JPH09131691A - Stereoscopic visual device for heavy machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency by installing a stereoscopic camera loaded on a directionally changeable stereoscopic camera universal head so as to be movable in the horizontal direction around a heavy machinery, and providing a display device within an operator's cab or at a distance so as to clearly grasp the perspective of an object to be worked in the dead angle. SOLUTION: A stereoscopic camera 1 is loaded on a pan head 2 for the stereoscopic camera having the oscillation function in the pan-tilt direction and the intermediate diagonal pan-tilt direction, and the pan head together with the stereoscopic camera is installed on a camera moving device 3 in a horizontally movable manner in the longitudinal direction. The pan head together with the camera is movable in the horizontal direction around a heavy machinery 4 by 360 deg., and capable of being elevated in the vertical direction in an adjustable manner. The picked-up stereoscopic image is displayed on a heat-fitting type stereoscopic image display as a stereoscopic image display device 5 for a driver in a cab of the heavy machinery 4. Perspective of any object to be worked in the dead angle invisible from the position of the driver can be grasped as a clear stereoscopic image.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic vision device for heavy equipment, and more particularly to a stereoscopic vision device in which a camera itself used for heavy equipment such as a refractory enforcement device for a pig iron gutter is movable.

[0002]

2. Description of the Related Art In the operation of conventional heavy equipment, the driver can operate only the visible range from the position where he / she sits in the driver's seat. Was very bad.

FIG. 5 is a side view of a conventional refractory material applying device. The refractory enforcement device 50 shown in the figure is attached to the tip of an arm 52 rotatably attached to the tip of a rotatable boom 51 of a self-propelled crawler cart 53 using a manipulator. Further, a camera 54 for monitoring is installed at an appropriate position of the arm 52 or the refractory enforcement device 50, and is connected to an image processing device and an alarm device (not shown) provided in the driver's seat.

In the case of repairing the tap iron gutter 55 which is worn or chemically deteriorated by passage of molten pig iron or slag flowing out from the tap hole 60 of the blast furnace by using this apparatus, the wear refractory is dismantled. Then, a new refractory will be implemented. First, a core which will be a formwork is provided in the tap iron gutter 55, and the driver confirms the position in the gutter by the image of the monitoring camera 54, The position of the supply port 57 of the irregular shaped refractory supply pipe 56 is adjusted by the dynamic motor) 58 to supply the irregular shaped refractory from the gap between the tap pipe 55 and the core, and the vibrator 5
9 promotes the formation of compacted refractory materials.

[0005]

However, in the above-mentioned conventional example, a core, which is a mold for forming a gutter, is provided inside the tap pipe 55, and an irregular shape is provided in the gap between the tap pipe 55 and the core. When the refractory material is supplied and molded, the supply port 57 and the vibrator 59 of the irregular-shaped refractory material supply pipe must be inserted from the gap between the tap pipe 55 and the core to the bottom of the trough, Since there is a core in the center of the taphole and the driver is also located in the center of the trough, from this position you cannot see with the naked eye or the camera from the trough gap at the trough to the bottom of the trough. Further, since only a normal two-dimensional image can be obtained with this camera, there is a problem in that the distance between the object and the arm 52 of the heavy equipment cannot be grasped and accurate operation is difficult.

As a monitoring device itself for eliminating such inconvenience, Japanese Unexamined Patent Publication (Kokai) No. 6-75622 has installed two left and right cameras which can be swung on a dummy head of a heavy machine. An apparatus has been disclosed in which a stereoscopic image can be obtained and operated. In the case of this camera, since the swinging operation can be performed, the field of view can be expanded at the camera installation position, and the stereoscopic image is displayed on the monitor image, so although it has been improved to some extent as a monitoring device, the installed camera position itself is Since it cannot be changed, there is a problem that accurate work cannot be performed within the blind spot of the camera.

Therefore, an object of the present invention is to move only the camera while the main body of the heavy equipment is fixed, and to see a work object in a blind spot of the camera which is invisible from the driver's position as a stereoscopic image in which the perspective is clearly visible. It is possible to provide a stereoscopic vision device for heavy machinery, which is capable of improving work efficiency.

[0008]

In order to achieve the above object, the invention as set forth in claim 1 provides a stereoscopic camera as a visual device for a driver in a heavy machine, and a stereoscopic camera mounted on the stereoscopic camera in pan / tilt directions. Stereoscopic camera platform that can change direction, a camera moving device that can horizontally move around the heavy equipment by installing a stereoscopic camera mounted on the platform, and display of stereoscopic images installed in the driver's seat or in a remote place It is equipped with a device.

Further, the invention according to claim 2 is based on claim 1.
In the described stereoscopic device for heavy equipment, the driver is provided with a camera moving device capable of moving in the vertical direction so that the driver can change the viewpoint not only in the horizontal direction but also in the height direction.

Further, the invention described in claim 3 is the same as claim 1.
In the stereoscopic vision device for heavy equipment described above, the camera platform is capable of changing the direction in the roll direction in addition to the pan / tilt direction.

Further, the invention described in claim 4 is the first invention.
In the stereoscopic vision device for heavy equipment described above, the stereoscopic camera has a zoom function.

[0012]

According to the structure of the present invention, the position of the stereoscopic camera can be adjusted both horizontally and vertically around the heavy equipment by the camera moving device, and the stereoscopic camera can be adjusted. Pan the head of the 3D camera with the pan head.
In addition to enabling tilt and tilt roll directions,
Since the stereoscopic camera has a zoom function, it is possible to see through the stereoscopic camera all the places where the driver of the heavy equipment cannot see with the naked eye.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a top view of a stereoscopic vision device for heavy equipment according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of a moving operation of the stereoscopic camera shown in FIG. FIG. 3 is a side view of the stereoscopic vision device shown in FIG. FIG. 4 is a side view of the stereoscopic vision device shown in FIG.

In FIG. 1, a stereoscopic camera 1 is a stereoscopic camera having a zoom function of 10 times, which can be effectively utilized as an aid to the human eye, and at the time of zooming, the driver is far and nearer than a naked eye with respect to a distant object. Can provide a feeling. This stereoscopic camera 1 is placed on a pan / tilt and a pan / tilt intermediate panning / tilting intermediate tilting direction (roll direction) 2 for a stereoscopic camera, and this is mounted on a camera moving device 3 in the longitudinal direction in the horizontal direction. It is installed so that it can be moved. Further, as shown in FIG. 2, the camera moving device 3 is configured so that the stereoscopic camera 1 can move horizontally around the heavy equipment 4 by 360 °.

Further, as shown in FIGS. 3 and 4, the stereoscopic camera 1 can be adjusted in the height direction, and the camera moving device 3 has an elevating mechanism to move the stereoscopic camera 1 in the vertical direction. It is possible. The stereoscopic video image captured by the stereoscopic camera 1 is displayed on the HMD (H
It is connected with a video cable so as to be displayed by an ead Mounted Display (head mounted stereoscopic video display). Next, the operation will be described.

When the operator supplies the irregular refractory material to the gap between the core pipe 55 and the core on the front right side of the driver's seat, as in the case of FIG. Figure 2
Position, that is, the camera moving device 3 is rotationally driven from the rear side to move horizontally to the position of FIG. 1, and further, the left and right position is adjusted by the slide mechanism of the camera moving device 3 and the vertical position as in the case of FIG. By adjusting the movement of the height in the direction, the camera position is moved and adjusted to the position where the bottom of the tub can be seen from the right gap between the tap iron gutter 55 and the core, and the pan / tilt or roll direction is swung with the stereoscopic camera platform 2. Go and catch the gutter clearly.

A stereoscopic camera 1 obtained by performing such operations including horizontal and vertical position adjustment, swinging, and zooming.
While confirming the stereoscopic image from the HMD with the HMD, the driver simultaneously operates the arm 52 (Fig. 5) to move the irregular refractory from the irregular refractory supply port 57 to the gap between the tapping gutter 55 and the core. At the same time, the vibrator 59 is driven to be inserted into the gutter, and the supplied amorphous refractory is vibrated to promote compaction.

At this time, since the camera can be swung in the roll direction as well, if the zoom function is used in combination with this, the vibrator 59 is inserted while being inclined along the boat bottom inclination of the inner wall of the taphole gutter 55. Even in such operation, accurate work can be performed.

Further, as the stereoscopic image display device 5, an HMD of a type in which a driver of a heavy machine wears his / her left and right liquid crystal displays on his / her head to cover the field of view is shown here, but at a position away from the stereoscopic camera 1. As a stereoscopic image display device for remote control using joystick etc.,
The left and right monitor images may be configured to be viewed stereoscopically through a stereoscopic mirror, or a driver may wear liquid crystal shutter-type stereoscopic glasses to view the stereoscopic image on the screen in combination with a video projector and a video screen. It may be configured to monitor.

Thus, according to the present embodiment, while the heavy equipment 4 remains fixed, the stereoscopic camera 1 is rotated 360 ° horizontally around the heavy equipment by the camera moving device 3 as follows (1). 2).

(2) Horizontal movement to the left and right by the slide mechanism (FIG. 1).

(3) Height adjustment by the elevating mechanism (Fig. 3,
4).

(4) Swing (pan / tilt / roll)
And 10x zoom. By making it possible to move in four stages, it becomes possible to see from the trough gap at the trough end of the tap iron gutter 55 to the trough bottom, for example, in the case of an irregular shaped refractory enforcement device. You can eliminate blind spots.

In the present embodiment, an example in which the stereoscopic vision device of the present invention is attached to an irregular-shaped refractory enforcement device of a tappipe as a heavy machine has been described, but it is of course limited to such a refractory enforcement device. However, the present invention can be applied to a remote control work device, a manipulator moving device, and various other heavy equipment as a stereoscopic vision device.

[0025]

As described above, according to the present invention,
As a stereoscopic vision device for heavy equipment, a camera moving device is installed to enable the position of the stereoscopic camera to be adjusted both horizontally and vertically around the heavy equipment. Swinging is also possible in pan / tilt and roll directions, and the stereoscopic camera is configured to have a zoom function, so that the work range that cannot be seen from the driver's seat can be presented to the driver by the stereoscopic vision device, improving work efficiency. Can be achieved.

Further, since it is possible to photograph a blind spot such as a rear portion of the heavy machine by the stereoscopic vision device, it is possible to ensure safety in work.

Further, since the stereoscopic camera is provided with the zoom function, there is an advantage that the workability of the operation for a small work target in the distance is improved.

[Brief description of the drawings]

FIG. 1 is a top view of a stereoscopic vision device for heavy equipment according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a moving operation of the stereoscopic camera shown in FIG.

3 is a side view of the stereoscopic vision device shown in FIG. 1. FIG.

4 is a side view of the stereoscopic vision device shown in FIG. 2. FIG.

FIG. 5 is a side view of a conventional refractory material applying device.

[Explanation of symbols]

 1 3D camera 2 3D camera platform 3 Camera moving device 4 Heavy equipment 5 3D image display device

Claims (4)

[Claims] 1. A three-dimensional camera as a driver's visual device in a heavy machine, a three-dimensional camera platform on which the three-dimensional camera is mounted and whose direction can be changed in a pan / tilt direction, and a three-dimensional camera mounted on the platform. A stereoscopic vision device for a heavy machine, comprising a camera moving device that can be installed and horizontally moved around the heavy machine, and a stereoscopic image display device installed in a driver's seat or in a remote place. 2. The stereoscopic device for heavy equipment according to claim 1, wherein the driver is provided with a camera moving device that is vertically movable so that the driver can change the viewpoint not only in the horizontal direction but also in the height direction. Stereoscopic vision device. 3. The stereoscopic vision device for heavy equipment according to claim 1, wherein the camera platform is capable of changing direction in roll direction in addition to pan / tilt direction. 4. The stereoscopic vision device for heavy equipment according to claim 1, wherein the stereoscopic camera has a zoom function.