JP2844040B2 - 3D display device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional image display system.
The present invention relates to a three-dimensional display device.

[0002]

2. Description of the Related Art Conventionally, when excavating an underground structure, for example, a tunnel, a laser beam is used to mark the cross-sectional shape of the tunnel on a tunnel face, and an operator controls an excavator at the site to determine the irradiation position of the laser. Look, I was drilling the face. In the case of excavating an above-ground structure, for example, a slope, a temporary tent is installed in the ground to indicate the depth of the excavation position, and the embankment is excavated using the temporary tent as a guide.

[0003]

Problems to be Solved by the Invention The prior art has the following problems. <A> Even if a laser is applied to the tunnel face, if the face face has irregularities, it is difficult to accurately know the position to be excavated, and it is difficult for the operator to accurately know the surface to be excavated. <B> It is difficult for an operator to know the excavation surface accurately even when digging while looking at the tent. <C> Since the operator operates the excavator at a work site such as a tunnel, the work involves danger. <D> When determining the excavation position, the construction accuracy was poor because it relied on intuition.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional display device for remotely operating a processing robot.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a three-dimensional display device for remotely controlling a processing robot, a position measuring device for measuring the position of the processing robot, and a three-dimensional display device arranged on the processing robot. A camera device, a storage device for storing three-dimensional data of a processing plan of a workpiece, a display device capable of displaying a three-dimensional image, and a processing device for processing data, wherein the three-dimensional camera device processes the workpiece. Photographing, displaying the photographed image on the display device , and superimposing the processed surface of the workpiece on the photographed image three-dimensionally from the three-dimensional data of the processing plan diagram corresponding to the position of the photographed image. And the processing robot is an excavator such as an excavator for a tunnel or an excavator such as a slope.

[0006]

Embodiment 1 An embodiment of tunnel excavation according to the present invention will be described below with reference to the drawings. <A> Outline of Embodiment A tunnel excavator is arranged as an excavating robot 2 arranged in a tunnel, and a stereoscopic camera device 3 is installed thereon. While observing a stereoscopic image taken by the stereoscopic camera device 3 outside the tunnel, the driver remotely controls the excavation robot 2 to excavate the tunnel. More specifically, the three-dimensional image is a display device 53 that simultaneously displays a three-dimensional photographed image of the three-dimensional camera device 3 and tunnel design data (three-dimensional CAD data).
, The driver can easily know where to excavate in the tunnel. Thereby, the control lever 52 is controlled outside the tunnel, and the excavation robot 2 is controlled.
To excavate tunnels as designed.

<B> Excavation robot The excavation robot 2 is disposed inside the tunnel. Arm 21, cutter 22 and caterpillar 23 of excavating robot 2
Are controlled by a control device such as NC control to excavate the excavation surface 6 of the tunnel. The control of the robot is performed while observing the display device 53 in the remote control room 54 outside the tunnel. To measure the position and orientation of the excavation robot 2, a position measurement device 4 is arranged on the excavation robot 2. Then, the target 4 located at a known position
1 is measured to measure the position and orientation of the excavation robot 2. The three-dimensional camera device 3 is arranged on the excavation robot 2 and three-dimensionally photographs the inside of the tunnel such as the excavation surface 6 of the tunnel. The method of remotely controlling the robot can be performed by combining a master device and a slave device, remotely controlling the robot by the master device, and controlling the robot by the slave device.

<C> Remote Control System The remote control system 1 is composed of an excavating robot 2, a three-dimensional camera device 3, a display device 53, a processing device 56, a position measuring device 4,
And a storage device 51. The stereoscopic camera device 3 includes left and right signals L and R taken by the left and right cameras.
Is output as a video signal by the camera control unit 31 and a display device 53 or an HMD (head) capable of displaying a stereoscopic image.
A three-dimensional image is displayed to the driver by a mounted display 57. The HMD 57 is attached to the driver's head, and a stereoscopic image can be viewed on the left and right display units. At this time, by moving the head, the position signal is output, and the analog / digital converter 15 of the I / O expansion unit 11 and the bus interface (BUS I /
F) and can be input to the processing device 5 via 17. The signal of the convergence angle from the stereoscopic camera device 3 and the horizontal and vertical signals from the camera platform 34 on which the stereoscopic camera device is mounted are transmitted to the motor drivers 32 and 33, the controllers 12 and 13 The data is input to the processing device 56 via the bus interface 17. In addition, a signal from the position detection device 4 that detects the position of the excavation robot 2 is also input to the control device 56. In addition, detection signals from various sensors of the excavation robot 2 go to various cylinders and controllers of the excavation robot 2 via a distributor, and partly, an input / output control unit (PIO) of the I / O expansion unit 11. The data is input to the processing device 56 through the bus interface 14 and the bus interface 17. The processing device 5 is a computer or the like that processes data. The processing device 5 reads a three-dimensional tunnel processing plan (three-dimensional CAD data) stored in the storage device 51, and reads position information of the three-dimensional camera device 3 and information of the excavation robot. The information is displayed on the display device 53 with reference to the position information. The displayed processing plan diagram corresponds to the image captured by the stereoscopic camera device 3 and is superimposed (see FIG. 5).
Since the actual three-dimensional image of the face of the tunnel is superimposed on the excavation planning line, it is easy to know where to excavate. Like the position signal of the HMD 57, the signal of the joystick of the manipulator 55 is input to the processing device 56 via the connection box or the AD converter (ADC) 15, processed, and processed by the controllers 12, 13.
To the three-dimensional camera device 3 via the motor drivers 32 and 33 to control the convergence angle and the horizontal and vertical positions. In this way, the image of the display device 53 can be changed by controlling the stereoscopic camera device 3.

<D> Processing Flow of the Processing Device The camera platform 34 and the convergence angle of the stereoscopic camera device 3 are returned to the origin (S1). Similarly, the portion of the arm 21 of the excavation robot 2 is returned to the origin (S2), and initialization is performed. Based on the signal measured by the position measuring device 4, the position coordinates of the excavation robot are recognized (S3). The position (origin position) of the three-dimensional CAD data corresponding to the viewing angle of the stereoscopic camera device 3 at the position coordinates measured by the position measuring device 4 is calculated (S
4). The angle of the camera platform 34 for photographing is detected (S
5). The viewpoint of the captured image on the display device 53 is obtained by calculation (S6). Recognize the coordinates of the manipulator 55 (S
7). 3 corresponding to the image displayed on the display device 53
Dimensional CAD data (solid model or wire frame model) is obtained (S8).

[0010]

Embodiment 2 Hereinafter, another embodiment of the present invention for excavating a slope will be described. Excavation of a slope uses a shovel as the excavation robot 2, but is performed by remote control similarly to excavation of a tunnel. The position measuring device 4 measures the position and orientation of the excavation robot 2 with reference to a target (not shown) arranged at a known position. The three-dimensional image of the slope taken by the three-dimensional camera device 3 and the excavation planning line 62 of the slope are simultaneously displayed three-dimensionally on the display device 53. The driver operates the control lever 52 while looking at the display device 53 and referring to the excavation plan line 62 in the cockpit away from the site,
The excavation robot 2 is remotely operated to excavate a predetermined slope.

[0011]

According to the present invention, the following effects can be obtained. <B> Since a stereoscopic image can be displayed, a sense of presence as if at a site is obtained. <B> Since the work plan is displayed together with the three-dimensional images of the inside of the tunnel, the slope, and the like, the excavation position can be understood from the image, and the work efficiency is significantly increased. <C> Since measurement and work can be performed in real time, the finishing accuracy is improved. <D> Since work is performed using a robot, work on site can be unmanned.

[Brief description of the drawings]

FIG. 1 is a layout diagram of a remote control system inside a tunnel.

FIG. 2 is a block diagram of a remote control system.

FIG. 3 is a diagram of a display device for displaying the inside of a tunnel.

FIG. 4 Tunnel excavation plan diagram

FIG. 5 is a diagram of a display device for displaying a tunnel interior and a drilling plan map.

FIG. 6 is a flowchart of the processing of the processing apparatus.

FIG. 7 is a layout diagram of a slope remote control system.

FIG. 8 is a diagram of a display device for displaying a slope.

FIG. 9 is a diagram of a display device for displaying a slope and a drilling plan diagram.

Claims (2)

(57) [Claims] 1. A three-dimensional display device for remotely controlling a processing robot, a position measuring device for measuring a position of the processing robot, a three-dimensional camera device arranged on the processing robot, and processing of a workpiece. A storage device for storing three-dimensional data of a plan drawing, a display device for displaying a three-dimensional image, and a processing device for processing data, wherein the three-dimensional camera device photographs a workpiece and displays the photographed image on the display device. The processing surface of the workpiece is three-dimensionally superimposed on the photographed image from the three-dimensional data of the processing plan diagram corresponding to the position of the photographed image, and is displayed on the display device. 3D display device. 2. The three-dimensional display device according to claim 1, wherein the machining robot is an excavator such as an excavator for a tunnel or an excavator such as a slope.