camera is placed between the first and second cameras. By arranging them, the composition of the displayed stereoscopic image and the normal image does not change significantly when the two images are switched.

Depending on the application of such a stereoscopic image display device, the third image capturing means may not be provided and either one of the first image capturing means and the second image capturing means may be used. .

The image selection means (device) selects a desired image from the stereoscopic image and the normal image so that it can be displayed on the display means (device). For example, a spectacle wearing detector that detects whether or not the stereoscopic image observing glasses are in front of the operator's eyes, and a switching device that switches between a stereoscopic image and a normal image based on the detection result of the spectacle wearing detector are provided. In contrast to the first video switching means, the switching device here may be a second video switching device.

At this time, the operation of removing the eyeglasses from the front of the eye is based on the operator's desire to see a normal image, and the image can be smoothly switched in accordance with this intention. If you want a stereoscopic image,
The image is switched by wearing the glasses.

The stereoscopic image observation device and the first and the third
Each of the second and third cameras is provided with a controller as necessary, and may control the device or the camera or process an image. At this time, it is also effective to provide a sync signal generator for generating a reference sync signal to adjust the timing of each controller and each switching device. Thereby, for example, when switching between a stereoscopic image and a normal image, it is possible to eliminate a disorder of the image such as the image being switched while the image of one screen sentence is being displayed.

By incorporating the stereoscopic image display device having the above means into the remote work system, a remote work system having good workability can be obtained.

[0033]

Embodiments of the present invention will be described with reference to the drawings. An embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. FIG. 1 is an outline of a remote work system using stereoscopic images according to the present invention, FIG. 2 is a configuration of a stereoscopic image display device used in FIG. 1, and FIG. 3 is stereoscopic image observation glasses used in this embodiment. The structure of is shown.

In FIG. 1, a remote work machine G and first and second cameras 4a, 4 for photographing a stereoscopic image of a work site are shown.
b and the third camera 6 arranged between the first and second cameras 4a and 4b are configured at the work site. In front of the operator H, a display 1 for displaying an image captured by the camera 4a, 4b or 6 and an operation console Q for remotely operating the work machine G are provided, and the operator H is wearing stereoscopic image observation glasses. I am wearing 8.

Further, the display 1 has the first and second
The video P1 captured by the cameras 4a and 4b and the video P2 captured by the third camera 6 are switched and displayed.

Here, the first and second cameras 4a and 4b
The image captured by is a video for observing a stereoscopic image, and the image captured by the third camera 6 is an image for observing a normal image except the stereoscopic image.
In this specification, the term “normal image” is used to distinguish stereoscopic images from images that are not.

Next, the configuration of the stereoscopic image display device will be described in detail with reference to FIG. In the stereoscopic image display apparatus of this embodiment, the first and second cameras 4a and 4b are provided with camera controllers 5a and 5b. The controller 5
Reference characters a and 5b are means for controlling the timing of sending the images captured by the cameras 4a and 4b and processing the contrast and color tone of the captured images, and are provided as necessary. Further, the controllers 5a and 5b may control the timing of capturing the images of the cameras 4a and 4b.

The output parts of the video signals of the controllers 5a and 5b are connected to the stereoscopic video controller 3 which is the first video switching means, and the output part of the stereoscopic video controller 3 is the video switching device which is the second video switching means. 2 (hereinafter, the video switching device is referred to as the video switching device 2 which is the second video switching means).

On the other hand, the third camera 6 is provided with a camera controller 7, and the output part of the controller 7 is connected to the input part of the video switching device 2. The camera controller 7 is similar to the camera controllers 5a and 5b, and is provided as needed.

The output part of the video switching device 2 is the display 1
Connected to.

The stereoscopic image observing apparatus A comprises stereoscopic image observing glasses 8 and a controller 9 of the stereoscopic image observing glasses 8. In this embodiment, the stereoscopic image observation glasses 8 are used.
The eyeglasses (hereinafter, referred to as liquid crystal shutter eyeglasses) having a liquid crystal shutter that alternately blocks incident light to the left and right eyes are used for the controller, and accordingly, the controller 9 controls the controller that opens and closes the liquid crystal shutters to the left and right alternately (hereinafter, LCD shutter controller)).

The liquid crystal shutter glasses 8 have a structure in which the liquid crystal shutter portion in front of the eyes is flipped up, and a switch (shown in FIG. 3) for discriminating whether the liquid crystal shutter portion is in the upright state or in front of the eyes is provided. . The output (state signal 10) of the switch is connected to the control signal input section of the video switching device 2.

Further, a synchronizing signal generator 11 is provided. The synchronization signal generator 11 is a camera controller 5a, 5
The video signal from b generates a synchronizing signal having a frequency for updating a frame or an integral multiple thereof, and is connected to the camera controllers 5a and 5b, the stereoscopic video controller 3, and the liquid crystal shutter controller 9.

In the configuration of FIG. 2, the stereoscopic image controller 3
Also, in the video switching device 2, the switching of the video signal is depicted by a mechanical switch operation.
The means for switching the image may be realized by an analog circuit using a transistor or the like.

Next, referring to FIG. 3, liquid crystal shutter glasses 8
The structure of will be described. As described above, the liquid crystal shutter eyeglasses 8 have a liquid crystal shutter portion flip-up type eyeglass structure, and the liquid crystal shutter portion 12, the lever 14 on the side surface of the liquid crystal shutter portion 12, and the switch 13 on the handle of the eyeglasses 8. It is provided. When the liquid crystal shutter unit 12 is in front of the eye, the switch 14 is pushed by the lever 14 so that the liquid crystal shutter unit 12
When the lever is flipped up, the lever 14
The structure is such that the state of the liquid crystal shutter portion 12 can be detected by moving away from.

Further, electrodes 15a, 16a and 1 are provided on the liquid crystal shutters 12 provided in front of the left and right eyes, respectively.
Liquid crystal shutter controller 9 is provided with 5b and 16b.
The liquid crystal shutter is opened / closed by the voltage control circuit and the inverter circuit. At this time, as described above, the voltage control circuit receives the synchronization signal from the synchronization signal generator 11 and controls the timing.

Next, the operation of this embodiment will be described. The images taken by the cameras 4a and 4b are, if necessary,
It is processed by the camera controllers 5a and 5b. As the processing at this time, adjustment of brightness and color tone, signal conversion, and the like are conceivable, but in some cases, the image position is shifted,
In some cases, processing such as enlargement / reduction may be performed. Further, the camera controllers 5a and 5b receive the synchronization signal from the synchronization signal generator 11 and control the timing of sending the images of the cameras 4a and 4b.

The appropriately processed (including unprocessed) video signal is sent to the stereoscopic video controller 3. In the stereoscopic video controller 3, for example, the video signals from the cameras 4a and 4b are switched according to the cycle (or the cycle of an integral multiple thereof) of updating the frame of the video signal,
It is sent to the video switching device 2 (video signal for stereoscopic viewing).

On the other hand, the image taken by the third camera 6 is processed by the camera controller 7 as needed. The processing at this time is performed by the camera controllers 5a and 5b.
Is the same as Further, the camera controller 7 may use the synchronization signal of the synchronization signal generator 11 to control the timing of sending the image of the third camera 6.

The appropriately processed (including unprocessed) video signal is sent to the video switching device 2 (normal video signal).

The video switching device 2 switches between the stereoscopic video signal and the normal video signal to display the display 1
Send to

Video switching of the video switching device 2 will be described below. When the work machine G needs a feeling in the depth direction to perform a precise work, the operator H displays the stereoscopic image P1 on the display 1 to observe the stereoscopic image. Since continuous use of stereoscopic images is an excessive burden on the operator, when the work machine G is to perform work that does not require precision, the image on the display 1 is the normal image of the camera 6. Switch to P2.

When the operator H wants to observe the condition of the object to be photographed with a stereoscopic image, the liquid crystal shutter unit 12 is lowered in front of him.
At this time, the switch 13 is pressed as described above, and the fact that the liquid crystal shutter portion 12 is in front of the operator H's eyes is transmitted to the video switching device 2. As a result, the video switching device 2 switches the video displayed on the display 1 from the normal video P2 to the stereoscopic video P1.

When the operator H wants to see a normal image that is not a stereoscopic image, the liquid crystal shutter section 12 of the glasses 8 is moved to the position shown in FIG.
As shown by the dotted line in FIG. At this time, the eyeglass state signal 10 causes the liquid crystal shutter unit 12 to
Is transmitted to the video switching device 2 so that the normal video P2 is displayed on the display 1 instead of the stereoscopic video P1.

Next, the image perceived by the operator will be described with reference to FIG. FIG. 4 is a schematic diagram illustrating the states of the stereoscopic image P1 and the normal image P2 displayed in this embodiment.

In FIG. 4, on the display 1, a right-eye image 18, a left-eye image 19 and a stereoscopic camera set 4a taken by the stereoscopic image cameras 4a and 4b. , 4b and the image 20 of the third camera 6 arranged in the center of the screen 4b are displayed.

When the display 1 is displaying a stereoscopic image, the image 20 is not displayed. Further, the images 18 and 19 are displayed alternately and not simultaneously.

When the operator H is watching a stereoscopic image, only the image 18 is observed by the right eye and the image 19 is observed by the left eye by the liquid crystal shutter of the glasses 8. The image perceived by is at the center position of the images 18 and 19. On the other hand, the third camera 6 is a set of cameras 4a for stereoscopic images,
Since it is placed in the center of 4b, the image 20 is the image 18
And 19 will be displayed in the center.

At this time, the performance of the third camera 6 such as the angle of view, the focal length, and the brightness is made the same as that of the set of cameras 4a and 4b for photographing the stereoscopic video, so that the stereoscopic video and the normal stereoscopic video can be obtained. The video and the image can be presented to the operator H with the same composition.

Therefore, even if the liquid crystal shutter 12 of the glasses 8 is flipped up while gazing at the display during remote control,
Alternatively, the composition of the display perceived by the operator is the same even when the display is lowered in front of the eyes. Therefore, when the camera is switched, the operator does not feel a great difference in sensation, and the sensation can be adjusted in a short time, so that the remote operation can be smoothly performed.

Next, the operation of the liquid crystal shutter section 12 will be described. The liquid crystal shutter unit 12 is independent for the right eye portion and the left eye portion, and has a function of closing when a predetermined voltage is applied and opening when another predetermined voltage is applied, for example.

The voltage control circuit in the liquid crystal shutter controller 9 receives the synchronization signal from the synchronization signal generator 11 and receives a synchronization signal from the synchronization signal generator 11 in accordance with the timing when the stereoscopic image is switched between the right eye and the left eye. Generates a voltage that switches between levels. The voltage is applied to the electrode 15a on the left eye of the liquid crystal shutter unit 12.

The output of the voltage control circuit is simultaneously input to the inverter circuit, and the high level and the low level of the voltage are inverted. The inverted voltage is applied to the liquid crystal shutter unit 1.
2 is applied to the electrode 15b of the right eye part.

Ground electrodes 16a and 16b are connected to ground terminals in the liquid crystal shutter controller 9.

By changing the states of the liquid crystals provided separately on the right and left sides according to the synchronizing signal, the left and right shutters of the liquid crystal shutter glasses 8 are opened and closed according to the left and right images for stereoscopic viewing. . As a result, the stereoscopic image for the left eye is observed by the left eye, and the stereoscopic image for the right eye is observed by the right eye.

In this embodiment, the position of the third camera 6 is shifted from the center of the set of cameras for stereoscopic images 4a and 4b, and the video signal of the stereoscopic image P1 or the normal image P2 is electrically processed. Then, the display position may be changed, or enlarged or reduced display may be performed. Such a function is performed by the camera controllers 5a, 5 provided in each camera.
It is possible to give it to b and 7.

Furthermore, each of the cameras 4a, 4b and 7 is provided with a lens capable of enlarging / reducing images, which can be remotely adjusted to absorb a slight performance difference between cameras. H may be adjusted.

Further, without providing the third camera 6, the image of one of the cameras 4a and 4b for stereoscopic images is
It is also possible to use it instead of a normal image. At this time, if a slight difference in composition between the stereoscopic image P1 and the normal image P2 poses a problem, as described above,
The display position may be shifted leftward or rightward by electrically processing the video signal.

According to the present embodiment, the composition of the display perceived by the operator is the same even if the liquid crystal shutter 12 of the glasses 8 is flipped up or lowered in front of the eyes while gazing at the display during remote control. be able to. Therefore, when the image is switched, the operator does not feel a great difference in sensation, and the sensation can be adjusted in a short time, so that the remote operation can be smoothly performed.

Further, by linking the flip-up operation of the liquid crystal shutter section (lens section) of the glasses for stereoscopic image observation and the image switching, the intention to switch the image is smoothly reflected in the image switching. Therefore, the operability of the remote work system is improved.

FIG. 5 is a diagram showing another configuration example of the liquid crystal shutter flip-up type eyeglasses used in the present invention.

In FIG. 5, a helmet 17 worn by the operator H on his head is provided with a liquid crystal shutter portion 12 movable in the direction of the arrow in FIG. 5 and a switch 13 for detecting the state where the liquid crystal shutter portion 12 is flipped up. Has been. Liquid crystal shutter unit 1
When the switch 2 is in the flipped-up state, the switch 13 and the liquid crystal shutter unit 12 are in contact with each other, and it is possible to detect that the liquid crystal shutter unit 12 is in the flipped-up state.

Next, another embodiment of the present invention will be described with reference to FIG. FIG. 6 is a diagram showing the device configuration of the second embodiment of the stereoscopic image display device of the present invention. The stereoscopic image display device according to the present embodiment can be used in the remote work system using the stereoscopic image in FIG.

In this embodiment, a set of cameras 4a and 4b for taking a stereoscopic image of a work site and camera controllers 5a and 5b corresponding to the cameras are provided. The output parts of the video signals of the camera controllers 5a and 5b are connected to the stereoscopic video controller 3, and the output parts of the stereoscopic video controller 3 are connected to the video switching device 2. The video switching device 2 is further connected to a video signal output unit of the camera controller 5a. The output unit of the video switching device 2 is connected to the display 1 that displays a video.

A deflection filter 22 is provided between the display 1 and the operator H, and a deflection filter controller 23 is connected to the deflection filter 22. The operator H wears the stereoscopic image observation glasses 21 and observes the display 1 through the deflection filter 22. The stereoscopic image observation eyeglasses 21 are deflection eyeglasses in which deflection filters having different deflection directions of 90 degrees are provided in front of the left and right eyes, and the deflection filter unit is a flip-up type.

Further, the deflection glasses 21 are provided with a switch for detecting the flip-up of the deflection filter unit similar to that shown in FIG. 3, so that the glasses state signal 10 is inputted to the video switching device 2.

Further, a synchronization signal generator 11 is provided,
A synchronization signal is given to the camera controllers 5a and 5b, the stereoscopic image controller 3 and the deflection filter controller 23.

Next, the operation of this embodiment will be described.

The operator H monitors the remote work site while operating the work machine G while watching the display 1 which displays the image of the work site of the remote work machine G.

In the present embodiment, the image output from the camera 4a via the camera controller 5a is used as a normal image in the set of cameras for stereoscopic images having the above-mentioned configuration. At this time, even if the video signal output from the camera 4b via the camera controller 5b is used,
Also, a third camera may be used as in the embodiment shown in FIG.

The deflection filter 22 has a deflection direction of 90 depending on the signal output from the deflection filter controller 23.
Can be changed once. The deflection filter controller 23 switches the deflection direction based on the synchronization signal from the synchronization signal generator 11.

The synchronization signal of the synchronization signal generator 11 is also input to the stereoscopic video controller 3 and the camera controllers 5a and 5b, and the video signals are transmitted by the cameras 4a and 4b and the video signals are switched by the stereoscopic video controller 3. The switching of the deflection direction is performed in synchronization.

Therefore, as the right-eye image and the left-eye image are switched and displayed by the stereoscopic image controller 3 on the display 1, the deflection direction of the deflection filter 22 is switched. At this time, when the image for the right eye is displayed on the display 1, the deflection direction of the deflection filter 22 is switched so that it has the same deflection direction as the deflection direction of the deflection filter placed in front of the right eye. Further, since the image is switched for each frame, the image is not disturbed when the image is switched.

The deflection glasses 21 have a deflection filter portion of a flip-up type and detect the state of the deflection filter portion.
A switch similar to the above is provided, and the state of the deflection filter unit is transmitted to the video switching device 2 by the eyeglass state signal 10.

When the operator H wants to see a stereoscopic image of the condition of the object to be photographed, the deflection filter section of the deflection glasses 21 is arranged in front of the eyes as shown by the solid line in FIG. At this time, the eyeglass state signal 10 selects the stereoscopic image P1 as a video signal to be output to the display 1 in the video switching device 2.

When the operator H wants to see a normal image P2 which is not a stereoscopic image, the deflection filter section of the deflection glasses 21 is flipped up to the position shown by the dotted line in FIG. At this time, the video switching device 2 selects the normal video P2 as a video signal to be output to the display 1 according to the eyeglass state signal 10 and displays it on the display 1.

Instead of the deflector glasses 21, the helmet shown in FIG. 4 may be replaced with the deflector glasses 21 by replacing the liquid crystal shutter unit 12 with the deflector filter unit.

In the method of using the image of one of the cameras 4a and 4b for stereoscopic images as the normal image P2 as in the present embodiment, the image of one camera (either one may be used) Only the selected items need to be selected and displayed continuously. Therefore, by not providing the video switching device 2 as in the present embodiment and stopping switching of the stereoscopic video controller 3 based on the eyeglass state signal 10,
The purpose is achieved.

At this time, if a slight difference in composition between the time of observing the stereoscopic image P1 and the time of observing the normal image P2 as described above causes a problem, The display position may be shifted leftward or rightward by electrically processing the video signal.

According to the present embodiment, since it is not necessary to provide a camera for taking a normal image, the device or system can be made compact. Moreover, since the splashing portion of the stereoscopic image observation glasses can be made lighter, operability is improved.

Next, a third embodiment of the stereoscopic image display device of the present invention will be described with reference to FIG.

FIG. 7 is a diagram showing the device configuration of this embodiment. In this embodiment, the screen 2 is used instead of the display.
5 and a projector 2 for projecting an image on the screen 25
4 is used.

Next, a fourth embodiment of the stereoscopic image display device of the present invention will be described with reference to FIG.

FIG. 8 is a diagram showing a device configuration of this embodiment. In this embodiment, the structure is similar to that of FIG.
The difference is that the output of the synchronization signal generator 11 is connected to the video switching device 2 and the camera controller 7 is provided in the third camera 6.

In FIG. 8, the video signal captured by the third camera 6 and output through the camera controller 7 is captured by the set of stereoscopic video cameras 4a and 4b by the synchronization signal of the synchronization signal generator 11. A video signal output via the camera controllers 5a and 5b,
It is synchronized.

The video switching device 2 switches between the output of the stereoscopic video controller 3 and the output of the camera controller 7 in response to the spectacle state signal 10 sent from the spectacles 8 and the sync signal of the sync signal generator 11. At this time, since the synchronizing signal of the synchronizing signal generator 11 is used, the switching between the stereoscopic image P1 and the normal image P2 is performed at the same time as the frame switching of the video signal.

According to the above configuration, the camera 4 for stereoscopic images is used.
The video signals output from the cameras a and 4b via the camera controllers 5a and 5b and the video signals output from the third camera 6 via the camera controller 7 all operate in synchronization, and stereoscopic video and normal video Since switching between and is also performed at the same timing as when the frame is switched, there is no disturbance in the image at the moment when the stereoscopic image and the normal image are switched. Therefore, the work can be performed efficiently and smoothly.

[0098]

According to the present invention, the stereoscopic image and the normal image can be switched according to the work content, and moreover,
It is possible to make the composition on the display perceived by the operator the same when switching images while gazing at the display during remote operation. Therefore, the operator does not feel a great difference in sense when the images are switched, and the sense adjustment can be performed in a short time, so that the remote operation can be smoothly performed.

Further, by linking the flip-up operation of the liquid crystal shutter section (lens section) of the glasses for observing stereoscopic images and the switching of the images, the desire to switch the images is smoothly reflected in the switching of the images. The effect is that the operability of the system is improved.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of a remote work system using stereoscopic images according to the present invention.

FIG. 2 is a diagram showing details of the configuration of the stereoscopic image display device used in FIG.

FIG. 3 is a diagram showing a structure of an embodiment of stereoscopic image observation glasses used in the present invention.

FIG. 4 is a schematic diagram illustrating states of a stereoscopic image P1 and a normal image P2 displayed on a display device in the present invention.

FIG. 5 is a diagram showing another configuration example of the liquid crystal shutter flip-up eyeglasses used in the present invention.

FIG. 6 is a diagram showing a configuration of a second embodiment of a stereoscopic image display device of the present invention.

FIG. 7 is a diagram showing a configuration of a third exemplary embodiment of a stereoscopic image display device of the present invention.

FIG. 8 is a diagram showing a configuration of a fourth exemplary embodiment of a stereoscopic image display device of the present invention.

[Explanation of symbols]

1 ... Display, 2 ... Image switching device, 3 ... Stereoscopic image controller, 4a, 4b ... Stereoscopic image camera, 5a,
5b ... Camera controller, 6 ... Third camera, 7 ... Camera controller, 8 ... Liquid crystal shutter glasses, 9 ... Liquid crystal shutter controller, 10 ... Glasses status signal, 11 ... Sync signal generator, 12 ... Liquid crystal shutter section, 13 ... switch,
14 ... Lever, 15a, 15b ... Electrode, 16a, 16b
... Ground electrode, 17 ... Helmet, 18 ... Image by right-eye camera, 19 ... Image by left-eye camera, 20 ...
Image by the third camera, 21 ... deflecting glasses, 22 ... deflecting filter, 23 ... deflecting filter controller, 24 ... projector, 25 ... screen, H ... operator, G ... working machine, Q ... operation console.

Claims (10)

[Claims] Claim: What is claimed is: 1. First and second video capturing means for capturing two types of stereoscopic video for generating a stereoscopic video, and processing the video captured by the first and second video capturing means. Stereoscopic image display including first processing means, a display means for receiving and displaying an image processed by the processing means, and a second processing means for processing the image displayed on the display means. In the apparatus, a third image capturing means for capturing a normal image other than a stereoscopic image, an image captured by the first and second image capturing means, and an image captured by the third image capturing means A stereoscopic video display device, comprising: a video selection means for selecting one of them and displaying it on the display means. 2. The stereoscopic video display device according to claim 1, wherein the video captured by the third video capturing means and the video captured by the first and second video capturing means are displayed. A stereoscopic image display device characterized in that the size and the position are displayed substantially equal by the means. 3. First and second cameras for capturing two types of stereoscopic video for generating a stereoscopic video, and first processing for processing the video of the first and second cameras. A stereoscopic image display device including a device, a display device that receives and displays an image processed by the processing device, and a second processing device that processes the image displayed on the display device; A third camera having an angle of view equal to those of the first and second cameras and arranged in the middle of the first and second cameras; images of the first and second cameras; and the third camera A stereoscopic video display device, comprising: a video selection device for selecting one of the video images and displaying it on the display device. 4. A first and second video capturing means for capturing two types of stereoscopic video for generating a stereoscopic video, and a video captured by the first and second video capturing means. Stereoscopic image display including first processing means, a display means for receiving and displaying an image processed by the processing means, and a second processing means for processing the image displayed on the display means. In the apparatus, a stereoscopic image captured by the first image capturing unit,
A stereoscopic video display characterized by comprising video selection means for selecting only one of the stereoscopic video images captured by the second video capturing means and continuously displaying the selected stereoscopic video on the display means. apparatus. 5. First and second cameras for capturing two types of stereoscopic video for generating a stereoscopic video, and first processing for processing the video of the first and second cameras. A stereoscopic image display device comprising a device, a display device for receiving and displaying an image processed by the processing device, and stereoscopic image observation glasses for processing the image displayed on the display device. A third camera that takes normal video except
An image selection device for selecting one of the images of the first and second cameras and the image of the third camera and displaying the selected image on the display device, wherein the image selection device A spectacle wearing detector that detects the wearing of the stereoscopic image observing glasses in front of the eye, and images of the first and second cameras and an image of the third camera based on a detection result of the spectacle wearing detector. A stereoscopic image display device comprising: a switching device for switching between and. 6. A first and a second camera for capturing two types of stereoscopic images for generating a stereoscopic image, and a first for processing the images captured by the first and second cameras. In the stereoscopic image display device including the processing device, the display device that receives and displays the image processed by the processing device, and the stereoscopic image observation glasses that process the image displayed on the display device, The stereoscopic image captured by the first camera, and the second image
Of the stereoscopic video image captured by the camera, includes only a stereoscopic video image of one of the images for continuous display on the display device, the video selection device of the stereoscopic image viewing glasses It is composed of a spectacle wearing detector that detects wearing in front of the eye, and a switching device that switches the image of the first camera and the image of the second camera based on the detection result of the spectacle wearing detector. A stereoscopic image display device characterized by the above. 7. The stereoscopic image display device according to claim 1, wherein the display means or device is a display. 8. A three-dimensional image display device according to claim 1, wherein the display means or device comprises a projector for projecting an image and a screen. apparatus. 9. A first camera and a second camera, a third camera having an angle of view equal to that of the first and second cameras and arranged between the first and second cameras, and each camera. 1st, 2nd, 3rd camera controllers to control, 1st and 2nd
Selected by the second switching means, and a second switching means for switching the video of the camera, a second switching means for switching the video switched by the first switching means and the video of the third camera. Device for displaying a stereoscopic image, a stereoscopic image observation device for observing a stereoscopic image from the images of the first and second cameras displayed on the display device, and a stereoscopic device for controlling the stereoscopic image observation device A synchronization signal for generating a reference synchronization signal of the controller for the image observation device, the first, second, and third camera controllers, the first switching unit, the second switching unit, and the controller for the stereoscopic image observation device. A stereoscopic image display device comprising a generator. 10. A remote work system using a stereoscopic image for observing a stereoscopic image and operating a work machine from a remote location, wherein the stereoscopic image display device according to claim 1 is provided. A remote work system using 3D images.