JPH0787541B2 - Image information transmission device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to an image information transmission device using a television camera.

(Prior Art) In a system such as a mobile robot that needs to move toward a work position while avoiding obstacles,
An image information transmission device for taking in environmental information is required. For example, in a mobile robot system equipped with a remote-controlled manipulator, in general, a stereoscopic television camera is installed behind the manipulator in order to confirm the position and orientation of the manipulator, the workplace, and facilitate movement control, and The manipulator can be operated and its movement can be controlled while observing the stereoscopic TV monitor. Usually, the TV camera has a zoom function, and the pan / tilt function that supports the camera has a pan / tilt function. By making the most of these functions, the operator can obtain realistic image information. I am allowed to do so.

However, a stereoscopic TV camera has a limited field of view, and the blind spot region is inevitably wide. Therefore, if the work or environment becomes complicated, the workability of the manipulator is significantly reduced. For this reason, conventionally, in addition to the stereoscopic TV camera, auxiliary TV cameras are arranged in several places, or auxiliary TV cameras equipped with a camera arm that can change the observation position are installed. Then, it monitors the blind spots and work areas that cannot be seen with a stereoscopic TV camera. However, the method of installing auxiliary TV cameras at multiple locations requires camera control units for the number of TV cameras, which inevitably complicates the entire image information transmission system. In addition, in the method of mounting the auxiliary TV camera on the variable position arm, the number of auxiliary TV cameras can be reduced, but on the other hand, not only the arm but also the motor for driving the arm and the driver are required. There was a problem that the overall weight increased and the overall price increased accordingly.

Therefore, in order to solve such a problem, an auxiliary television camera is mounted on an element attached to the manipulator and remotely operated, for example, an arm of a crane device arranged for supporting the manipulator in the vicinity of the manipulator. It is conceivable to use the same for variable position of the auxiliary TV camera. With this configuration, it is not necessary to provide a variable arm dedicated to the auxiliary TV camera, and therefore the entire image information transmission system can be greatly simplified.
However, the crane device is for supporting the manipulator, and in many cases, the crane device has to operate in cooperation with the manipulator. For this reason, even if an auxiliary TV camera is mounted on the crane arm, when the crane arm performs the original support operation, the field of view of the auxiliary TV camera moves with this support operation, and as a result, the area required by the operator is reduced. There was a problem that images could not be obtained.

(Problems to be Solved by the Invention) As described above, in the image information transmission device in which the television camera is attached to the remote-controlled movable body mainly used for another purpose, the movable body is commonly used for changing the camera position. On the other hand, there is a problem that the image information of the target area cannot be obtained when the movable body performs the original operation.

Therefore, the present invention does not impair the advantages of mounting the television camera on a remote-controlled movable body mainly used for another purpose, and even when the movable body performs its original operation, this operation is performed. It is an object of the present invention to provide an image information transmission device that can always transmit image information in a target area without being affected by the above.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, in the invention according to claim 1,
An image information transmission device comprising a television camera and an image receiving device for displaying an image captured by the television camera, wherein the television camera is attached to a remote-controlled movable body mainly used for another purpose. A platform for movably supporting the movable body with respect to the movable body, a means for irradiating a light beam on an object surface in a visual field target by the television camera to form a light spot, and a visual field for the television camera. The coordinates of the light spot on the image pickup element of the television camera obtained when the target visual field is set are used as a reference, and the reference coordinates and the coordinates of the light spot at the present time are compared to each other. Means for detecting a change in the visual field, and the pan head for keeping the visual field of the television camera in the target visual field region corresponding to the visual field change detected by the means And a direction control means for controlling.

Further, in the invention according to claim 2, the movable body is configured above the remote-controlled manipulator and by an arm of a crane device that supports the manipulator.

(Operation) In the invention according to claim 1, when the movable body moves, the field of view of the television camera also changes. At this time, the change of the visual field is detected by the detecting means. And
The direction control means controls the platform in order to keep the field of view of the television camera in a certain area in accordance with the change in the field of view. Therefore, the field of view captured by the television camera is kept unchanged even if the movable body moves to perform another operation. For this reason, it is possible to prevent the movement of the field of view of the TV camera, which is likely to occur when the movable body is also used as a camera arm, by mounting the TV camera on a remote-controlled movable body mainly used for another purpose. It will be possible.

Further, in the invention according to claim 2, since the field of view of the television camera does not change even if the arm of the crane device supporting the manipulator is moved, the operability of the manipulator is not adversely affected.

(Example) Hereinafter, an example will be described with reference to the drawings.

FIG. 1 shows the external appearance of a pole-mounted hot-line work robot 1 equipped with an image information transmission device according to an embodiment of the present invention. This work robot 1 has an insulator 4 supported by, for example, a D-shaped metal fitting 3 fixed to the upper end of a telephone pole 2.
Used when replacing a, 4b, 4c with the distribution line 5 energized.

The work robot 1 is roughly divided into a vehicle 11, a boom 12 which is mounted on the vehicle 11 so as to be swingable, erectable, and extendable and retractable, and swingably attached to the tip of the boom 12. The working base 13, the working manipulator 14 whose base end is fixed to the lower surface of the working base 13, and the crane device 15 installed on the upper surface of the working base 13.

The boom 12 is rotatable around the axis 16 and
It is mounted so that it can be lifted up and down around the center 17, and the part between the shaft center line 17 and the tip is formed to be expandable. Further, the working base 13 is attached so as to be rotatable about an axis 18 as a center. Then, the turning angle θ of the boom 12
₁ , undulation angle θ ₂ , length L, turning angle of working base 13 θ ₃
In the control of, the operator 21 operates the corresponding lever of the operation panel 20 installed in the cabin 19 on the vehicle 11,
This is done by driving a hydraulic motor or the like.

The work manipulator 14 is composed of a slave manipulator of a master slave manipulator. The master manipulator is arranged in the cabin 19 and is operated by the operator 21, as indicated by 22 in FIG. That is, the working base mentioned above
At the position where the hand part of the work manipulator 14 can be observed from the back on the outer surface of the pan 13, a pan / tilt function is provided.
An autofocus stereoscopic TV camera 24 is installed via 23, and a stereoscopic monitor TV 25 for displaying an image obtained by the stereoscopic TV camera 24 is arranged in the cabin 19. In this robot, the operator 21 operates the master manipulator 22 while observing the movement of the work manipulator 14 on the stereoscopic monitor TV 25, thereby causing the work manipulator 14 to perform the work.
The platform 23 is controlled by operating a dedicated lever provided on the operation panel 20.

As shown in FIG. 2, the crane device 15 includes a crane arm 31, one end of which is cantilevered with respect to the working base 13 and which is provided so as to be capable of undulating and swinging around the support portion. A hoisting drive mechanism 33 composed of a hydraulic motor or the like that changes the hoisting angle of the crane arm 31 about the axis 32, and a motor or the like that changes the turning angle of the crane arm 31 about the axis 18. A swing drive mechanism 34 configured, a hook portion 35 at the tip portion, and a winding wire 37 that is hung down via the pulley 36 provided at the free end portion of the crane arm 31 at this tip portion, It is composed of an electric winch mechanism 38 for selectively raising and lowering the wire 37. Then, the up-and-down drive mechanism 33, the swing drive mechanism 34, and the winch mechanism 38 are controlled by operating the lever on the operation panel 20 installed in the cabin 19.

An image pickup unit 42 forming a part of the image information transmission device 41 according to the present invention is arranged at the lower end of the free end of the crane arm 31, and an image receiving unit forming the remaining main part is provided in the cabin 19. The part 43 is arranged.

As shown in FIG. 3, the image pickup unit 42 is provided around the orthogonal three axes (α, β,
γ) rotatable pan head 44, and an autofocus type auxiliary TV camera 46 mounted on this pan head 44 with the lens 45 side facing down.
And a controller 47 that is attached to the platform 44 and operates using the built-in battery as a power source.

When the rotation angle control signal S ₁ is given from the outside via the antenna 48, the controller 47 responds to the signal S ₁ and causes the platform 44 to respond.
A drive function for controlling the rotation angles α, β, γ of each axis, a function for detecting the current rotation angles α, β, γ and transmitting the angle signal S ₂ via the antenna 48, and an auxiliary television camera. It has a function of transmitting the video signal S ₃ obtained at 46 via the antenna 48.

On the other hand, the image receiving section 43 is constructed as shown in FIG.
That is, it is composed of a transceiver 50 having an antenna 49, a visual field control device 51, and a monitor television 52 arranged adjacent to the stereoscopic monitor television 25. View control device 51
Is composed of a video analysis device 53, a reference information storage device 54, a comparison device 55, a signal distribution device 56, and a rotation angle signal generation device 57. That is, the video signal S ₃ received via the transceiver 50 is introduced into the video analysis device 53,
Then, the video signal S ₃ and the coordinate signal S ₄ related to the position of the feature point in the image sensor are output. There are various methods for selecting the characteristic points. In this embodiment, as shown in FIGS. 2 and 3, the beam projector is provided on the working base 13 via the pan swivel mechanism 58 and the tilt swivel mechanism 59.
A light spot 62 is formed on the surface of an object 61 to be observed with this beam projector 60, and an image of this light spot 62 is used as a feature point. Then, the video signal S ₃ and the coordinate signal S ₄ are compared with each other by the comparison device 55.
Is given to one input end. In addition, the light spot 62 read from the reference information storage device 54 is input to the other input terminal of the comparison device 55.
The reference coordinate signal S ₅ in the image pickup device is given. The comparator 55 allows the video signal S ₃ to pass as it is, and outputs the difference signal S ₆ between the two signals as the coordinate signal. A signal distribution device is provided with the signal in which the difference signal S ₆ and the video signal S ₃ are superimposed.
The signal is sent to 56, and the two signals are separated by this signal distribution device 56, and the video signal S ₃ is given to the monitor television 52 and the difference signal S ₆ is given to the rotation angle signal generation device 57. Rotation angle signal generator 57
Is the difference signal S _6, the rotation angle control signals S ₁ to the differential signal S ₆ based on the angle signal S ₂ received via the transceiver 50 can be zero
Is calculated and given to the transceiver 50.
Reference numeral 63 in FIG. 4 indicates a switch used when changing the reference coordinate signal S ₅ stored in the reference information storage device 54. That is, when changing the reference coordinate signal S ₅ , do the following. First, when the switch 63 is turned on, the comparison device 55 switches so that only the video signal S ₃ is output. In this state, the pan turning mechanism 58 and the tilt turning mechanism 59 are controlled to move the position of the light spot 62 on the observation target 61 to a desired position. Next, while observing the monitor television 52, the position of the crane arm 31 of the crane device 15 is controlled so that the light spot 62 is located at a desired position on the screen. When the switch 63 is turned off in this state, the light spot coordinates in the image pickup element at that time are stored in the reference information storage device 54 as the reference coordinate signal S ₅ .

Next, an operation example of actually replacing the insulators 4a, 4b, 4c using the pole-mounted hot-line work robot 1 configured as described above will be described.

First, the vehicle 11 is stopped near the target electric pole 2.
At this time, it is assumed that the auxiliary TV camera 46 faces downward and the switch 63 is kept in the ON state. In this state, the operator 21
Directly looking at 14 or operating the boom control lever and the working base control lever of the operation panel 20 while observing the three-dimensional monitor TV 25 and the monitor TV 52, which causes the work manipulator 14 to operate the D-shaped bracket 3 Turn angle θ ₁ , undulation angle θ ₂ , length so that it is located right next to
Adjust L and turning angle θ ₃ . That is, 3D monitor TV 2
The environment in the vertical direction can be confirmed with 5, and the environment in the horizontal direction can be confirmed with the monitor TV 52.

Next, the platform 23 is controlled to match the viewpoint of the stereoscopic TV camera 24 with the work target. Further, the crane arm 31 is controlled to position the auxiliary TV camera 46 above the work target. Next, the position of the beam projector 60 is controlled to form the light spot 62 on the surface of the work target or the object located in the vicinity thereof.
Then, the position of the crane arm 31 is controlled so that the light spot 62 is located at a desired position on the screen of the monitor television 52, and the switch 63 is turned off in this state. By this switching, the light spot 62 in the image sensor at that time is changed.
Is stored in the reference information storage device 54 as the reference coordinate signal S ₅ .

Next, by operating the master manipulator 22 while observing the stereoscopic monitor television 25 and the monitor television 52 in the cabin 19, the work manipulator 14 is made to perform insulator replacement work. In this case, since the stereoscopic television camera 24 is arranged behind the work manipulator 14 and at a position where the hand portion can be observed, the eye position of the operator 21 with respect to the master manipulator 22 and the stereoscopic monitor TV.
It is possible to make the viewing direction 25 substantially the same as the position and viewing direction of the stereoscopic television camera 24 with respect to the working manipulator 14, and the intuitive remote operation by the operator 21 can be realized without any trouble. Further, the monitor TV 52, which displays the image obtained by the auxiliary TV camera 46 attached to the free end of the crane arm 31, monitors the whole place where the work manipulator 14 is working, and the stereoscopic TV camera 24 takes an image. Since it is possible to monitor the blind spot area that cannot be performed, it is possible to realize safer and faster work.

By the way, when it is necessary to suspend or position a heavy object that cannot be handled by the work manipulator 14 during work, the crane device 15 must be used. The work performed by the crane device 15 involves turning, hoisting and hoisting operations of the crane arm 31 and the winch mechanism 38. For this reason, the field of view of the auxiliary television camera 46 changes, and it becomes difficult to monitor on the monitor television 52.

However, in this embodiment, the controller is provided on the side of the auxiliary TV camera 46.
Since the visual field control device 51 is provided on the cabin 19 side as well as 47, the visual field image of a certain area can always be displayed on the monitor television 52 even if the crane arm 31 performs a turning motion or a undulating motion. That is, the reference information storage device 54
The coordinates of the light spot 62 set at the start of work in the image sensor are stored as the reference coordinates. When the turning angle and the undulating angle are controlled in order to perform work with the crane arm 31, the visual field area of the auxiliary television camera 46 tends to move accordingly. When the actual field of view of the auxiliary television camera 46 changes, the coordinates of the light spot 62 in the image sensor at that time also differ from the reference coordinates stored in the reference information storage device 54. When a difference occurs between the two coordinates in this way, the comparison device 55 outputs the difference signal S ₆ .
This difference signal S ₆ is given to the rotation angle signal generator 57. Rotation angle signal generator 57 calculates the difference signal S _6, the rotation angle control signals S ₁ capable of the difference signal S ₆ to zero on the basis of the angle signal S ₂ received via the transceiver 50, which To the controller 47 via the transceiver 50. The controller 47 controls the rotation angles α, β, γ of the platform 44 based on the received rotation angle control signal S ₁ . Therefore, even if the crane arm 31 moves to perform its original work, the field image of a certain area is always displayed on the monitor television 52. Therefore, it becomes possible to improve operability.

It should be noted that the present invention is not limited to the above-described embodiment, but can be variously modified. That is, in the above-described embodiment, the video signal obtained by the auxiliary television camera 46 is analyzed to detect the change in the visual field of the auxiliary television camera 46.
The factor that changes the field of view in this way is the movement of the crane arm 31. Therefore, the platform that supports the auxiliary TV camera 46 based on the turning angle and the undulating angle of the crane arm 31.
The angles α, β, γ of the axes of 44 may be controlled to keep the visual field area of the auxiliary television camera 46 within a certain range.

FIG. 5 shows an example in which the turning angle ε and the undulation angle δ of the crane arm 31 are input to control the angles α, β, γ as described above. In this figure, the same parts as those in FIG. 2 are designated by the same reference numerals. In this example the crane arm
The rotation angle detector 70 is attached to the undulation angle control mechanism 33 for controlling the undulation angle δ of 31 and the rotation angle detector 71 is attached to the rotation angle control mechanism 34 for controlling the rotation angle ε.
Output signals S ₇ and S ₈ of 70 and 71 are introduced to the image receiving unit 43a. As shown in FIG. 6, the image receiving unit 43a includes a transceiver 50 having an antenna 49, a visual field control device 51a, and a monitor television 52. Field control device 51a is introduced a signal S ₇ and the signal S ₈ to the angle analyzer 72. Then, the comparison device 74 compares the output signal S ₉ of the angle analysis device 72 with the reference signal S ₁₀ read from the arm basic posture storage device 73,
The difference signal S ₁₁ is introduced into the platform correction signal calculation device 75 to calculate the correction signal S ₁₂ . In addition, an angle signal S ₃ corresponding to the actual angles α, β, γ of the pan head 44 and the correction signal S ₁₂ received via the transceiver 50 are sent to the pan head control signal generation device 76.
The pan head control signal generation device 76 forms a rotation angle control signal S ₁ that can keep the field of view of the auxiliary television camera 46 constant, and transmits this signal S ₁ to the controller 47 via the transceiver 50. I am trying. Then, the video signal S ₃ received by the transceiver 50 is given to the monitor television 52. Even with such a configuration, it is possible to always display an image of a certain area on the monitor television 52.

Further, a means for controlling and adjusting the zoom value of the auxiliary television camera may be added to keep the size of the image in the visual field area displayed on the monitor television constant even when the crane arm moves largely. In addition, in the example shown in FIGS. 1 to 4, a characteristic light spot is provided in the image in order to detect a change in the visual field of the auxiliary television camera by image analysis. It is also possible to use departments. Further, in each of the examples described above, transmission and reception of a signal between the image pickup unit and the image receiving unit are performed by using radio waves, but if there is no problem in electrical insulation, it may be performed by wire. May be. Furthermore, although the above-described examples are examples in which the TV camera is mounted on the crane arm that is remotely operated by the operator, the present invention is also applied to the case where the TV camera is mounted on another movable body that is remotely operated by the operator. be able to. Besides, various modifications can be made without departing from the scope of the present invention.

[Advantages of the Invention] As described above, according to the image information transmission device of the present invention, a remote-controlled movable device that makes a relatively large movement such as a crane arm and is mainly used for another purpose. Even when a TV camera is mounted on the body, it is possible to transmit stable images that are not affected by the movement of the movable body.

In particular, in the invention according to claim 1, the television camera sets the visual field of the television camera as the target visual field in advance by irradiating the object surface in the target visual field with a light beam to form a light spot. Since the coordinates of the light spot on the image pickup device of the TV camera obtained at the time are used as a reference, and the reference coordinates are compared with the coordinates of the light spot at the present time to detect the change in the field of view of the TV camera. ， It is not necessary to know the coordinates of the target site space in advance, and it can be used in any target site. In addition, since the light spot is used as a reference position mark, the direction of the TV camera can be controlled without being affected by the complexity and contrast of the object in the target field of view, and the reliability of the device is improved. Can be made.

Further, in the invention according to claim 2, since the field of view of the television camera does not change even if the arm of the crane device supporting the manipulator is moved, the operability of the manipulator is not adversely affected.

[Brief description of drawings]

FIG. 1 is an external view of a pole live work robot incorporating an image information transmission device according to an embodiment of the present invention, and FIG. 2 is an external view of a crane device incorporated in the robot, and FIG. FIG. 4 is a diagram for explaining a configuration of an image pickup unit in the image information transmission device, FIG. 4 is a diagram for explaining a configuration of an image reception unit in the image information transmission device, and FIG. 5 is a schematic view of a modified example of the image information transmission device. FIG. 6 is a diagram for explaining the configuration, and FIG. 6 is an explanatory diagram of the configuration of the image receiving unit in the apparatus. 1 …… Robots for live work on poles, 11 …… Vehicles, 12 …… Booms, 13 …… Working bases, 14 …… Working manipulators, 15 …… Crane devices, 19 …… Cabins, 20 …… Operating panels , 21 …… Operator, 22 …… Master manipulator, 2
4 …… 3D TV camera, 25 …… 3D monitor TV, 31…
… Crane arm, 33 …… Release drive mechanism, 34 …… Rotation drive mechanism, 41,41a …… Image information transmission device, 42 …… Imaging unit, 43,43
a …… Image receiving part, 44 …… Pan head, 46 …… Auxiliary TV camera, 47…
… Controller, 51, 51a …… Field of view controller, 52 …… Monitor TV.

Front page continuation (72) Inventor Hiroyuki Banba, 1 Komukai Toshiba-cho, Sachi-ku, Kawasaki-shi, Kanagawa Inside Toshiba Research Institute Co., Ltd. (56) Reference JP 54-114119 (JP, A) -124490 (JP, U) Actually open Sho 61-149475 (JP, U)

Claims (2)

[Claims] 1. An image information transmission device comprising a television camera and an image receiving device for displaying an image captured by the television camera, wherein the television camera is attached to a remote-controlled movable body mainly used for another purpose. A pan head for movably supporting the television camera with respect to the movable body, means for irradiating a light beam on an object surface in a field of view targeted by the television camera to form a light spot, The coordinates of the light spot on the image sensor of the television camera obtained when the field of view of the television camera is set as the target visual field are used as a reference, and the reference coordinates and the coordinates of the light spot at the present time are compared. Means for detecting a change in the visual field of the television camera, and the visual field of the television camera is kept in the target visual field region in correspondence with the visual field change detected by the means. Image information transmitting apparatus characterized by comprising; and a direction controlling means for controlling the Ku the pan head. 2. The image information transmission device according to claim 1, wherein the movable body is an arm of a crane device above the remote-controlled manipulator and assisting the manipulator.