JPH08107516A - Stereoscopic camera universal head apparatus for construction robot and automatic stereoscopic camera tracking device for construction robot - Google Patents

Abstract

PURPOSE: To provide a stereoscopic camera universal head for construction robot and an automatic tracking device with which the visual information of a remote construction robot can easily be provided to an operator. CONSTITUTION: When the operator vertically moves the head, a six-spindle magnetic sensor outputs a tilt signal and when the operator moves the head to swing it to right and left, a pan signal is outputted. While receiving that output signal, a controller 23 rotates a horizontal driving part 16 to perform the tilt move of left and right eye cameras 20 and 21 and rotates a vertical driving part 15 to perform the pan move of the left and right eye cameras 20 and 21. Besides, the stroke of the hydraulic actuator of a working machine is detected by a detecting means and while receiving a detecting signal detecting the position of the working machine, the controller 23 rotates the horizontal driving part 16 to perform the tilt move of the left and right eye cameras 20 and 21 and rotates the vertical driving part 15 to perform the pan move of the left and right eye cameras 20 and 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a remote type construction robot,
For example, the present invention relates to a stereoscopic camera automatic tracking device for a construction robot used for monitoring a remote control backhoe, a remote control robot, a work machine (manipulator) of a remote control hydraulic excavator, and the like.

[0002]

2. Description of the Related Art When a remote-type construction robot, for example, a remote-controlled hydraulic excavator is operated by an operator, the work can be visually confirmed if it is about several tens of meters,
When it reaches 00 m, it is impossible to perform the work with the naked eye.

For this purpose, a camera for monitoring the movement of the working machine (bucket) of the remote-controlled hydraulic excavator is provided on the vehicle body of the remote-controlled hydraulic excavator, and a display for displaying a photographed image of the camera is arranged in front of the operator's seat. The operator operates the control lever while controlling the operation of the work machine by this display.

In this case, since the working machine is moved according to the operation control, the camera is attached to the electric swing platform so that the direction, the position, etc. can be remotely controlled so that the movement can be monitored. The remote operation has been performed by the operator manually operating a control lever arranged at the operator's seat.

[0005]

However, when a stereoscopically visible two-lens camera is mounted at a position where a remote-controlled hydraulic excavator can be easily observed for work, when the situation is grasped, all work is performed within the angle of view of the camera. It is difficult to post the situation, and it is necessary to have an operation device of a stereoscopic camera that can overlook the whole work instantly and a device that automatically follows the work target.

The present invention has been made in view of the above problems in the prior art. A left-eye camera and a right-eye camera capable of stereoscopic vision are mounted at positions where it is easy to observe the work of a remote type construction robot. It becomes easier to grasp, the visual information of the remote type construction robot can be easily presented to the operator, and the operator can see the stereoscopic image in the direction he wants to confirm by using the stereoscopic camera platform device for the construction robot. The purpose is to provide. Further, the present invention can easily present the visual information of the remote construction robot to the operator, and the operator can always observe the work object without any operation, and the operator can always use only the operation switch of the work machine. It is an object of the present invention to provide a stereoscopic camera automatic tracking device for a construction robot that can be operated when operated.

[0007]

In order to achieve the above object, a stereoscopic camera platform for a construction robot according to the present invention comprises a camera unit having a left-eye camera and a right-eye camera, and the camera unit to the left and right. A vertical drive unit for swinging the head, a horizontal drive unit for swinging the camera unit up and down, and a tilt signal when the operator moves the head up and down to move the head, while moving the head left and right. Head position detecting means for outputting a pan signal when the head is rotated to move to the left and right, and the horizontal drive section is controlled by receiving a tilt signal from the head position detecting means to control the camera unit. A vertical movement of the camera unit, and a control means for receiving the pan signal and controlling the vertical drive unit to swing the camera unit left and right. To.

In order to achieve the above object, the stereoscopic camera platform for a construction robot according to the present invention adjusts the left eye camera and the right eye camera and the convergence angles of the left eye camera and the right eye camera. A camera unit having a convergence angle adjusting means, a vertical drive unit that swings the camera unit to the left and right, a horizontal drive unit that swings the camera unit up and down, and an operator swings the neck up and down. When the head is moved, the tilt signal is output and
Head position detecting means for outputting a pan signal when the head is moved left and right to rotate the head left and right, and distance measuring means for measuring a distance to an object and outputting the measured distance signal. Receiving a tilt signal from the head position detecting means to control the horizontal driving unit to swing the camera unit up and down, and receiving a pan signal to control the vertical driving unit to control the vertical driving unit. A unit that swings the unit to the left and right, and that includes a control unit that receives the measured distance signal from the distance measuring unit and controls the vergence angle of the left-eye camera and the right-eye camera provided in the camera unit. Characterize.

Further, the vertical drive unit and the horizontal drive unit include
It is preferable to use a servomotor that operates at high speed.

The moving speed for moving the camera unit up and down as well as to the left and right is 250d.
It is set to eg / s to 500 deg / s. With such a setting, the moving speed of the camera unit approximates the moving speed of the operator's head, and the visual information of the remote construction robot can be presented to the operator on time. Here, when the moving speed is less than 250 deg / s, the moving speed becomes lower than the moving speed of the operator's head, which is inappropriate. When the moving speed exceeds 500 deg / s, the moving speed becomes faster than the moving speed of the operator's head.

Further, the moving range for swinging the camera unit up and down is set to ± 35 to ± 55 deg, and the moving range for swinging the camera unit left and right is set to 350 to.
If it is set to 380 deg, the moving range of the camera unit covers the moving range of the operator's head, and the operator can always see the stereoscopic image in the direction he wants to check. Here, when the moving range for swinging up and down is less than ± 35 deg / s, the moving range is narrower than the moving range of the operator's head, which is inappropriate. In addition, the range of movement up and down is ± 55 de
When it exceeds g / s, the movement range becomes larger than the movement range of the operator's head. Further, when the moving range for swinging to the left and right is less than 350 deg / s, the moving range becomes unsuitable because it is narrower than the moving range of the operator's head. Also, the range of movement to swing left and right is 38
When it exceeds 0 deg / s, the movement range becomes larger than the movement range of the operator's head.

In order to achieve the above object, a stereoscopic camera automatic tracking device for a construction robot according to the present invention comprises a camera unit having a left-eye camera and a right-eye camera, and a vertical unit for swinging the camera unit left and right. A three-dimensional camera platform having a drive unit and a horizontal drive unit that swings the camera unit up and down, a detection unit that detects the position of the working machine, and a horizontal drive unit that receives a signal from the detection unit. Feedback control means for controlling the vertical movement of the camera unit while swinging the camera unit up and down is also provided.

In addition, in order to achieve the above-mentioned object, the construction robot automatic follow-up device for a construction robot according to the present invention adjusts the convergence angles of the left-eye camera and the right-eye camera and the left-eye camera and the right-eye camera. A camera unit having a convergence angle adjusting means for measuring, a vertical drive unit for oscillating the camera unit left and right, and a horizontal drive unit for oscillating the camera unit up and down, and measuring the distance to the object. A stereoscopic camera platform having distance measuring means for outputting a distance signal, a detecting means for detecting a position of a bucket of a working machine, and a signal from the detecting means for controlling the horizontal drive unit to control the camera unit. While vertically swinging the camera, controlling the vertical drive unit to horizontally swing the camera unit, and measuring the distance signal from the distance measuring means. Receiving and is characterized in that a feedback control means for controlling the convergence angle of the right-eye camera and the right-eye camera provided on the camera unit.

The detecting means is preferably a stroke sensor for detecting the stroke of the actuator of the working machine to detect the position of the working machine.

[0015]

In the stereoscopic camera platform for a construction robot of the present invention, the head position detecting means outputs a tilt signal when the operator moves the head by shaking the head up and down,
A pan signal is output when the head is rotated left and right and the head is rotated left and right, and the output signal is received by the control means to rotate the horizontal drive section to tilt the camera unit. Then, the left-eye camera and the right-eye camera are vertically swung (tilt movement), the vertical drive unit is rotated, and the camera unit is panned to move the left-eye camera and the right-eye camera. It can be moved to the left and right (pan movement).

Further, in the stereoscopic camera platform for a construction robot according to the present invention, the head position detecting means outputs a tilt signal when the operator moves the head by shaking the neck up and down to move the head. When turning the head to the left and right to move the head to the left and right, a pan signal is output, and the output signal is received by the control means to rotate the horizontal drive unit to tilt the camera unit. , The camera is vertically swung (tilt movement), the vertical drive unit is rotated to pan the camera unit, and the left and right eye cameras are swung left and right (pan). The control means processes the input measurement signal of the distance measuring means and outputs a control signal, and the control signal outputs the control signal to the left side provided in the camera unit. It is possible to control the convergence angle of the camera and the right-eye camera.

Further, in the automatic three-dimensional camera tracking device for a construction robot of the present invention, the detecting means detects the position of the working machine (by detecting the stroke of the hydraulic actuator of the working machine), and outputs this detection signal. The feedback control means receives and rotates the horizontal drive unit to tilt the camera unit to vertically swing the left-eye camera and the right-eye camera (tilt movement),
The vertical drive unit may be rotated to pan the camera unit, and the left-eye camera and the right-eye camera may be swung left and right (pan movement).

In addition, in the automatic three-dimensional camera tracking device for a construction robot according to the present invention, the detecting means detects the position of the working machine (by detecting the stroke of the hydraulic actuator of the working machine), and outputs the detection signal. Is received by the feedback control means to rotate the horizontal drive unit to tilt the camera unit to vertically swing the camera (tilt move) and rotate the vertical drive unit to rotate the vertical drive unit. The camera unit can be panned to pivotally move the left-eye camera and the right-eye camera to the left and right (pan movement), and the feedback control means can change the input measurement signal of the distance measuring means. By processing and outputting a control signal, it is possible to control the angle of convergence of the left-eye camera and the right-eye camera provided in the camera unit with this control signal. That.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a side view of a three-dimensional camera platform for a construction robot according to the present invention and a remote control hydraulic excavator equipped with a three-dimensional camera automatic tracking device for a construction robot according to the present invention. FIG. 2 is a three-dimensional construction robot for a construction robot according to the present invention. 3 is a perspective view of a camera platform device, FIG. 3 is a perspective view of a control device for a stereoscopic camera platform device for a construction robot according to the present invention and a stereoscopic camera automatic tracking device for a construction robot according to the present invention, and FIG. It is a block diagram.

A remote-controlled hydraulic excavator 60, which is a construction robot, has a vehicle body 2 mounted on a chassis 5 equipped with a crawler 1 through a turning mechanism 7, and a boom 3 can be raised and lowered on the vehicle body 2. An arm 4 is movably connected to the tip of the boom 3, and a bucket 6 is movably connected to the tip of the arm 4.

The vehicle body 2 is provided with a boom cylinder 8 which is a hydraulic actuator for performing the hoisting operation of the boom 3, and the boom 3 is provided with an arm cylinder 9 which is a hydraulic actuator for performing the hoisting operation of the arm 4. The arm 4 is provided with a bucket cylinder 10 which is a hydraulic actuator that moves the bucket 6 up and down.

On the vehicle body 2 of the remote-controlled hydraulic excavator 60 having the above-described overall structure, a stereoscopic camera platform 11 for a construction robot for forward monitoring is installed. As shown in FIG. 2, the stereoscopic camera platform 11 includes a platform body 14 supported by a platform 13 that also serves as a terminal box. The platform main body 14 includes a camera unit 17, a vertical drive unit 15 that rotates the camera unit 17 around the Z axis (vertical axis), and a rotary drive unit that rotates the camera unit 17 around the X axis (horizontal axis). It is composed of a horizontal drive unit 16 and a waterproof cover 18.

The vertical drive unit 15 and the horizontal drive unit 1
In order to make the moving speed of the camera unit 17 about the same as the moving speed of the human head, 360
A small servo motor that operates at a high speed of g / s is used.

Further, the movable range of the stereoscopic camera platform 11 is a pan for oscillating the left-eye camera and the right-eye camera, which will be described later, to the left and right (pan movement), and the left-eye camera and the right-eye camera are moved vertically. It is set to ± 45 deg by the pan that is swung (tilted).

The camera unit 17 has a base body 19, and the base body 19 has bracket portions 19 on both sides thereof.
A is fixed to the output shaft (not shown) of the horizontal drive unit 16 and attached to the horizontal drive unit 16. On the upper surface of the base 19, a left-eye camera 20 and a right-eye camera 21 which are CCD cameras, a convergence angle adjusting means 53 for adjusting the convergence angle θ of the left-eye camera 20 and the right-eye camera 21, and a left-eye camera 20 and a distance meter 22 which is a distance measuring unit for measuring the distance from the right-eye camera 21 to an object (for example, a dump truck). The range finder 22 measures the distance to the object and outputs the measurement signal. For the convergence angle adjusting means 53, for example, a stepping motor is used. A horizontal drive unit 16 is attached to the output side of the vertical drive unit 15.

As shown in FIG. 3, the stereoscopic camera platform 11 is shown.
Is remotely controlled by the controller 23 which is a feedback control means. As shown in FIG. 3, the control device 23 includes a hydraulic excavator 60, that is, a platform driver 24 and a camera image processing unit 25 provided on the construction robot side.
An interface 26 provided on the operator (remote control) seat side, a computer 27 and a control box 28 connected to the interface 26,
It is composed of a stereoscopic video recording / reproducing device 29 and a stereoscopic monitor 30. The control box 28 is connected to an input board (not shown) of the interface 26.

Further, the control device 23 includes a first stroke sensor 31, which is a detecting means for detecting the stroke of the boom cylinder 8, a second stroke sensor 32 for detecting the stroke of the arm cylinder 9, and a stroke of the bucket cylinder 10. Is connected to a proximity switch 36, a third stroke sensor 33 that detects the rotation angle, a 6-axis magnetic sensor 35 that is a head position detection unit that detects the rotation angle of the head 70 of the operator 34 sitting in the operator's seat.

Further, in the 6-axis magnetic sensor 35, when the operator 34 moves the head 70 by swinging his / her head up and down as shown in FIG. 5 (1) (see arrow A in FIG. 5 (1)). In the case of the movement shown), the left-eye camera 20 and the right-eye camera 21
When a tilt signal is output to move the head up and down (tilt movement) and the head 70 is rotated left and right to rotate the head 70 left and right (in the case of the movement indicated by arrow B in (1) of FIG. 5). ) To the left eye camera 20 and the right eye camera 21 to swing left and right (pan movement) to output a pan signal.

The interface 26 is connected to the input side of the pan head driver 24 by wireless transmission as a transmission means, and the output side of the pan head driver 24 is a vertical or horizontal driving unit of the stereoscopic camera pan head 11. It is connected to 15, 16 and the convergence angle adjusting means 53.

That is, as shown in FIG. 4, the interface 26 includes parallel input boards 40, 41, and 4.
2, 43, 51, an A / D conversion board 44, a D / A conversion board 45, an encoder counter 46, and a stepping motor driver 47 are provided, and these are connected in parallel to the bus. The bus is connected to the computer 27 via the bus buffer 48.

As shown in the figure, the output sides of the first, second and third stroke sensors 31, 32 and 33 are connected to the input sides of the respective signal processing units 37, 38 and 39, and the signal processing units The output sides of 37, 38, 39 are parallel input boards 40, 41, 4 of the interface 26.
Connected to 2. The output side of the 6-axis magnetic sensor 35 is the A / D conversion board 44 of the interface 26.
Is connected to the input side of the
The output side of is connected to the parallel input board 43 of the interface 26. The output side of the distance meter 22 is connected to the input side of the signal processing unit 52, and the output side of the signal processing unit 52 is the interface 26.
Is connected to the parallel input board 51 of.

The output side of the D / A conversion board 45 of the interface 26 is connected to the vertical drive unit 1 of the platform driver 24.
The servo driver 49 of the servo motor 5 of FIG. 5 and the servo driver 50 of the servo motor of the horizontal drive unit 16 are connected to the respective input sides, and the stepping motor driver 47 of the stepping motor driver 53a of the pan head driver 24 is connected. It is connected to the input side.

The encoder signal B from the servo motor of the vertical drive unit 15 is input to the servo driver 49,
The encoder signal B from the servo driver 49 is input to the encoder counter 46,
The encoder signal C from the servo motor of the horizontal drive unit 16 is input to the servo driver 50, and the encoder signal D from the servo driver 50 is input to the encoder counter 46.

Further, the left-eye camera 20 and the right-eye camera 21
Is connected to the input side of the camera video processing unit 25, and the output side of the camera video processing unit 25 is connected to the input side of the stereoscopic video recording / playback device 29 by wireless transmission as a transmission means. The stereoscopic video recording / reproducing apparatus 29 has an output side connected to the stereoscopic monitor 30.

The video transmission means for connecting the output side of the camera video processing unit 25 and the input side of the stereoscopic video recording / reproducing apparatus 29 are output by the left eye camera 20 and the right eye camera 21 as shown in FIG. A transmission side frame switching device 54 that cuts the digital video signal into frame units and alternately outputs the frames, and an antenna 55a that puts the frames output from the transmission side frame switching device 54 on the line in one frequency band And a receiver 56 including an antenna 56a for receiving the digital video signal.
A left receiving-side frame switch 57 for separating the frame of the video signal of the left-eye camera 20 from the digital video signal received by the receiver 56, and the right-eye camera from the digital video signal received by the receiver 56. The right receiving side frame switching device 58 for separating the 21 video signal frames is provided.

Next, the operation of the construction robot automatic tracking device for the construction robot constructed as described above will be described. A proximity switch detects the stroke of the boom cylinder 8 with the first stroke sensor 31, the stroke of the arm cylinder 9 with the second stroke sensor 32, the stroke of the bucket cylinder 10 with the third stroke sensor 33, and a proximity switch. 36 detects the approach of the bucket 6 to the object.

Further, the 6-axis magnetic sensor 35 swings the left-eye camera 20 and the right-eye camera 21 up and down (tilt movement) when the operator 34 swings the head up and down to move the head 70. And outputs a tilt signal to cause the left eye camera 20 and the right eye camera 21 to swing left and right (pan movement) when the head 70 is rotated left and right to rotate the head 70 left and right. To do. Further, the distance meter 22 measures the distance to the object and outputs the measurement signal.

The position of the bucket 6 during the operation of the remote-controlled hydraulic excavator 60 is determined by the expansion / contraction operation of the boom cylinder 8, arm cylinder 9 and bucket cylinder 10. Therefore, these cylinders 8, 9,
The expansion / contraction motion (stroke) of 10 is detected by the first, second, and third stroke sensors 31, 32, 33, and these detection signals are processed by the respective signal processing units 37, 38, 39 and the interface 26 of the interface 26. It is input to each of the parallel input ports 40, 41 and 42 and input to the computer 27 via the bus.

The detection signal of the 6-axis magnetic sensor 35 is input to the A / D conversion port 44 of the interface 26 and is input to the computer 27 via the bus.
Further, the measurement signal of the distance meter 22 is processed by each signal processing unit 52, input to the parallel input port 51 of the interface 26 and input to the computer 27 via the bus, and the detection signal of the proximity switch 36 is input to the interface. It is input to the parallel input port 43 of 26 and is input to the computer 27 via the bus.

The computer 27 processes each input signal and outputs a control signal. This control signal is output from the D / A conversion port 45 via the bus buffer 48 and the bus as an analog output signal to the servo driver 49. , 50, the servo driver 49 rotates the servo motor of the vertical drive unit 15, and the servo driver 50 rotates the servo motor of the horizontal drive unit 16.

The encoder signals a and c from the servo motor of the vertical drive unit 15 and the servo motor of the horizontal drive unit 16 are fed back to the respective servo drivers 49 and 50, and further, the encoder signals b and d from the servo drivers 49 and 50. Is fed back to the encoder counter 46 and input to the computer 27 via the bus.
The computer 27 outputs a control signal based on the fed back data, and again outputs the control signal to the bus buffer 4
8, sent from the D / A conversion port 45 as an analog output signal to the servo drivers 49, 50 via the bus, the servo driver 49 rotates the servo motor of the vertical drive unit 15, and the servo driver 50 causes the horizontal drive unit. Rotate 16 servomotors.

The rotation of the servo motor of the horizontal driving unit 16 tilts the base 19 of the camera unit 17, and vertically swings (tilts) the left eye camera 20 and the right eye camera 21. Further, the rotation of the servo motor of the vertical drive unit 15 pans the base 19 of the camera unit 17 to swing the left-eye camera 20 and the right-eye camera 21 left and right (pan movement).

The computer 27 processes the input measurement signal of the range finder 22 and outputs a control signal. This control signal is output from the stepping driver 47 via a bus buffer 48 and a bus. It is sent to the stepping driver 53a to rotate the stepping motor of the vergence angle adjusting means 53 to control the vergence angle θ of the left eye camera 20 and the right eye camera 21 provided in the camera unit 17, and to shift the vergence angle θ. The discomfort that comes from is eliminated.

Then, as shown in FIG. 7, the left-eye camera 20
The left-eye image captured by the right-eye camera 21 and the right-eye image captured by the right-eye camera 21 are output to the transmission-side frame switching device 54 as digital video signals, respectively.
In 4, the digital video signal is cut into blocks surrounded by a specific bit pattern, for example, a frame of several tenths of a second, and the frames are alternately output. The frame output from the transmission side frame switch 54 is transmitted by the transmitter 55 on the line in one frequency band.

In the reception side unit, the receiver 56 receives the digital video signal transmitted by the transmitter 55, and the left reception side frame switching device 57 selects the left side from the digital video signal received by the receiver 56. The frame of the video signal of the eye camera 20 is separated, and the frame switching device 58 on the right side separates the frame of the video signal of the right eye camera 21 from the digital video signal received by the receiver 56. The output from the receiving side frame switching device 57 is converted into a left image, and the output from the right receiving frame switching device 58 is converted into a right image, which is reproduced by the stereoscopic video recording / reproducing device 29 into a stereoscopic image. It is projected on the stereoscopic monitor 30.

The computer 27 processes the input detection signal of the 6-axis magnetic sensor 35 and outputs a control signal. The control signal is transmitted via the bus buffer 48 and the bus to the D / A conversion port 45. Are sent as analog output signals to the servo drivers 49 and 50, and the servo driver 49 rotates the servo motor of the vertical drive unit 15, and the servo driver 50 rotates the servo motor of the horizontal drive unit 16.

That is, the 6-axis magnetic sensor 35 when the operator 34 shakes his / her head up and down to move the head 70.
The tilt output from the computer 27 is input to the computer 27, and the servo driver 50 rotates the horizontal drive unit 16 according to a control signal from the computer 27 to tilt the base 19 of the camera unit 17 to move to the left. The eye camera 20 and the right eye camera 21 are moved vertically (tilt movement). Further, the pan output from the 6-axis magnetic sensor 35 when the head 70 is moved left and right and the head 70 is rotated left and right is as follows.
7, the servo driver 49 rotates the vertical drive unit 15 in response to a control signal from the computer 27 to pan the base 19 of the camera unit 17, thereby moving the left eye camera 20 and the right eye camera. 21 is moved left and right (panning movement).

Also in this case, the vertical drive unit 15
Encoder signals a and c from the servo motor of the servo driver and the servo motor of the horizontal drive unit 16
The encoder signals B and D from the servo drivers 49 and 50 are fed back to the encoder counter 46 and input to the computer 27 via the bus. Then, the computer 27 outputs a control signal based on the fed back data,
Again, the control signal is sent to the D / D via the bus buffer 48 and the bus.
The analog output signal from the A conversion port 45 is sent to the servo drivers 49 and 50, and the servo driver 49
Rotates the servo motor of the vertical drive unit 15, and the servo driver 50 rotates the servo motor of the horizontal drive unit 16.

Further, the operator 34 may operate the stereoscopic camera platform 11 by manually operating the control box 31.

[0049]

As described in detail above, the stereoscopic camera platform for a construction robot according to the present invention comprises a camera unit having a left-eye camera and a right-eye camera, and a vertical drive for swinging the camera unit left and right. Section, a horizontal drive section that vertically swings the camera unit, and outputs a tilt signal when the operator moves the head by swinging the head up and down and turning the neck left and right to move the head left and right. Head position detecting means for outputting a pan signal when moved to rotate, and tilting movement of the camera unit up and down by controlling the horizontal drive part in response to a tilt signal from the head position detecting means. And a control means for receiving the pan signal and controlling the vertical drive section to swing the camera unit left and right. Outputs a tilt signal when the head shakes its head up and down to move the head, and outputs a pan signal when the head rotates left and right to rotate the head left and right. The control unit receives and rotates the horizontal drive unit to tilt the camera unit to vertically swing the left-eye camera and the right-eye camera (tilt move) and rotate the vertical drive unit. Then, the camera unit can be panned and the camera can be swung left and right (panned).

Therefore, the left-eye camera and the right-eye camera capable of stereoscopic vision can be mounted at positions where the remote construction robot can easily observe the work, and the situation can be easily grasped, and the visual information of the remote construction robot can be provided to the operator. It can be easily presented, and the operator can easily see the stereoscopic image in the direction he wants to confirm.

Further, the stereoscopic camera platform for a construction robot according to the present invention is a camera having a left-eye camera and a right-eye camera and a convergence angle adjusting means for adjusting the convergence angles of the left-eye camera and the right-eye camera. Unit, a vertical drive unit that swings the camera unit to the left and right, a horizontal drive unit that swings the camera unit up and down, and a tilt signal when the operator moves the head up and down to move the head. The head position detection means that outputs a pan signal when the head is rotated left and right and the head is moved left and right, and the distance to the object is measured, and the measured distance signal is output. In response to the output distance measuring means and the tilt signal from the head position detecting means, the horizontal drive section is controlled to swing the camera unit up and down, and the pan signal is transmitted. In response to this, the vertical drive unit is controlled to oscillate the camera unit to the left and right, and the measurement distance signal from the distance measuring means is received to detect the left-eye camera and the right-eye camera provided in the camera unit. Since it has a control means for controlling the vergence angle, the head position detection means outputs a tilt signal when the operator moves the head by shaking the neck up and down, turning the neck left and right and moving the head left and right. When it is moved so as to rotate, a pan signal is output, and the output signal is received by the control means to rotate the horizontal drive section to tilt the camera unit and swing the camera vertically. (Tilt movement), the vertical drive section is rotated, and the camera unit is panned to swing the camera left and right (pan movement). Further, the control means processes the input measurement signal of the distance measuring means and outputs a control signal, and controls the convergence angle of the left eye camera and the right eye camera provided in the camera unit by this control signal. be able to.

Therefore, the left-eye camera and the right-eye camera capable of stereoscopic vision can be mounted at positions where the remote construction robot can easily observe the work, and the situation can be easily grasped. The operator can receive the visual information of the remote construction robot. It can be easily presented, and the operator can easily see the stereoscopic image in the direction he or she wants to check, and at that time, the discomfort caused by the deviation of the convergence angle can be eliminated.

In the above-described stereoscopic camera platform for a construction robot of the present invention, by using a servomotor which operates at high speed for the vertical drive unit and the horizontal drive unit, the moving speed of the camera unit can be adjusted to that of a human head. It can be similar to the speed of movement.

In addition, in the three-dimensional camera automatic tracking device for a construction robot of the present invention, the detection means detects the position of the working machine (by detecting the stroke of the hydraulic actuator of the working machine), and outputs this detection signal. Is received by the feedback control means to rotate the horizontal drive unit to tilt the camera unit to vertically swing the left-eye camera and the right-eye camera (tilt movement),
The vertical drive unit may be rotated to pan the camera unit, and the left-eye camera and the right-eye camera may be swung left and right (pan movement).

Therefore, the visual information of the remote type construction robot can be easily presented to the operator, and the operator can always observe the work object without any operation.
Therefore, the operator can always work by operating only the operation switch.

Further, in the present invention, the detecting means is
The position of the working machine is detected (by detecting the stroke of the hydraulic actuator of the working machine), the detection signal is received by the feedback control means, and the horizontal drive section is rotated.
The camera unit is tilt-moved, the camera is vertically swung (tilt-moved), and the vertical drive unit is rotated to pan the camera unit to move the left-eye camera and the right-eye camera. Can be moved to the left and right (pan movement), and the control means processes the input measurement signal of the distance measuring means and outputs a control signal, and the control signal is provided to the camera unit. It is possible to control the angle of convergence of the left-eye camera and the right-eye camera that are acquired.

Therefore, the visual information of the remote type construction robot can be easily presented to the operator, and the operator can always observe the work object without any operation. At that time, the discomfort of the convergence angle causes discomfort. There is no such thing.

[Brief description of drawings]

FIG. 1 is a side view of a remote-controlled hydraulic excavator equipped with a stereoscopic camera automatic tracking device for a construction robot according to the present invention.

FIG. 2 is a perspective view of a stereoscopic camera platform for a construction robot.

FIG. 3 is a perspective view of a control device of a stereoscopic camera automatic tracking device for a construction robot according to the present invention.

FIG. 4 is a block diagram of the control device.

FIG. 5 (1) is an explanatory diagram of movement of the operator's head. (2) is an explanatory view for explaining the movement of the stereoscopic camera platform.

FIG. 6A is an explanatory diagram of a vergence angle of left and right eyes of an operator. (2) is an explanatory view of the convergence angles of the left-eye camera and the right-eye camera in the stereoscopic camera platform.

FIG. 7 is an explanatory diagram of a configuration of video signal transmission means.

[Explanation of symbols]

 11 Stereoscopic Camera Platform 15 Vertical Drive Unit 16 Horizontal Drive Unit 17 Camera Unit 20 Left-Eye Camera 21 Right-Eye Camera 22 Distance Meter (Distance Measuring Means) 23 Control Device (Feedback Control Means) 31 First Stroke Sensor (Detecting Means) 32 2nd stroke sensor (detection means) 33 3rd stroke sensor (detection means) 34 Operator 35 6-axis magnetic sensor (detection means)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location H04Q 9/00 301 B 311 W

Claims (8)

[Claims] 1. A camera unit having a left-eye camera and a right-eye camera, a vertical drive unit for swinging the camera unit left and right, a horizontal drive unit for swinging the camera unit up and down, and an operator. A head position detection means that outputs a tilt signal when the head is moved by swinging the head up and down, and a pan signal when the head is rotated left and right to rotate the head left and right. Receiving the tilt signal from the head position detecting means to control the horizontal drive unit to swing the camera unit up and down, and receiving a pan signal to control the vertical drive unit to control the vertical drive unit. A stereo camera pan head device for a construction robot, comprising: a control unit that swings the head to the left and right. 2. A camera unit having a left-eye camera and a right-eye camera, a convergence angle adjusting means for adjusting the convergence angles of the left-eye camera and the right-eye camera, and swinging the camera unit to the left and right. A vertical drive unit, a horizontal drive unit for swinging the camera unit up and down, and a tilt signal when the operator moves the head by swinging the head up and down, and turning the head left and right to move the head. Head position detecting means for outputting a pan signal when moved to rotate left and right, distance measuring means for measuring a distance to an object, and outputting the measured distance signal, from the head position detecting means Of the tilt signal to control the horizontal drive unit to swing the camera unit up and down, and to receive the pan signal to control the vertical drive unit to control the camera unit. And a control means for controlling the angle of convergence of the left-eye camera and the right-eye camera provided in the camera unit in response to a measured distance signal from the distance measuring means. A 3D camera platform device for construction robots. 3. The stereoscopic camera platform for a construction robot according to claim 1, wherein a small-sized servomotor that operates at high speed is used for the vertical drive unit and the horizontal drive unit. 4. A moving speed of oscillating the camera unit up and down and oscillating left and right is 250 de.
The stereoscopic camera platform for a construction robot according to any one of claims 1 to 3, wherein the stereoscopic camera platform is g / s to 500 deg / s. 5. A moving range for swinging the camera unit up and down is set to ± 35 to ± 55 deg, and a moving range for swinging the camera unit left and right is 350 to 350.
The stereoscopic camera platform for a construction robot according to any one of claims 1 to 3, which is set to 380 deg. 6. A stereoscopic camera having a camera unit including a left-eye camera and a right-eye camera, a vertical drive unit for swinging the camera unit left and right, and a horizontal drive unit for swinging the camera unit up and down. A platform, a detection unit for detecting the position of the working machine, and a signal from the detection unit to control the horizontal drive unit to swing the camera unit up and down, and to control the vertical drive unit. And a feedback control means for swinging the camera unit to the left and right, and a stereoscopic camera automatic tracking device for a construction robot. 7. A camera unit provided with a left-eye camera, a right-eye camera, a convergence angle adjusting means for adjusting the convergence angles of the left-eye camera and the right-eye camera, and a vertical unit for swinging the camera unit left and right. Detects the position of a stereoscopic camera platform having a drive unit, a horizontal drive unit that vertically swings the camera unit, and a distance measuring unit that measures a distance to an object and outputs a measured distance signal, and a working machine. And a signal from the detecting means to control the horizontal drive unit to swing the camera unit up and down, and to control the vertical drive unit to swing the camera unit left and right. A feed back which moves and receives the measured distance signal from the distance measuring means to control the convergence angle of the left eye camera and the right eye camera provided in the camera unit. Control means and the three-dimensional automatic camera tracking device for a construction robot, comprising the. 8. The automatic three-dimensional camera tracking device for a construction robot according to claim 6 or 7, wherein the detection means is a stroke sensor that detects a stroke of an actuator of the work machine to detect a position of the work machine.