JPH09327044A - Stereoscopic viewing device for manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to easily move focusing point at the time of stereoscopic viewing and to delete unrequired visual information by providing camera movement mechanism, a scan converter for dividing an image, an image change-over means and an input means for changing a focusing point position. SOLUTION: The scan converter 3 alternately displays converted video signal in a monitor 4 as the right and left images, drives LCD 5 by synchronization with the video signal and polarizing directions as against the right and left images are changed-over at every screen. A universal head controller 8 moves a universal head 7 and adjusts an angle interposing ITV cameras 1a and 1b. Then, a position input means 10 at the front surface of the monitor 4 gives the indicating signal of the focusing position to the scan converter 3 with a selection switch SW1 or to a focus controller 20 with the selection switch SW2 and gives the indicating signal to the universal head controller 8. The focus controller 20 moves the focuses of the right and left ITV cameras 1a and 1b so as to maximize the integration value of a space frequency in the specified area of the image.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a visual device used for a manipulator which performs a remote operation, and more particularly to a stereoscopic device for a manipulator which is capable of capturing a work target being imaged by a focusing method in stereoscopic vision. Regarding

[0002]

2. Description of the Related Art For example, in a remote-controlled manipulator used in a hot-line construction facility for replacing insulators of high-voltage distribution lines, transformers, etc., when working with a master / slave manipulator, a plurality of ITVs are used. Remote operation is possible by taking a picture of the work area with a camera and displaying it as a stereoscopic image on a stereoscopic monitor with an image processing device.

Conventionally, as a stereoscopic device used for such a manipulator, one having a structure as shown in FIG. 9 has been adopted. As shown in FIG. 9, two ITV cameras 1
Install a and 1b on the platform 7 with proper spacing left and right,
Angle between both ITV cameras 1a and 1b (convergence angle)
Is adjusted by the pan head controller 8 to create parallax between both eyes and obtain a stereoscopic effect.

Further, the left and right ITV cameras 1a, 1
The images captured by b are the camera controllers 2a and 2b.
After being converted into a video signal by the scan converter 3
Thus, the left and right images are alternately displayed (every 1/120 sec) on the stereoscopic monitor 4.

In this case, the scan converter 3 is synchronized with the video signal, and the LCD 5 installed on the front surface of the stereoscopic monitor 4
The (liquid crystal shutter) is driven, and as a result, the deflection directions of the left and right images are switched for each screen. By observing the deflected monitor image with the deflection glasses 6 having a phase angle of 90 ° to the left and right, parallax occurs in both eyes and a stereoscopic effect can be obtained.

Therefore, by mounting the thus configured stereoscopic device as a visual device of a remote-controlled master-slave manipulator, the master-slave manipulator can be realistically observed while observing the stereoscopic monitor 4. A system that can be operated can be realized.

[0007]

However, in a master / slave manipulator equipped with a visual device having such a configuration, when the work is performed by remote control, the following problems may occur.

That is, when the working place is changed and the visual observation position is changed, it is necessary to frequently adjust the focus points of the left and right ITV cameras, and the worker temporarily sets a new focus point for the manipulator. It was necessary to shift from operation to camera operation, which was an obstacle to work productivity.

Further, when various obstacles are present around the work target, the use of the above-mentioned stereoscopic device may result in exceeding the fusional range in front of and behind the in-focus point, which causes the worker to see the obstacles double. It seemed to be like, and there was a case where the work was supported.

Further, in the above-mentioned stereoscopic device, the convergence angle and elevation angle of the camera are adjusted by the moving mechanism of the platform,
This caused an increase in the size and weight of the visual device. An object of the present invention is to eliminate the above-mentioned problems of the conventional technology, to easily move a focal point when performing stereoscopic vision, and to stereoscopically view a manipulator capable of deleting unnecessary visual information for work. To provide a device.

[0011]

In order to achieve the above object, the present invention constructs a stereoscopic device for a manipulator by the following means. The invention corresponding to claim 1 is mounted on a manipulator for performing work by remote control, and 2
In a stereoscopic device of a manipulator configured to convert an image captured by one camera into image data and then display the image on a monitor, a moving mechanism for moving the two cameras, and a moving mechanism for moving the two cameras. A scan converter that divides the image captured by the camera into left and right images, and image switching means that alternately inputs the image of the monitor to both eyes of an operator for each camera by a sync signal of the scan converter,
An input unit is provided for instructing a specific image displayed on the monitor and changing the in-focus position of the camera in response to the instruction signal.

Therefore, in the manipulator stereoscopic device having the above-described structure, it is possible to set the in-focus position to an arbitrary object on the monitor according to the line of sight of the operator, so that the remote operation is performed. Workers can concentrate on their work.

According to a second aspect of the invention, in the invention according to the first aspect, the distance to the intersection of the optical axes of the two cameras for picking up an image of the work object on the scan converter according to an instruction from the input means is set. It has the function of moving the image by changing it by changing the calling address of the image memory.

Therefore, in the stereoscopic device of the manipulator having the above-described structure, the sense of stereoscopic depth of the work target can be adapted to the worker, and the remote operability can be improved.

According to a third aspect of the invention, in the invention according to the first aspect, the scan converter has a function of matching the shapes of the left and right images by calculation between the image memories according to an instruction from the input means.

Therefore, in the stereoscopic device of the manipulator having the above-mentioned structure, the shift of the left and right images can be corrected by changing the calling method of the image memory in the scan contour, and thus the stereoscopic system. Can be made lighter.

According to a fourth aspect of the invention, in the invention according to the first aspect, it has a function of masking the image area on the monitor according to an instruction from the input means and deleting the image area from the camera image.

Therefore, in the manipulator stereoscopic device having the above-described structure, when an object deviating from the fusional range is projected, the area is deleted, for example, by performing blue back processing, etc. Astigmatism can be reduced.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a stereoscopic device for a manipulator according to the present invention, and the same parts as those in FIG. 9 are designated by the same reference numerals.

Reference numerals 1a and 1b are two ITV cameras 2a and 2b which are movably installed on the platform 7 at appropriate intervals.
Is a camera controller for converting the video imaged by the ITV cameras 1a and 1b into a video signal.

Reference numeral 3 denotes a scan converter. The scan converter 3 alternately displays the video signals converted by the camera controllers 2a and 2b as left and right images on the monitor 4 (1/120 sec) and synchronizes with the video signals. LCD (liquid crystal shutter) provided on the front of the monitor 4
5 is driven to switch the polarization directions for the left and right images for each screen. Reference numeral 6 denotes polarizing glasses having a phase angle of 90 ° to the left and right of the polarized monitor image.

Further, 8 is a platform controller for adjusting the angle (convergence angle) between the ITV cameras 1a and 1b by moving the platform 8. On the other hand, 10 is a position input means installed on the front surface of the monitor 4. The position input means 10 gives an instruction signal of a position to be focused to the scan converter 3 via the selection switch SW1 or the selection switch SW.
It is given to the focus controller 20 via 2 and the instruction signal is given to the camera platform controller 8.

Further, 20 is a camera controller 2a, 2
b is a focus controller that receives a video signal and an instruction signal from the position input means 10 to generate a focus evaluation value. The focus controller 20 has left and right I values so that the integrated value of the spatial frequency of a specific area of an image is maximized.
The focus of the TV cameras 1a and 1b is moved.

FIG. 2 is a block diagram showing a configuration example of the scan converter 3. In FIG. 2, 30a, 30
b is a memory input controller for converting the video imaged by the ITV camera 1a, 1b into image data, 31a, 31
An image memory b stores image data input from the memory input controllers 30a and 30b.

The image memories 31a and 31b have memory addresses in the horizontal direction and memory addresses in the vertical direction. The position input means 10 can change these addresses and rotate the horizontal and vertical components of the image memory. Is possible.

Reference numeral 32 denotes a color signal (RGB signal) from the image memories 31a and 31b according to an instruction from the position input means 10.
A memory output controller 33 for controlling output of any deviation of signals), and a D / A converter 33 for converting image data output from the image memories 31a and 31b into analog signals and outputting the analog signals.

Reference numeral 34 in the figure is an LCD 5 shown in FIG. 1 in which a clock signal synchronized with a video signal is taken in from the camera 1a.
Is an LCD driver for driving the. Next, the operation of the manipulator stereoscopic device configured as described above will be described.

Now, it is assumed that the focus controller 20 side is being selected by the selection switch SW2. In such a state, when the work place is changed by the remote operation by the master / slave manipulator, the operator wants the position input means 10 to focus on the image displayed on the monitor 4 as shown in FIG. When the position is designated, a video signal is input from the camera controllers 2a and 2b to the focus controller 20 in order to generate the evaluation value of the focused image. When the position input means 10 issues an operation instruction to the camera platform controller 8, the camera platform 7 is moved.
Is driven by the platform controller 8 and the left and right ITV cameras 1a and 1b move to positions intended by the operator.

Then, the focus controller 20 moves the focal points of the left and right ITV cameras 1a and 1b so that the integrated value of the spatial frequency of the specific area of the image becomes maximum.
FIG. 3 shows an example in which the in-focus position is changed by the position input means 10, and the range-finding range is from area 30 to area 31.
Shows the state of changing to.

A specific example of the input point detecting means for changing the in-focus position by the position input means 10 will be described below. As one example thereof, when moving from the point A to the point B on the monitor 4 as shown in FIG. 4, the movement of the line of sight of the worker, for example, the movement of the pupil is detected and the detection signal is input.

As another example, as shown in FIG. 5, the pupil of the operator who is incident on the polarization filter 41 installed in the input device 40 from the image on the monitor 4 and is observed through the half mirror 42. Is detected by the image sensor 43 via the half mirror 42, and the detection signal is input by image processing or the like.

After the focus position is changed in this way, when performing work by remote control, the left and right ITV cameras 1
The video captured by a and 1b is the camera controller 2
After being converted into image signals by a and 2b, left and right images are alternately displayed on the stereoscopic monitor 4 by the scan converter 3 (every 1/120 sec).

In this case, the scan converter 3 is synchronized with the image signal and the LCD 5 installed on the front surface of the stereoscopic monitor 4
The (liquid crystal shutter) is driven, and as a result, the deflection directions of the left and right images are switched for each screen. By observing the deflected monitor image with the deflection glasses 6 having a phase angle of 90 ° to the left and right, parallax occurs in both eyes and a stereoscopic effect can be obtained.

According to the above-described embodiment, the operator's line of sight can be detected to determine the focus position on an arbitrary object on the monitor, and the object to be observed is moved to the center of the monitor screen. Therefore, the worker who is working remotely can concentrate on the work.

Next, a case will be described in which the focus position is corrected by selecting the scan converter 3 side with the selection switch SW1. Now, as shown in FIG. 6, when observing a target object on the monitor 4, that is, a polygonal object in the figure, A and B are displayed on the monitor 4 as left and right images in the case of normal stereoscopic vision. It should be, but in reality, the object may appear as B1 to B3 due to the play of the camera fixing method, the mounting error of the image pickup device CCD installed in the camera, the left / right imbalance of the zoom ratio, and the like. is there.

In the first embodiment, the errors of these objects are corrected by the internal processing of the scan converter 3. The configuration of the scan converter 3 shown in FIG. 2 and the process instructed by the input means 10 will be described below with reference to the flowchart shown in FIG.

In the flowchart shown in FIG. 7, the left and right images A and B are first superposed by an operation such as selecting a menu icon set on the monitor by the position input means 10 (F1). As a specific method of this superposition, the positions of the images are moved by changing the horizontal memory calling address in the image memories 31a and 31b shown in FIG.

Next, when the operator determines the degree of overlap between the left and right images, and determines that there is a vertical displacement (F2).
In step S3, the position input means 10 is used to select a vertical movement icon displayed on the monitor 4, and the image is moved in the vertical direction to align the left and right images (F3).

More specifically, the method of moving the image in the vertical direction will be described by changing the vertical memory calling address of the image memories 31a and 31b in FIG.
Further, if the positional deviation is due to the rotation of the object, the object is rotated along the center of gravity, or the rotation center is set by the position input means 10 and the image is rotated around it (F4). A specific method of this rotation can be performed by rotating the horizontal and vertical components of the image memory by coordinates.

Further, if the operator's judgment indicates that the sizes of the left and right objects do not match, the size of the object is enlarged or reduced concentrically around the camera optical axis (F5). It should be noted that F3, F4, and F5 may be performed in combination.

After that, the left image is returned to the initial focus point (F6). At this time, the focal points are the image memories 31a and 31b.
This is possible by arbitrarily setting the read address in the horizontal direction.

Thus, the left and right ITV cameras 1a and 1b
By changing the calling address of the left and right image memories 31a and 31b of the scan converter 3 for the distance to the intersection of the optical axes of, it becomes possible to adapt the space between the three-dimensional depths of the work target to the worker, and to improve the remote operability. Can be improved.

Further, the error in the vertical and horizontal directions of the image and the rotation direction caused by the attachment of the left and right ITV cameras 1a and 1b is changed by changing the memory calling method in the scan converter to arbitrarily set the separation distance between the left and right images. Because you can
By correcting the displacement between the left and right images, the adjustment axes for the convergence angle and elevation angle of the camera platform can be omitted, and the weight of the stereoscopic system can be reduced.

By the way, when the optical axes of the left and right ITV cameras 1a and 1b are aligned with the work target, and when there is an obstacle outside the range (fusion range) in which stereoscopic vision is possible, the left and right images are displayed in stereoscopic vision. It may look double.

In the present embodiment, the scan converter 3 is provided with a masking function for a designated area in preparation for such a case. Here, the details are shown in FIG.
This will be described below. Left and right ITVs as shown in FIG.
When the optical axes of the cameras 1a and 1b are aligned with the work target A and the obstacle B exists outside the range in which stereoscopic vision is possible, the monitor 4
As shown in FIG. 8B, the image of the obstacle B appears on the upper side as an excessive parallax, which is clearly perceived by the worker as two objects. Therefore, the area to be masked is designated for the part recognized as double by the position input means 10. That is, as shown in FIG.
When the area 52 is designated by the point P4, the portion corresponding to the area 52 in the image data output from the image output memories 31a and 31b from the memory output controller 32 is, for example, blue back processed (the relevant area of the monitor is filled with a blue background). ) Etc. Therefore, the area of the object that has deviated from the fusion range on the monitor 4 is deleted, and the eyestrain of the operator can be reduced.

[0046]

As described above, according to the present invention, it is possible to reduce the burden on the operator when making a remote operation for making a judgment associated with the operation of the apparatus, improve the workability, and reduce the weight of the apparatus. It is possible to provide a stereoscopic device of a manipulator which can be performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a stereoscopic device for a manipulator according to the present invention.

FIG. 2 is a block configuration diagram of a scan converter according to the same embodiment.

FIG. 3 is a diagram for explaining a method of changing a focus position in the same embodiment.

FIG. 4 is an explanatory diagram of a line-of-sight detection method when changing the focus position in the position input means in the same embodiment.

FIG. 5 is a configuration diagram of a line-of-sight detection device for changing the in-focus position by the position input means.

FIG. 6 is an explanatory diagram of a camera convergence angle / elevation angle correction method in the same embodiment;

FIG. 7 is a flowchart showing the inside of the scan converter in the embodiment.

FIG. 8 is an explanatory diagram of a method of correcting a camera convergence angle / elevation angle in the same embodiment.

FIG. 9 is a block diagram showing a conventional stereoscopic device for manipulators.

[Explanation of symbols]

 1a, 1b ... ITV camera 2a, 2b ... Camera controller 3 ... Scan converter 4 ... Monitor 5 ... LCD 6 ... Polarizing glasses 7 ... Pan head 8 ... Pan head controller 10 ... Position input means 30a , 30b ...... Memory input controller 31a, 31b ...... Image memory 32 ...... Memory output controller 33 ...... D / A converter 34 ...... LCD driver 40 ...... Input device 41 ...... Polarization filter 42 ...... Half mirror 43 ...... Image sensor

Claims (4)

[Claims] 1. A stereoscopic view of a manipulator, which is mounted on a manipulator which operates by remote control, and which converts a video image captured by two cameras into image data and then displays the image on a monitor. In the device, a moving mechanism that moves the two cameras, a scan converter that divides an image captured by the two cameras into left and right images, and a monitor converter image by a sync signal of the scan converter. An image switching means for alternately inputting to both eyes of an operator for each camera, and an input means for instructing a specific image displayed on the monitor and changing the in-focus position of the camera by the instruction signal are provided. A stereoscopic device with a characteristic manipulator. 2. The stereoscopic device for a manipulator according to claim 1, wherein the distance from the intersection of the optical axes of the two cameras, which image the work object to the scan converter according to an instruction from the input means, is called in the image memory. A stereoscopic device for a manipulator, which has a function of moving an image by changing the address. 3. The manipulator stereoscopic device according to claim 1, wherein the scan converter has a function of matching the shapes of the left and right images by calculation between the image memories according to an instruction from the input means. Stereoscopic device. 4. The stereoscopic vision device for a manipulator according to claim 1, wherein the stereoscopic vision device for manipulator has a function of masking an image area on the monitor and deleting it from a camera image according to an instruction from an input unit. apparatus.