JPH08144328A - Image system for supporting remote work - Google Patents

Abstract

PURPOSE: To increase work efficiency and work quality in remote work by photographing a work object and multiple visible signs in a work area by a pair of image pick-up instruments from different directions and also drawing using computer graphics. CONSTITUTION: A pair of right and left operating images Iw L and Iw R are prepared by photographing a work object 1 in a work area 11 and multiple visible signs 8 in the work area 11 for which three-dimensional computer graphics design drawing Ig is drawn by a pair of image pick-up instrument 5 from different angles. Next the visible signs 8 are drawn on the design drawing Ig by three-dimensional computer graphics, and a pair of right and left perspective view drawings Ip L and Ip R in which the positions of the image pick-up instrument are taken as visible points and their directions are taken as optical axes are output from the design drawing Ig. Then the perspective view drawings Ip L and Ip R are enlarged or reduced, or rotated to overlap the images of visible signs 8 on the drawings with those of corresponding visible signs 8 on the perspective view drawings Ip L and Ip R so as to prepare perspective design images Id L and Id R. In addition, a pair of right and left double visible stereo duplicate images Is L and Is R are prepared by duplicating the perspective design images Id L and Id R with the operating images Iw L and Iw R.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image system for remote construction support, and in particular, remote construction work using a binocular stereoscopic superimposition image in which a pair of design images showing a design shape and a pair of operation images showing the current state are superposed. It is related to the image system which supports.

[0002]

2. Description of the Related Art With the progress of control technology and the like, when working in an area where entry of people is prohibited or an area where entry of people is difficult, work machines (hereinafter referred to as heavy equipment) are sufficiently separated from an operating room. Sometimes the work in the construction area is performed by remote control. For example, in the construction area 11 as shown in FIG. 2, the heavy equipment 2 is remotely operated while monitoring the image or image (hereinafter referred to as image) of the construction target 1
The earthwork etc. for the remote construction are actually performed.

[0003]

In the conventional general earthwork, a rope showing the design shape of the construction object 1 is installed as a so-called tension in the construction area 11, and the tension is used as a guideline for the work. . However, it is extremely difficult to install a strut in the construction area 11 where remote construction is performed, and it is often impossible to perform construction while comparing the design shape with only the image of the construction target 1. Therefore, the construction by remote control has a problem that work efficiency is lowered and construction quality tends to be inferior as compared with the construction using the conventional tension.

Therefore, it is an object of the present invention to provide an image system for remote construction which is provided with a work index in place of striking in remote construction.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the embodiment of FIG.
3D computer graphic design drawing I _g that can output a perspective diagram I _{p of} an arbitrary optical axis from an arbitrary viewpoint to the construction area 11 including is drawn, and the three-dimensional coordinates in the construction target 1 and construction area 11 are known. The plurality of optotypes 8 are photographed from different prescribed photographing directions by the pair of prescribed photographing positions in the construction area 11 from different prescribed photographing directions to create a pair of left and right operation images I _wL and I _wR, and then onto the design drawing I _g . Each optotype 8 is drawn by a three-dimensional computer graphic, and from the design drawing I _g in which the optotype 8 is drawn, a pair of left and right sides whose viewpoints are the photographing positions of the image pickup devices 5 and whose optical axis is the image pickup direction of the image pickup devices 5 are drawn. An image of each optotype 8 on the left perspective view I _pL and the right perspective view I _pR and an image of the corresponding optotype 8 on the left operation image I _wL and the right operation image I _wR are output by outputting the perspective views I _pL and I _pR . create a pair of left and right perspective design image I _dL and I _dR preparative is scaled or rotated each perspective I _pL and I _pR to overlap , Left perspective design image I _dL and right perspective design image I _dR and left operation image I _wL and right operating image I _wR
A pair of left and right binocular stereoscopically superimposed images I _sL and I _sR are created by respectively superimposing and.

[0006]

[Operation] The operation of the present invention when the construction target 1 is the slope of section No. 12 in the construction area 11 such as the residential land development area shown in FIG. 2 and the construction object 1 is remotely constructed by remote control of the heavy equipment 2 explain. Construction target 1 shown in FIG. 1 represents the slope of section No. 12 before completion. The following equipment is attached to the heavy equipment 2 shown in FIGS. 1 and 2.

(1) A pair of image pickup devices 5: Take an image of the construction object 1. An operator in the operation room 3 performs remote operation while monitoring the output image of the image pickup device 5. Both imaging devices 5 are installed in a stereo system so that the pair of output images becomes a stereoscopic image for two eyes. That is, when the heavy equipment 2 is horizontal, the image pickup devices 5 are fixed in a predetermined orientation at a pair of predetermined horizontal positions on the heavy equipment 2 so that the optical conditions of both the image pickup devices 5 are the same. (2) Satellite surveying device 22: For example, GPS (Global Positionin)
g System) to measure the coordinates of heavy equipment 2 on the surface of the earth. (3) Posture measuring device 23: Measures the azimuth and inclination of the heavy equipment 2. (4) Transmitters 6 and 24: Image transmitters 6 of the output images of the image pickup device 5 and the transmission device 24 for the coordinate position of each image pickup device 5 and the shooting direction.
including.

In the remote control room 3 shown in FIG.
Receiving devices 10 and 26 that are received from the devices 24 and 24, a storage unit 18 that stores a design drawing (hereinafter sometimes referred to as a graphic design drawing) I _g of the construction area 11 by a three-dimensional computer graphic, and an operation display 14. A remote monitoring means having is provided. In the graphic design drawing I _g , the coordinates of necessary points in the construction area 11 are input as relative coordinates with respect to the reference point 4 (points in section No. 16 of FIG. 2) by, for example, three-dimensional CAD belonging to the related art, and It can be created by determining the three-dimensional coordinates of the reference point 4 with respect to the ground. Since the three-dimensional coordinates after completion of each point in the construction zone 11 by the graphic design diagram I _g is determined, it is determined and an arbitrary viewpoint and the optical axis in the coordinate system of the graphics design diagram I _g, construction area after completion A perspective view I _p for 11 can be output. Reference numeral 19 in FIG. 1 indicates a perspective view output means for outputting a perspective view I _p from a graphic design drawing I _g based on a specified viewpoint and optical axis, one example of which is coordinate calculation and graphic processing of three-dimensional computer graphics. It is a graphic computer.

By the pair of image pickup devices 5 of the heavy equipment 2, the construction area 11
A pair of left and right operation images I _wL and I _wR including a construction object 1 inside and a plurality of targets 8 whose three-dimensional coordinates within the construction area 11 are known are photographed. An example of the operation image I _wR is shown in FIG. The target 8 can be attached to the heavy equipment 2 as shown in the example of FIG. 5, and in this case, the three-dimensional coordinates of the heavy equipment 2 with respect to the ground measured by the satellite surveying device 22 and the mounting position of the target 8 on the heavy equipment 2 are shown. Then, the three-dimensional coordinates of each target 8 are determined. However, the visual target 8 used in the present invention is not limited to the embodiment shown in FIG.

The operation images I _wL and I _wR taken by each image pickup device 5 are transmitted to the image receiver 10 in the operation room 3 by the image transmitter 6. In addition, the photographing position of each image pickup device 5 is calculated from the measurement value of the satellite surveying device 22 and the mounting position on the heavy equipment 2, and the attitude measuring device is calculated.
The shooting direction of each image pickup device 5 is calculated from the measured value of 23 and the mounting posture on the heavy machine 2, and the calculated shooting position and direction are transmitted from the transmission device 24 to the reception device 26 of the operation room 3. However, only the measured values of the satellite surveying device 22 and the attitude measuring device 23 may be transmitted from the transmitting device 24, and the photographing position and orientation of each image pickup device 5 may be calculated based on the measured values received in the operation room 3. When the visual targets 8 are attached to the heavy equipment 2 as shown in FIG. 5, the three-dimensional coordinates of each visual target 8 are also transmitted from the transmitting device 24 to the receiving device 26.
Transmit to.

The three-dimensional coordinates of the visual target 8 and the photographing position and orientation of each image pickup device 5 are input to the perspective view output means 19 of the operation room 3.
The perspective drawing output means 19 is a graphic design drawing I _g of the storage means 18.
Is read out, and the visual target 8 is drawn on the graphic design drawing I _g by three-dimensional computer graphics based on the input three-dimensional coordinates. Next, from the graphic design drawing I _g in which the optotype 8 is drawn, a pair of left and right perspective views I _{pL in} which the shooting position of each imaging device 5 is the viewpoint and the shooting direction is the optical axis
And I _pR . An example of the perspective view I _pR is shown in FIG. As can be seen from FIG. 3B, the perspective views I _pL and I _pR are
Including the statue of.

A pair of perspective views created by the perspective view output means 19.
I _pL and I _pR are a pair of operation images received by the image receiver 10.
It is input to the image synthesizing means 20 together with I _wL and I _wR . The image synthesizing means 20 uses the left perspective image I _pL and the left operation image I _wL to _{create a} left superimposed image.
I _sL is created, and the right superimposed image I _sR is created from the right perspective view I _pR and the right operation image I _wR . To describe the method of creating the right superimposed image I _sR with reference to FIG. 3, first, the right perspective view I _pR (FIG. 3 (B)).
The right perspective diagram I _pR is scaled up or down so that the image of each of the above-described optotypes 8 and the image of the corresponding optotype 8 on the right operation image I _wR (FIG. 3 (A)) overlap with each other, The right perspective design image I _dR shown in FIG. Next, the image of each optotype 8 of the right perspective design image I _dR and the image of the corresponding optotype 8 on the right operation image I _wR are overlapped to create a right superimposed image I _sR shown in FIG. _3D . To do. The same applies to the method of creating the left superimposed image I _sL .

Preferably, the number of optotypes 8 is 3 or more, and the number of optotypes 8 on the operation image I _wR (or I _wL ) is 3 or more and the number of optotypes 8 on the perspective design image I _dR (or I _dL ) is 3 or more. A superimposed image I _sR (or I _sL ) is created by superimposing the image of the corresponding visual target 8. Further, in order to facilitate the identification of the image of each optotype 8, each optotype 8 may have a different color. If a pair of image combining means 20 is provided as shown in FIG. 1, a pair of left and right superimposed images I _sL
And I _sR can be created at the same time.

_{By capturing the} pair of operation images I _wL and I _wR as binocular stereoscopic images, the pair of superimposed images I _sL and I _w
sR can also be a binocular stereoscopic image. For example, as shown in FIG. 4, a pair of superimposed images I _sL and I _sR are alternately displayed while switching at high speed, and the left eye and the right eye are alternately closed in synchronization with the switching of the images. By looking at the liquid crystal display 14 through the liquid crystal shutter glasses 16, it is possible to stereoscopically view the pair of left and right superimposed images I _sL and I _sR . However, the stereoscopic viewing method of the superimposed images I _sL and I _sR is not limited to the liquid crystal display method shown in FIG. 4, and it is possible to perform stereoscopic viewing using, for example, a two-color spectacle method or a polarization method belonging to the related art. By performing remote control using these superimposed images I _sL and I _sR , it is possible to check the work status by superimposing the design image of the work target 1 and the operation image showing the work status. Substituting work indexes will be shown, and the same work efficiency and construction quality as the construction work using conventional tensioning can be expected.

In this way, it is possible to provide the object of the present invention to provide a "remote construction image system in which a work index is provided in place of striking in remote construction".

[0016]

In the embodiment shown in FIG. 4, the left and right binocular stereoscopically superimposed images I _sL and I _sR created by the image synthesizing means 20 are input to the image controller 15, and a high speed of, for example, about 1/60 second is obtained. While switching alternately with, display in time division on the operation display 14,
By looking at the operation display 14 through the liquid crystal shutter glasses 16 in which the left eye and the right eye are alternately closed in synchronization with the image switching of the image controller 15, the superimposed images I _sL and I
Stereoscopic viewing of _sR . A method of switching images at such a high speed that the human eye does not feel switching is known as, for example, an interlace method of television images, and one of the television images is the left superimposed image I _sL and the other is the right superimposed image I _sR. By doing so, stereoscopic image display by a conventional television receiver is also possible. It is also possible to switch images at a higher speed by using the liquid crystal shutter glasses 16 that open and close at an extremely high speed of about 120 Hz, for example.

FIG. 5A shows a heavy machine 2 which is a power shovel.
An embodiment to which the image system for remote construction support of the present invention is applied is shown in FIG. However, the application target of the present invention is not limited to the power shovel. The heavy machine 2 of FIG. 5A is provided with an optotype rod 8a and an optotype position control device 9 capable of moving the relative position of the optotype rod 8a with respect to the heavy machine 2, and the optotype rod 8a is provided with an interval S1,
Four optotypes 8 are attached to separate S2 and S3 (see FIG. 5D). However, the number of the visual targets 8 is not limited to the example shown in the figure, and a plurality of visual targets 8 are sufficient. For example, as shown in FIGS. 5 (B) and 5 (C), the optotype position control device 9 includes a support table 9t fixed to the heavy machine 2, and a front-rear moving plate 9a slidable on the support table 9t. A positioning unit having a horizontal movement plate 9b and a vertical movement element 9c, and a support arm 9d having one end fixed to the vertical movement element 9c are provided. By monitoring the operation of the positioning unit, the relative position of the optotype rod 8a fixed to the other end of the support arm 9d to the heavy machine 2, that is, the relative position of the optotype 8 can be determined. From the relative position of the target 8 and the measurement value of the satellite surveying device 22, the three-dimensional coordinates of the target 8 with respect to the ground are obtained.

[0018]

As described above, the remote construction support image system of the present invention is created from a pair of operation images of the construction object in the construction area in which the design drawing of the three-dimensional computer graphic is drawn, and the design drawing. Since the pair of binocular stereoscopically superimposed images are created by superimposing the operation image thus created and the pair of perspective design images of the same viewpoint, the following remarkable effects are achieved.

(A) Since the design image can be superimposed and displayed on the operation image of the remote construction as the work index, it can be expected that the construction efficiency in the remote construction can be increased to the same level as that when the conventional tensioning is used. . (B) Moreover, since the condition of the construction target can always be compared with the state after completion, improvement of construction quality in remote construction can be expected.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a remote operation target.

FIG. 3 is an explanatory diagram of a method of creating a superimposed image.

FIG. 4 is an explanatory diagram of stereoscopic viewing of a binocular stereoscopically superimposed image.

FIG. 5 is an explanatory diagram of another embodiment of the present invention.

[Explanation of symbols]

1 Construction target 2 Heavy equipment 3 Control room 4 Reference point 5 Imaging device 6 Image transmitter 8 Target 8a Target rod 9 Target position control device 9t Support table 9a Front / rear moving plate 9b Left / right moving plate 9c Vertical moving element 9d Support arm 10 image Receiver 11 Construction area 14 Operation display 15 Image controller 16 Liquid crystal shutter glasses 18 Storage means 19 Perspective view output means 20 Image synthesizing means 22 Satellite surveying equipment 23 Attitude measuring equipment 24 Transmitting equipment 26 Reception equipment I _g Three-dimensional computer graphic design drawing I _w operation image I _p perspective view I _d perspective design image I _s superimposed image.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display part H04N 7/18 K

Claims (6)

[Claims] 1. A construction drawing of a three-dimensional computer graphic capable of outputting a perspective view of an arbitrary optical axis from an arbitrary viewpoint for a construction area including a construction object, and the three-dimensional coordinates of the construction object and the construction area are known. A plurality of optotypes are photographed from different predetermined photographing directions by a pair of predetermined photographing positions in the construction area to create a pair of left and right operation images, and each visual image is drawn on the design drawing by a three-dimensional computer graphic. Drawing a target, outputting a pair of left and right perspective views from the design drawing in which the optotype is drawn, with the shooting position of each of the imaging devices as the viewpoint and the shooting direction of the imaging device as the optical axis, and outputting the left and right views. Create a pair of left and right perspective design images by enlarging or reducing each perspective so that the image of each target on the perspective and the image of the corresponding target on the left and right operation images overlap. The left and right perspective design drawings The remote installation support image system comprising creating a pair of left and right binocular vision stereo superimposed image by superimposing the left and right operation image and a respectively. 2. The image system for remote construction according to claim 1, wherein the number of the visual targets is 3 or more. 3. The image system according to claim 1 or 2, wherein
The left and right binocular stereoscopic superimposed images are alternately displayed at a predetermined high speed and displayed on the operation display, and the binocular stereoscopic superimposed image is stereoscopically viewed by viewing the operation display through liquid crystal shutter glasses. An image system for remote construction support. 4. A plurality of movable optotypes, a pair of imaging devices for taking a pair of left and right operation images by photographing the optotypes and the construction object from different directions at predetermined positions, and the ground of each of the optotypes. A satellite surveying device that measures the three-dimensional coordinates and the shooting position of each imaging device,
For remote construction that has a posture measurement device that measures the shooting direction of each of the image pickup devices, and a transmission device that transmits the operation image, three-dimensional coordinates, a shooting position, and a direction, and that moves within a construction area including the construction target. Heavy equipment: A receiving device for receiving from the transmitting device, a storage means for storing a design drawing of a three-dimensional computer graphic capable of outputting a perspective view of an arbitrary optical axis from an arbitrary viewpoint to the construction area, and an operation display are provided. Remote monitoring means: The three-dimensional coordinates of each optotype, the imaging position and the imaging direction of each imaging device are input, the design drawing is read from the storage means, and each optotype is displayed on the design drawing by three-dimensional computer graphics. And a perspective drawing for outputting a pair of left and right perspective views with the photographing position of each image pickup device as the viewpoint and the image pickup direction of the image pickup device as the optical axis from the design drawing in which the target is drawn. Means: The pair of operation images and the pair of perspective views are input, and the image of each target on the left and right perspective views and the image of the corresponding target on the left and right operation images overlap each other. Create a pair of left and right perspective design images by enlarging or reducing each perspective view and rotating them, and by superimposing the left and right perspective design images and the left and right operation images, a pair of left and right stereoscopic stereoscopic images is created. An image synthesizing means for creating; and an image controller for displaying the left and right binocular stereoscopically superimposed images on the operation display while alternately switching them at a predetermined high speed, and the operation display via the liquid crystal shutter glasses. An image system for remote construction support in which the binocular stereoscopic superimposed image is stereoscopically viewed. 5. The image system for remote construction support according to claim 4, wherein the number of the movable targets is 3 or more. 6. The image system according to claim 4 or 5,
An image system for remote construction support in which the plurality of movable optotypes are fixed to one movable optotype rod attached to the heavy machine.