JP3374547B2 - Monitoring device for remote operation - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control monitoring device capable of displaying a moving object to be imaged as a real image (video) in a pseudo manner at a corresponding position on a monitor screen. It is about.

[0002]

2. Description of the Related Art For example, when hoisting a suspended load with a tower crane or the like, at the slinging place on the ground surface far below the operator room, which is the operating position, and at the time of lifting work, check the slinging It is necessary to confirm the stable state of the load and prevent collision accidents with surrounding buildings.

[0003] Therefore, usually laid the tracking controllable television camera near the rigging position, taking the suspended load and scenery around the television camera, captured by a television monitor installed in remote control position, such as driver's seat The relative positional relationship between the suspended load and the surroundings is indirectly visually determined by looking at the screen, and the lifting operation is performed based on this visual determination and wireless instructions.

[0004]

However, even if the television camera is installed at a fixed position and a plurality of cameras are arranged near the slinging place, trees, workers, or buildings often obstruct the load. However, there are cases where it is not possible to directly monitor the image of the vehicle or it is not possible to grasp the positional relationship of the suspended load with respect to obstacles, which has the drawback of impeding operation.

The present invention has been made to solve the above problems, and an object thereof is to realize a moving object to be photographed by a television camera and monitor the monitor at a remote position. Provided is a monitoring device for remote operation which can be displayed as a shadow image at a corresponding position on a monitor screen in a pseudo manner even if the image cannot be monitored.

[0006]

In order to achieve the above object, the present invention provides a television camera arranged with a basic collimation line toward an object to be photographed, and the television camera according to the movement of the object to be photographed. Tracking control means for displacing the line of sight toward the object to be photographed, a monitor TV for displaying the photographed real shadow image, and the shape of the object to be photographed corresponding to the basic line of sight of the TV camera are computer graphicized. The storage means having the basic model image data built therein and the displacement data such as the turning angle and the elevation angle detected by the tracking control means are numerically analyzed, and the basic model image data is made to correspond to the actual image based on the numerical analysis result. The model image synthesizing means for displacing the model image and the monitor display for displaying the synthesized model image are provided.

Further, according to the present invention, the model image can be superimposed and displayed on the real image displayed on the monitor television (claim 2).

[0008]

With the above arrangement, the line of sight of the television camera is displaced toward the object to be photographed along with the movement of the object to be photographed, and the actual image of the object to be photographed is constantly positioned within the screen of the monitor television. At the same time, the data associated with the displacement is taken into the model image synthesizing means. The synthesizing means numerically analyzes the displacement data and deforms the basic model image data fetched from the storage means according to the numerical analysis result. That is, the original model image, which is the basic model image data, is transformed into an image corresponding to the actual image which has been turned and depressed in accordance with the displacement data and displayed on the monitor display.

Since the model image is not erased regardless of the obstacle, even if the actual image cannot be grasped due to the obstacle, it is pseudo-displayed at the corresponding position and the relative position to the surroundings is also displayed.

When the structure of claim 2 is adopted, it can be confirmed in which part of the shadow of the obstacle the object to be photographed is located.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a tower crane will be described in detail below with reference to the drawings.

FIG. 1 shows a monitoring device for remote operation of a tower crane according to the present invention. The monitoring device in the figure is provided with a support base 1 installed near a lifting start position such as a slinging place of a suspended load W, and swivelable and tiltable on the support base 1, and a basic sight line L0 is captured. Suspended load W that becomes a thing
TV camera 2 for monitoring positioned at the origin of lifting
And a tracking controller 3 for controlling the turning and tilting of the support base 1 along with the movement of the suspended load W so that the sight line L of the TV camera 2 is always directed toward the suspended load W, and a remote operator room. 4 and a monitor television 5 for monitoring an actual image taken by the television camera 2.

In addition, this monitoring device is a basic model image in which the shapes of the suspended load W, the crane hook F, and the buildings A and B located on both sides thereof corresponding to the basic sight line L0 of the television camera 1 are computer-graphically displayed. A storage device 6 having built-in data and displacement data such as a turning angle and a depression angle of the television camera 2 detected by the tracking control device 3 are fetched and numerically analyzed, and the storage device 6 is based on the numerical analysis result. A computer 7 for synthesizing a model image that calls up the basic model image data stored in the computer and displaces the model image data corresponding to the actual image, and the model image synthesized by the computer 7 in the operator room 4 is displayed. In order to superimpose the model video on the actual image displayed on the monitor display 8 and the monitor TV 5, And a screen synthesis unit 9.

The tracking control device 3 is, for example, as disclosed in Japanese Patent Laid-Open No. 4-192781, a change detecting means for extracting a change area from a picked-up image, and at least the change area extracted by the change detecting means. Setting means for setting an area including a part as a tracking area, moving direction detecting means for obtaining a moving direction of the portion of the tracking area set by the setting means in the tracking area, and moving direction detecting means A moving stage for moving the tracking region based on the moving direction obtained by the above, and a support base utilizing the principle of tracking the changing region by the movement of the tracking region by this moving device or another tracking mechanism. Tracking control is performed so that the collimation line L of the television camera 2 always keeps the suspended load W at the center of the screen by rotating and tilting the camera 1.

The basic model video data stored in the storage device 6 is a computer graphic image (hereinafter referred to as a CG image) in which an image taken by the television camera 2 is digitally processed in advance and unnecessary portions are erased.
Is.

For example, when the worker S is present between the suspended load W and the TV camera 2 at the origin position of the suspended load W and there are standing trees T1 and T2 on both sides thereof as shown in FIG. As shown in FIG. 2A, the displayed real screen has standing trees and workers standing between the suspended load W and the TV camera 2, and these are obstacles that make it difficult to see the suspended load W. It is difficult to understand the relationship between the suspended load W and the surrounding buildings A and B. However, when this is displayed on the CG screen, as shown in FIG.
1, T2 and the worker S are displayed as images that have been deleted in advance, and the relationship between the shape of the suspended load W and the surrounding buildings A and B becomes clear.

Further, by superimposing the sizes of both images together by the screen synthesizing device 9, both the standing trees T1 and T2 and the worker S are displayed on the monitor television 5 as shown in FIG. 2 (c). , The suspended load W and the buildings A and B are clearly seen on the back surface thereof.

When the slinging work is finished from this state and the suspended load W suspended on the hook F is lifted, if the suspended load W just rises at the intermediate position between the buildings A and B and cannot swing to the left or right. The line of sight L of the television camera 2 only tilts following the suspended load W, and the actual screen changes in the vertical direction Lz with respect to the basic line of sight L0 as shown in FIG. Accordingly, the buildings A and B are located below the screen, and the suspended load W is located at the center of the screen with its bottom portion (portion indicated by hatching in the figure) shown.

At the same time, the computer takes in displacement angle data in the vertical direction, numerically analyzes this, and conducts the above-mentioned GC.
The image is converted into an image corresponding to the angle change and is displayed on the monitor display 8 (an image in which the standing trees T1, T2 and the worker S are deleted from the figure). Further, an image superimposed on the obstacle is displayed on the television monitor 5 by screen synthesis (portion indicated by a broken line in the figure).

When the suspended load W swings to the left or right between the buildings A and B, the line-of-sight line L of the television camera 2 follows the suspended load W and simultaneously tilts and turns in its swing direction.

As shown in FIG. 3 (b), the actual screen in that case changes in the vertical direction Lz with respect to the basic line of sight L0 as well as in the horizontal direction Lx, and the buildings A and B are changed in accordance with the change in the angle. Not only the front of the screen but also the side opposite to the moving direction is shown, and the suspended load W is also located at the center of the screen with the side shown.

At the same time, the computer 7 takes in displacement angle data in the vertical and horizontal directions, numerically analyzes the data, converts the GC image into an image corresponding to the angle change, and displays it on the monitor display 8 (from the figure). Standing trees T1, T
2 and the image of worker S deleted). Further, an image superimposed on the obstacle is displayed on the television monitor 5 (broken line portion in the figure).

Therefore, the operator is not the actual screen,
By looking at the CG screen or the composite screen, the lateral shake amount of the suspended load W and the relative value relationship with the buildings A and B can be determined, and the lifting position can be quickly corrected by performing an operation based on this. It will be possible.

In the embodiment, one TV camera 2 photographs the suspended load W and its surroundings from one position at the lifting start position. However, a plurality of TV cameras are arranged at a plurality of positions to switch between them. It is possible to observe the screen from different positions depending on the operation, and even in this case
It can be converted to G and monitored at the same time.

Further, in the embodiment, the case where the present invention is applied to the remote control monitoring device of the tower crane has been described, but it is needless to say that the present invention can be applied to the remote control monitoring device of various construction robots. .

[0026]

As described in detail in the above embodiments, in the remote control monitoring device according to the present invention, the synthesizing means numerically analyzes the displacement data, and the basic model image data fetched from the storing means is obtained. The original model image, which is the basic model image data, is transformed according to the result of the numerical analysis, is transformed into an image corresponding to the actual image which is swung and depressed according to the displacement data, and is displayed on the monitor display. Since the model image is not erased regardless of the obstacle, even if the actual image cannot be grasped due to the obstacle, it is pseudo-displayed at the corresponding position and the relative position to the surroundings is also displayed. The safety can be improved.

Further, in the case of adopting the structure of claim 2 of the present invention, it is possible to confirm in which part of the shadow of the obstacle the object to be photographed is located and to grasp the relationship with the obstacle itself. There is.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system configuration when the present invention is applied to a tower crane.

2A to 2C are explanatory diagrams showing an actual screen, a CG screen, and a composite screen at the origin position of the suspended load.

3 (a) and 3 (b) are explanatory views showing an actual screen and a combined screen at the time of lifting a suspended load.

[Explanation of symbols]

1 Support device 2 TV camera 3 Tracking control device 4 Operator room 5 monitor TV 6 model image storage 7 Computer (model image synthesis means) 8 monitor display 9 Image synthesizer (means) Lo basic line of sight L sight line W suspended load (photographed object) Buildings A and B (object to be photographed)

Continuation of the front page (56) Reference JP-A-59-86387 (JP, A) JP-A-61-239792 (JP, A) JP-A-62-239075 (JP, A) JP-A-3-99952 (JP , A) JP 7-44788 (JP, A) JP 7-115587 (JP, A) Actual opening Sho 48-8837 (JP, U) Actual opening Flat 1-179682 (JP, U) Actual opening Flat 2-10197 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G06T 1/00 280-340 G06T 3/00 300 G06T 17/40 H04N 7/18 H04N 5/262 H04N 5 / 225 G08B 13/196 B66C 13/00 JISST file (JOIS)

Claims (2)

(57) [Claims] 1. A television camera arranged so that a basic collimation line is directed to an object to be photographed, and tracking control means for displacing the collimation line of the television camera toward the object to be photographed as the object to be photographed is moved. A monitor television for displaying a photographed real shadow image; a storage means for storing basic model image data in which the shape of an object to be photographed corresponding to the basic line of sight of the television camera is computer-graphed; and the tracking control means. And a model image synthesizing means for numerically analyzing displacement data such as a turning angle and an elevation angle detected in step S3, and displacing the basic model image data corresponding to an actual image based on the numerical analysis result, and the synthesized model. A monitor device for remote operation, comprising: a monitor display for displaying a shadow image. 2. The remote control monitoring device according to claim 1, wherein a model image is superimposed on a real image displayed on the monitor television.