JPH06270076A - Camera control device for remote control - Google Patents

Abstract

PURPOSE:To operate a camera optionally, and improve remote controllability by providing a head mount device by which the camera moves in response to the head movement of an operator in a system to operate a remote robot or the like while looking at an image by a remote camera. CONSTITUTION:In a system to operate a remote robot or a work machine or the like while looking at an image picked up by a remote camera 1, a head mount display 8 is installed on a head part of an operator 7. The movement of this head mount display 8 is detected by a detecting means, and the detecting signal is inputted to an operation device 9, and a camera stand 2 is controlled in response to the head part movement of the operator 7 through a camera stand controller 3. Thereby, an optional visual point can be obtained with a presence feeling as if the operator is staying at the work site, so that excellent remote controllability can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera control device in a remote control system in which an operator operates a remote robot or machine while watching an image obtained from a remote camera.

[0002]

2. Description of the Related Art In recent years, it has been difficult for humans to directly go to the site to perform work such as work in deep sea or outer space, and there is a danger that humans perform work such as work inside a nuclear reactor. There are various situations. As a technology to realize such work, we send a manipulator that works on behalf of human upper limbs at work sites and work environments where humans can not go, and humans operate it from a work environment at a safe point away from the site. Teleoperations that perform work by doing work have been studied. This method develops a mechanism called a manipulator that can freely move according to human commands, and also feeds back the visual information that makes humans naturally see the situation of the work site at a remote location, especially the feedback of stereoscopic visual information and the sense of the manipulator. Therefore, it is considered to improve operability.

Conventionally, there is known a stereoscopic vision device which is considered for feeding back the stereoscopic visual information. In order to control the camera in such a conventional remote control system, as in Japanese Utility Model Laid-Open No. 1-95879, a robot that works on an object and an image of the object installed near the object are input. A camera that is integrally connected, or a manipulator for performing maintenance work as in Japanese Utility Model Laid-Open No. 55-107992 is provided with a TV camera fixed near the fingertip near the fingertip. A proper number of TV cameras for searching for an object are installed at appropriate positions on the main body of the remote automatic operation device. It is known that only the camera is moved in accordance with the movement of the robot as shown in each of these publications.

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
Both the Japanese Patent No. 5879 and the Japanese Utility Model Laid-Open No. 55-107992 only move the camera in accordance with the movement of the robot. Therefore, in both of these, the movement of the camera depends on the movement of the robot. However, there is a problem that a remote operator cannot freely see an arbitrary point necessary for work. Due to such a problem, the present invention gives priority to the operator's intention and operability, controls the camera, and can arbitrarily operate the camera by the operation end while observing the monitor screen regardless of the robot operation. It is intended to improve remote operability and reduce the burden on the operator.

[0005]

For such a purpose, the gist of the present invention is to control a camera pedestal and zoom in a remote control system comprising a camera and a robot or a work machine placed remotely. As a device, a remote mode in which the camera is operated by a manual operation end by a remote operator and a camera that operates in response to a movement signal of a robot or a work machine, and a head mount device that moves the camera in response to the movement of the operator's head are provided. A remote control camera control device characterized by the above.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the drawings which are embodiments. FIG. 1 is an explanatory view showing a joystick mode according to the present invention. As shown in FIG. 1, the operation is sent to the camera pedestal controller 3 based on a command from the joystick 4, which is the operation end, and the operation and zoom of the camera pedestal 2 are controlled based on the command independently of the robot. FIG. 2 is an explanatory diagram showing the remote mode according to the present invention. The movement amount of the robot 5 is sent from the robot controller 6 to the camera mount controller 3, and the camera mount 2 moves so as to follow the hand of the robot 5 based on it, and the hand of the robot is always displayed on the remote monitor. The operator can easily monitor the work.

FIG. 3 is an explanatory view showing a head mount mode according to the present invention. As shown in FIG. 3, the movement of the head mount display 8 worn by the operator 7 is detected and sent to the camera mount controller 3 via the arithmetic unit 9.
Based on this, by controlling the camera mount 2 correspondingly, the operator 7 can obtain a stereoscopic image with the same feeling as if he / she were remote.

As described above, the camera is controlled by giving priority to the operator's intention and operability, and three controls are introduced, and the operator can arbitrarily select these three controls. That is, the robot has a joystick mode that moves the camera independently of the movement of the robot, a control that moves in conjunction with the movement of the operator's head, a head mount mode and a control that follows the movement of the hand of the robot, and a remote mode. The operator can select any of them according to the work.

In this way, the operator can arbitrarily operate the camera with the operating end while watching the monitor screen regardless of the operation of the robot by arbitrarily selecting the three controls according to the work. You can do it again
While installing a head-mounted display and viewing stereoscopic images that are advantageous for remote control, the worker can get an arbitrary viewpoint with the feeling of being as if he / she were at the site of the work. When the operator is only required to monitor, the camera can be automatically controlled from the movement information of the hand of the robot, and the monitor screen required for monitoring can be easily obtained.

[0010]

As described above, according to the present invention, by arbitrarily selecting the above three controls, it is possible to arbitrarily operate the camera by the operation end while observing the monitor screen regardless of the operation of the robot. It is also possible to attach a head mount display to obtain an arbitrary viewpoint while viewing a stereoscopic image that is advantageous for remote control, and if the operator is only required to monitor with simple work, move the robot hand. It became possible to automatically control the camera from the information and easily obtain the screen required for monitoring, improving remote operability and reducing the burden on the operator.

[Brief description of drawings]

FIG. 1 is an explanatory view showing a joystick mode according to the present invention,

FIG. 2 is an explanatory view showing a remote mode according to the present invention,

FIG. 3 is an explanatory diagram showing a head mount mode according to the present invention.

[Explanation of symbols]

 1 camera 2 camera mount 3 camera mount controller 4 Joystick 5 robot 6 robot controller 7 operator 8 head mount display 9 arithmetic unit

Claims (1)

[Claims] 1. A remote control system comprising a camera and a robot or a work machine placed remotely, and a movement signal of a device and a robot or a work machine by a remote operator to control a camera mount and zoom. A remote control camera control device comprising: a remote mode in which the camera moves in synchronization with the above, and a head mount device in which the camera moves in response to the movement of the operator's head.