JPH07314360A - Camera operating robot - Google Patents

Abstract

PURPOSE:To move a view point, and enlarge a field of view by providing a rod of a second flexible arm of light weight which can be freely bent in an elevation direction at a forward end of a rod of a first flexible arm of light weight, and providing a camera at a forward end of it to be attitude-controlled freely. CONSTITUTION:A first flexible arm (arm) 13 comprising a rod member of light weight is provided on a head part 12 which is freely rotatable about a rotation shaft 101 through an articulation shaft 2 to elevate freely. An angle sensor body type motor 102a is installed on the articulation shaft 2. A second flexible arm (arm) 14 comprising a rod member which can be bent freely in an elevation direction is installed on a forward end of the arm 13. A CCD camera 15 is provided on a forward end 14a of this arm 14 to be freely attitude-controlled. An acceleration sensor 104 to detect acceleration in the elevation direction, and an acceleration sensor 19 to detect acceleration in a horizontal direction are provided at forward end parts of both arms 13, 14 respectively. The camera 15 is moved to a visually desired position, an attitude of the camera 15 is controlled, and motion of the arms 13, 14 are controlled while vibration by resiliency of the arms 13, 14 is restricted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera operating robot for moving a camera for photographing an object to a visual target position.

[0002]

2. Description of the Related Art In recent years, the role of nuclear power plants has become important with the increase in power consumption in Japan.

In order to operate a nuclear power plant safely and stably, regular inspections stipulated by the Electricity Business Law are carried out once a year for major equipment and pipes, etc. Is being done. In conducting these inspections and inspections, robots are used to operate cameras.

In such a camera operating robot for inspection and inspection, as shown in FIG. 8, for example, a rail 1 is provided in advance on the ceiling of a nuclear power plant, and it is hung on the rail 1 and has a pan and tilt table 2. A robot main body running on a trolley 3 equipped with a TV camera 4 for photographing an object (tandem traveling type), or a robot main body 6 mounted on a pedestal 5 placed on the floor of a nuclear power plant as shown in FIG. Equipped with,
There is a robot body 6 having a television camera 8 attached to the end of an arm 7 (polar coordinate type, cylindrical coordinate type, etc.).

[0005]

However, in the above-mentioned conventional camera-operated robot, in the case of the tandem traveling type shown in FIG. 8, the robot body traveling on a limited trajectory approaches the object and becomes a symmetrical object. Only the lens of the camera 4 is pointed, the back side of the object cannot be photographed, and when the object is in the shadow, it cannot be photographed. Moreover, camera 4
The screen is tilted and distorted because the field of view is secured simply by changing the angle.

In the case of the robot operating robot of polar coordinate type, cylindrical coordinate type, etc. shown in FIG. 9, the photographing range of the camera 7 can be obtained to some extent, but when it is desired to widen the photographing range or photograph a high position, the arm is used. 7 must be lengthened. However, in this case, since it is necessary to increase the rigidity of the arm 7, the weight becomes very heavy and it becomes difficult to mount the arm 7 on a dolly or the like.

Therefore, an object of the present invention is to solve the above problems and to provide a lightweight camera operation robot having a wide field of view, capable of moving the viewpoint.

[0008]

In order to achieve the above object, the present invention relates to a camera operation robot for moving a camera for photographing an object to a visual target position, which comprises a lightweight rod-shaped member on a pedestal. The first flexible arm is provided so as to be horizontally rotatable and to be tilted up and down, and at the tip of the first flexible arm, the second flexible arm is bendable in the tilting direction.
Of the operation robot, which has a flexible arm and a camera at the tip of the second flexible arm to control the attitude, and an angle sensor provided on both flexible arms to detect the horizontal turning angle, dip angle, and bending angle. When,
Accelerometers provided at the tips of the first and second flexible arms, respectively, for detecting accelerations in the prone direction and the horizontal turning direction, and the detected values of the angle sensor and the accelerometer are input, and the visual target position of the camera is set. The first and second flexible modes are inputted, the camera position is obtained from the angle sensor, the camera is moved to the visual target position, the posture of the camera is controlled, and the weight of the camera and the acceleration value of the acceleration sensor are used during the movement. Rotation of the first and second flexible arms while suppressing vibration due to elasticity of the arms
And a camera position control means for controlling each of prone and flexion.

Further, the camera position control means of the camera operating robot according to the present invention is capable of rotating the first and second flexible arms based on the elasticity of the visual target position angle sensor, the acceleration sensor, the flexible arm and the mass of the camera or the like. In order to determine the visual position feedback gain circuit that controls the actuator that tilts and bends and the optimum state feedback gain of the visual position feedback gain circuit, a vibration suppression model based on the elasticity of the flexible arm and the mass of the camera is used for the flexible arm. It is equipped with a gain table of feedback gain obtained by modeling the joint angle as a parameter, and the visual position feedback gain circuit is operated with the gain obtained by linearly interpolating the gain for each joint angle of the flexible arm from the gain table. Control It may be.

[0010]

According to the above construction, the second flexible arm made of a light weight rod-shaped member is provided at the tip of the first flexible arm made of the light weight rod-shaped member, and the second flexible arm is made of a light weight rod-shaped member that is bendable in the up and down direction. Since the camera is provided at the tip of the arm so that the attitude can be freely controlled, by bending the first and second flexible arms, the camera can be freely moved to a high place or the back of an obstacle, and the operation robot body Since it is lightweight, it can be easily mounted on a trolley.

Since both flexible arms are made of lightweight rod-shaped members, when the camera moves to the visual target position, the first and second flexible arms are distorted by gravity and vibrate due to the movement. The camera position is calculated based on the horizontal turning angle, elevation angle, flexion angle, and acceleration in the elevation direction and the horizontal turning direction, and the camera is moved to the visual target position. The position of the camera is controlled by operating the visual position feedback gain circuit with the gain obtained by linearly interpolating the gain, and while controlling the vibration due to the elasticity of both flexible arms, it controls the swinging, tilting and bending of both arms. The first and second flexible arms do not vibrate when the camera reaches the visual target position, Image can be obtained.

[0012]

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is an external view of an embodiment of a camera operating robot of the present invention.

In the figure, 10 is a pedestal, and pedestal 1
A body portion 11 is provided on the 0. The body 11 has a turning mechanism, and the head 12 can turn in a horizontal plane. Reference numeral 101 denotes a turning shaft (joint shaft 1), which is driven by a motor integrated with an angle sensor (encoder) 101a. A first flexible arm 13 formed of a lightweight rod-shaped member is provided on the head 12 so as to be able to rise and fall via the joint shaft 2. An angle sensor (encoder) integrated motor 102a is attached to the joint shaft 2 on the back side of the drawing. A second flexible arm 14 is provided at the tip of the first flexible arm 13 via the joint shaft 3 and is bendable in the up and down direction. An angle sensor (encoder) integrated motor 103a is attached to the joint shaft 3. A CCD camera 15 is provided at the tip portion 14a of the second flexible arm 14 so that the attitude can be freely controlled. These pedestal 10, body 11, head 12,
The first flexible arm 13 and the second flexible arm 14 form an operation robot body 16.
An acceleration sensor 104 that detects acceleration in the prone and downward directions and an acceleration sensor 19 that detects acceleration in the horizontal direction are provided at the tip ends of the flexible arms 13 and 14, respectively.

The operation robot body 16 and the camera position control means 35 (see FIG. 3) constitute a camera operation robot.

FIG. 2 is an enlarged view of the camera of the camera operating robot shown in FIG. 1. FIG. 2A is a side view of the camera.
FIG. 2B is a view of FIG. 2A viewed from the arrow A direction.

In FIG. 2 (a), a gear box 18 and an acceleration sensor 19 are attached to the tip end portion 14a of the second flexible arm 14 via a metal fitting 17 having a substantially L-shaped cross section. 18 is a motor 2
0 and 21 are connected. The gear box 18 has a rotation shaft 22 orthogonal to the second flexible arm 14 (perpendicular to the paper surface), and is rotated by, for example, a motor 20. The rotating shaft 22 has a hollow arm 23.
Is provided, and the arm 23 is rotatable about the rotation shaft 22. Further, an arm 24 is provided inside the arm 23 so as to be rotatable around the central axis of the arm 23, and is rotated by the motor 21. A CCD camera 15 is attached to the tip of the arm 24 via a platform 25.
Is attached.

When the motor 20 rotates, the arm 23 rotates so that the CCD camera 15 can rotate about ± 65 degrees with respect to the second flexible arm 14 in the up and down direction. When the motor 21 rotates, the arm 24 rotates so that it can rotate about 100 degrees (FIG. 2).
(B)).

An actuator 26a of the posture compensation mechanism 26 is formed by these motors 20 and 21, and the posture of the CCD camera 15 is controlled. Therefore CC
The mechanism for operating the D camera 15 includes flexible arms 13 and 14 having three degrees of freedom and a posture compensation mechanism 2 having two degrees of freedom.
With 6 there are a total of 5 degrees of freedom. Due to the mechanical restrictions of the flexible arms 13 and 14, the posture compensation mechanism was manufactured at 1 kg or less, so there is no mechanism corresponding to the degree of freedom for controlling the direction around the optical axis of the CCD camera 15, but A control mechanism for controlling the direction around the axis may be provided.

A code 27 (for video signals, etc.) of the CCD camera 15, a motor drive code (not shown), and an acceleration sensor signal code 28 are wound around the first and second flexible arms 13, 14. It is connected to the camera position control means 35.

FIG. 3 is a block diagram of a control system for controlling the camera operating robot shown in FIG.

The system shown in FIG. 3 has a CCD camera 1
5, a joystick 29, a controller 30, drive units 31, 32, a monitor 15M, and a flexible arm system 34.

The joystick 29 is used by the operator to generate a command signal for instructing the camera-operated robot about the visual target position. When the controller (eg, microcomputer) 30 receives a command signal from the joystick 29, both flexible arms 13, 1
4. A drive unit 31 that drives a flexible arm system 34 including an angle sensor and an acceleration sensor and a drive unit 32 of the attitude compensation mechanism 26 of the camera 15 are driven and monitored. C with the flexible arm system 34, the posture compensation mechanism 26 and the CCD camera 15.
A CD camera operation system 33 is configured. A monitor 15M is connected to the CCD camera 15, and the operator can use the joystick 29 to monitor the CCD while looking at the monitor screen of the object.
The position and direction of the camera 15 can be operated.

The command direction of the joystick is based on the coordinate system fixed to the CCD camera (monitor screen). As the joystick 29, a joystick that can issue two three-degree-of-freedom commands for position control and attitude control is used.
The command value from the joystick 29 is a speed command for each axis based on the coordinate system fixed on the screen of the monitor 15M. However, as described above, although the flexible arm side has only five degrees of freedom, the attitude around the axis perpendicular to the screen may be controlled. A camera position control means 35 is formed in the microcomputer 30.

The kinematics of both flexible arms 13 and 14 of the camera-operated robot body shown in FIG. 1 will be described with reference to FIG. FIG. 4 is an explanatory diagram for explaining the kinematics of the flexible arm of the camera operation robot body shown in FIG. The posture compensation mechanism is omitted for the sake of simplicity.

First, a joint variable is θ (θ ₁ to θ ₅ ), translational elastic displacements of links l ₂ and l ₃ composed of both flexible arms 13 and 14 are δ ₂ and δ ₃ , rotational elastic displacements are φ ₂ and φ _{3, respectively.}
It is defined by the vector. Here, when the coordinate conversion matrix from the i-link coordinate system to the reference coordinate system is defined as a matrix T _j having θ and φ ₂ as variables, the position vector r of the i-link tip is defined.
_i is represented by Formula 1.

[0027]

[Equation 1]

However, d _i is each link l ₂ ,
This is the position vector of the link tip in the coordinate system fixed to l ₃ .

[0029]

## EQU00002 ## d _i = [l _i + δ _xi d _i + δ _yi δ _zi ] ^T where l _{i is the} link length, d _{i is the} joint offset, and the attitude matrix of the CCD camera 15 is defined as T ₅ .
The offset between the posture compensation mechanism 26 and the optical axis of the camera is considered to be minute, and the posture control axes are considered to intersect at one point.

Next, a Jacobian matrix for correcting an error in the position of the tip portion 14a of the second flexible arm 14 is derived from the derived kinematics. The position vector r of the tip of the second flexible arm 14 (CCD camera 15) can be obtained by setting i in Equation 1 to 3. This r is a joint variable θ, an elastic displacement vector e (= [δ ₂ ^T , δ ₃ ^T , δ ₂
Partial differentiation with ^T ] ^T ) gives the following expression (3).

[0031]

## EQU3 ## Δr = J _θ Δθ + J _e Δe where J _θ and J _e are defined by the equations (4) and (5).

[0032]

[Equation 4] J _θ = ∂r / ∂θ

[0033]

[Equation 5] J _e = ∂r / ∂e On the other hand, the algorithm for position control of the CCD camera 15 based on the command by the joystick operation is derived by using an approximate Jacobian matrix. However, the following assumptions were made in the derivation.

Assumption 1: In the Jacobian matrix, the elastic displacement term can be ignored as a minute term.

Assumption 2: Elastic displacement does not change around the target point.

Assumption 3: In the initial state, the target position and the tip position / posture match.

The command value by the joystick operation is C
It is defined by the coordinate system of the CD camera (the operator operates while looking at the screen). A command value relating to the position is set as Δr _jd, and an equation for obtaining a flexible arm target joint angle θ _d for realizing this command value is derived below. From the assumptions 1 and 2, the motion relational expression is simplified as shown in the equation (6).

[0038]

[Equation 6]

The joint angle Δθ _d for realizing the minute displacement of the tip portion 14a of the second flexible arm 14 to the position instructed by the joystick operation is the CCD camera 1
It is calculated by the equation 7 using the posture matrix of 5.

[0040]

[Equation 7]

When the target joint angle of the flexible arm at time i is defined as θ _d (i), the target joint angle θ _d (i) can be calculated by the equation 8 under the initial condition of assumption 3.

[0042]

For [number 8] _{θ d (i) = θ d} (i-1) + △ θ d attitude of the CCD camera 15, joystick 2
An algorithm for operating with the command value from 9 will be described.

The rotation command values from the joystick 29 based on the coordinate system fixed to the screen of the monitor 15M are defined as Δα and Δβ indicated by roll, pitch and yaw angles. However, the axis perpendicular to the screen of the monitor 15M (axis of the CCD camera 15)
There is no control axis for the surroundings, so no command is given. When the target posture matrix at time i is defined as T _d (i) similarly to the target value of the position, it is obtained by the following formula 9 under the initial condition of assumption 3.

[0044]

Equation 9] _{T d (i) = T d} (i-1) A 6 T od However, A ₆ is computationally a portion missing degree of freedom in a posture transformation matrix set the theta _6-axis virtually It is a matrix for correction. Further, _Tod is a matrix shown in the following Expression 10.

[0045]

[ _Mathematical formula-see original _document ] T _od = R _ot (y ₆ , _Δβ ) R _ot (x ₆ , Δα) where R _ot (i, φ) is a rotation matrix that rotates φ around the i axis. The angle command values θ _4d and θ _5d can be obtained by solving the following equation 11 using the tip posture matrix T ₃ of the second flexible arm 14.

[0046]

## EQU11 ## T _d (i) = T ₃ A ₄ A ₅ A ₆ However, the rotation matrix represented by A ₄ , A ₅ : θ _4d , θ _5d Vibration suppression control is a three-dimensional spring (both flexible arms 1
(3, 14 elasticity) and the vibration gain model based on the CCD camera 15 and the masses of the flexible arms 13 and 14 are modeled using the joint angles of the flexible arms 13 and 14 as parameters. In order to control the entire working (imaging) area of the camera-controlled robot, a gain map divided into joint angles at appropriate intervals was created in advance. For any angle, the vibration is suppressed in the entire work area by linearly interpolating the gain.

FIG. 5 is a block diagram for explaining the camera position control means 35 for controlling the operations of the flexible arm system and the attitude compensation mechanism shown in FIG.
Note that the CCD camera and monitor are omitted in FIG. 5 for the sake of simplicity.

Reference numeral 30a is a visual target position compensation algorithm built in the microcomputer 30. The flexible arm system 34 includes an actuator 37 for turning and turning the first and second flexible arms 13, 14, an encoder 38 as an angle sensor for detecting a turning angle, a tilt angle, and a bending angle, and an acceleration sensor 39. It consists of and. The actuator 37 is the motor 101
a, 102a, 103a.

Reference numeral 40 is a visual position feedback gain circuit, which includes first and second flexible arms 13 and 14.
The actuator 37 for controlling the turning, raising and lowering, is controlled.

Reference numeral 41 denotes a vibration suppression model based on the elasticity of both flexible arms 13 and 14 and the mass of the CCD camera 15 and the like, and the joint angles of both flexible arms 13 and 14 (angle of elevation of first flexible arm 13 and first flexible arm 13). 9 is a gain table of feedback gains obtained by modeling with a bending angle between the arm 13 and the second flexible arm 14) as a parameter. 42 is a distortion calculation circuit, and 43 is a gravity compensation circuit. Since it is necessary to consider the gravity strain component in the target value of the strain in the state feedback, a gravity strain calculation circuit 44 for calculating the weight from the target joint angle θ _d is added.

On the other hand, the posture compensation mechanism 26 comprises an actuator 26a and an encoder 45 for detecting the tilt angle and the turning angle of the CCD camera 15. 46,4
Reference numeral 7 is a differential element, and 48 is a proportional coefficient. In this embodiment, a torque command (current control) type driver is used for both the flexible arms 13 and 14, and the attitude compensation mechanism 2 is used.
6 uses a speed command type driver.

Next, the operation of the camera operating robot will be described.

When the operator operates the joystick 29 to set the visual target position, the microcomputer 30
According to the visual target position compensation algorithm 30a, the actuators 26 of both flexible arms 13 and 14 have the optimum turning angle θ ₁ , tilt angle θ ₂ and bending angle θ ₃ for moving the CCD camera 15 from the current position to the visual target position.
a and 37 are driven. Along with this, the camera position control means 3
5 obtains a camera position based on the information on the angles and accelerations from the sensors 38 and 39, and moves the CCD camera 15 to the visual target position.

For example, as shown in FIG. 6, the position of the tip portion 14a of the second flexible arm 14 is moved in parallel along the floor 55, the wall 56 and the ceiling 57 as the object to be photographed, and the second flexible arm is moved. 14 of the 14
Each stop position a (visual target position) sequentially stopped in S ₁ to S _10, the operator CCD operates the joystick 29 while viewing the screen of the monitor 15M at each stop position S ₁ to S ₁₀
The object can be photographed by changing the posture of the camera 15.

Further, as shown in FIG. 7, when there is an obstacle 58 on the front surface of the operation robot main body, the elevation angle θ such that the tip portion 13a of the first flexible arm 13 is located higher than the obstacle 58. _The CCD camera 15 is selected by selecting ₂ and selecting an angle θ ₃ such that the tip end portion 14a of the second flexible arm 14 is on the back side of the obstacle 58.
Stop behind the obstacle 58, and the operator
By operating the joystick 29 while looking at the screen, the back side of the obstacle 58 can be photographed. still,
6 and 7 are diagrams showing an operation state when the object is photographed by the camera operating robot shown in FIG. Note that the camera operating robot is shown by a symbol in the drawing for the sake of simplicity.

By the way, both flexible arms 13 and 14 of the camera operating robot are bent and distorted by their own weight, and when the CCD camera 15 is moved, further distortion is caused by inertial force. This distortion is corrected as follows.

First, the acceleration sensor 39 detects the acceleration a generated by the inertial force, and this acceleration is calculated by the distortion calculation circuit 42.
Send to. The strain calculation circuit 42 converts the acceleration into strain and calculates the elastic displacement δ. The elastic displacement δ is the addition point 49
To the visual position feedback gain circuit 40 after being differentiated by the differentiating element 46. The information of the angle θ (θ _{1 to} θ ₃ ) from the encoder 38 is the distortion calculation circuit 4
2, gravity compensation circuit 43, differentiation element 47, addition point 5
0 and the visual target position compensation algorithm 30a. The gravity compensation circuit 43 includes both flexible arms 13 and 1.
A correction amount τ _{g in} which the distortion when 4 is bent by gravity is corrected is added and input to the combining point 51. The angle θ is differentiated by the differentiation element 47 and input to the visual position feedback gain circuit 40. At the addition point 49, the gravitational strain 44 is compared with the elastic displacement δ, and the error is input to the visual position feedback gain circuit 40. The visual position feedback gain circuit 40 reads (or linearly interpolates) the correction amount for the distortion corresponding to the elevation angle θ ₂ and the bending angle θ ₃ of the flexible arms 13 and 14 from the gain table 41, and outputs the output τ _0. Is added to the combined point 51. At the addition point 51, τ ₀ and τ _g are added and input to the actuator 37. The actuator 37 is τ
Both flexible arms 13, 1 depending on the sum of ₀ and τ _g
4 is driven and adjusted so as to suppress the vibration. That is, since both flexible arms 13 and 14 are adjusted in a direction in which the strain and vibration due to the bending are suppressed, the position of the tip portion 14a of the second flexible arm 14 is stabilized at a position desired by the operator. , Each stop position S
_The CCD camera 15 does not vibrate in _{1 to} S ₁₀ .

By operating the joystick 29 at each of the stop positions S _{1 to} S ₁₀ , the elevation angle θ ₄ and the turning angle θ ₅ of the CCD camera 15 are input to the addition point 52.
At the same time, the output of the encoder 45 is input to the addition point 52. The output of the addition point 52 is input to the proportional coefficient 48, and its output V _d is input to the actuator 26a, and the attitude of the CCD camera 15 is controlled in the direction desired by the operator.

As described above, according to the present embodiment, the second flexible arm made of the lightweight rod-shaped member is provided at the tip of the first flexible arm made of the lightweight rod-shaped member, and the tip of the second flexible arm is provided at the tip of the second flexible arm. Since the camera is provided so that the attitude can be freely controlled, by bending both flexible arms, the camera can be freely moved to a high place or the back side of an obstacle, and a wide field of view can be obtained. Moreover, the weight of the operation robot body is reduced, so that the operation robot body can be easily mounted on the carriage.

Further, since both flexible arms are made of lightweight rod-shaped members, the camera bends due to the weight of both flexible arms and vibrates when moving, but the camera position control means is based on the information of the angle and acceleration from each sensor. The camera position is obtained by moving the camera to the visual target position, and the visual position feedback gain circuit is operated with the gain obtained by linearly interpolating the gain for each joint angle of the flexible arm from the gain table to determine the camera posture. Since the control is performed to control the swing, recline and bend of both flexible arms while suppressing the vibration due to the elasticity of both flexible arms, the first and second flexible arms may vibrate when the camera reaches the visual target position. Without, stable images can be obtained.

[0061]

In summary, according to the present invention, the following excellent effects are exhibited.

(1) First and second made of lightweight rod-shaped members
Since the flexible arm is used, the camera can be freely moved to a high place or the back of an obstacle, and a wide field of view can be obtained. Moreover, the weight of the operation robot body can be reduced, so that it can be mounted on a trolley.

(2) The first and second flexible arms are distorted by their weight and vibrate when they move, but since the camera position control means adjusts both flexible arms so as to suppress distortion and vibration, It is possible to obtain a stable photographed image.

[Brief description of drawings]

FIG. 1 is an external view of an embodiment of a camera operating robot of the present invention.

FIG. 2 is an enlarged view of a camera of the camera operating robot shown in FIG.

FIG. 3 is a configuration diagram of a control system for controlling the camera operating robot shown in FIG.

FIG. 4 is an explanatory diagram for explaining the kinematics of the flexible arm of the camera-operated robot body shown in FIG.

5 is a block diagram for explaining camera position control means for controlling the operations of the flexible arm system and the posture compensation mechanism shown in FIG.

6 is a diagram showing an operation state when the object is photographed by the camera operating robot shown in FIG.

FIG. 7 is a diagram showing an operation state when the object is photographed by the camera operating robot shown in FIG.

FIG. 8 is a conventional example of a camera operating robot.

FIG. 9 is another conventional example of a camera operating robot.

[Explanation of symbols]

 10 pedestal 11 body part 12 head part 13 first flexible arm (arm) 14 second flexible arm (arm) 15 camera (CCD camera) 15M monitor 19,104 acceleration sensor 16 operation robot body 29 joystick 30 controller (micro) Computer) 35 Camera position control means 40 Visual position feedback gain circuit 41 Gain table 53 Car 101a, 102a, 103a Motor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Kitayama 3-15-1 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center

Claims (2)

[Claims] 1. In a camera operation robot for moving a camera for photographing an object to a visual target position, a first flexible arm made of a lightweight rod-shaped member is provided on a pedestal so as to be horizontally rotatable and lie down. With that first
The flexible robot is provided with a second flexible arm that can be bent in the up and down direction at the tip of the flexible arm, and an operation robot body that has a camera at the tip of the second flexible arm for posture control, and both flexible arms. An angle sensor for detecting the horizontal turning angle, the elevation angle, and the bending angle, and an acceleration sensor provided at each of the tips of the first and second flexible arms for detecting accelerations in the lying direction and the horizontal turning direction. The detected values of the angle sensor and the acceleration sensor are input and the visual target position of the camera is input, the camera position is obtained from the angle sensor, the camera is moved to the visual target position, and the posture of the camera is controlled, and Vibration of the first and second flexible arms is suppressed by the weight of the camera and the acceleration value of the acceleration sensor while moving. While the first and second camera operation robot, characterized in that a camera position control means for controlling each of the swing and Fukuossha-bending of the flexible arm. 2. The actuator for causing the first and second flexible arms to swivel, lie down, and bend based on the elasticity of the visual target position angle sensor, the acceleration sensor, the flexible arm, and the mass of the camera or the like, and the camera position control means. In order to determine the visual position feedback gain circuit that controls the optical position feedback gain circuit and the optimal state feedback gain of the visual position feedback gain circuit, a vibration suppression model based on the elasticity of the flexible arm and the mass of the camera is modeled with the joint angle of the flexible arm as a parameter. And a gain table of a feedback gain obtained by converting the gain to a value obtained by linearly interpolating the gain for each joint angle of the flexible arm from the gain table to operate the visual position feedback gain circuit to perform vibration control. The camera control robot described To.