JPS5835433Y2 - Enkakusoujiyuyoushikakuuchi - Google Patents

Description

[Detailed description of the invention] This invention is used when the operator remotely controls a robot, etc. that handles the target object in place of the robot in order to prevent danger, etc. from a safe location far from the target object. related to visual devices.

The visual device for remote control of the robot includes two television cameras 11 and 12, as shown in Figures 1, 2, and 3.
Take a picture of object 2 with I5°, each TV camera 11.1
The image appearing on the separate G/monitor TV 31.32 connected to 2 is reflected by the reflector 4it5ty42.52 and the pilot's iij,,'! A method is being considered in which the operator can observe the object as a stylistic image with ``xj'L 0 sense of nearness'' by viewing with one eye at a time.

The operator remotely controls the robot by observing the target object through the visual device in the posture shown in Figure 3, and moving his or her fingers three-dimensionally in the forward, backward, left, right, up and down directions by aligning the control factors. However, in the above visual device, the monitor televisions 31 and 32 and the reflector 41 y 51 y 42 +52 are arranged long in front of the operator, centered on the operator's eye level, so it is difficult to control the robot remotely. Not only is it inconvenient to operate both hands by lowering them downward to avoid being obstructed by the visual device, but in particular, vertical operations are significantly restricted by the visual device.

The present invention is a visual device for remote control of robots, etc., which aims not only to eliminate the above-mentioned operational inconvenience for the operator, but also to enable sufficient vertical movement of both hands with a large difference in height.

Next, embodiments of the present invention will be described with reference to the drawings.

In the embodiment of the present invention, as shown in FIG. 4, two television cameras 7□, 72 are arranged side by side on the left and right on a single mount 6 for capturing images of an object, and the television cameras 71, 72 monitor televisions 81 and 82, which are symmetrical with respect to a vertical plane that advances through the center of the operator and are placed in parallel with each other with their image planes facing downward, directly above the operator; Directly below the monitor 82 at the operator's eye level, there are reflectors 91 and 92 installed symmetrically so as to be able to reflect the image from the monitor television 81 and 82 horizontally, and both of the above-mentioned reflectors 91 and 92. A reflector 10 is provided symmetrically between the two eyes of the pilot so as to reflect the television images from the mirrors 91 and 92 in the direction of line of sight of each of the eyes of the pilot.
1.102.

The images captured by the television cameras 71, 72 of the object are displayed on downward-facing monitor televisions 81, 82 connected to the respective television cameras 71, 72 with the upper part of each image facing outward, and reflected by mirrors 91, 72, respectively. 10t, 92.102, and is ultimately recognized as a normal image by each of the operator's eyes, giving the operator stereoscopic vision.

In addition, in the above embodiment of the present invention, the television camera 71.7
2 and the monitor televisions 81 and 82 are connected by wire as shown in FIG. 4, but they may also be connected wirelessly.

As mentioned above, according to the present invention, a large-capacity monitor TV can be installed above or below the reflector, and the space behind each reflector can be used freely.
Hands and fingers that are aligned with the steering factor can be moved freely three-dimensionally even at the most convenient position behind the reflector at eye level, and can also be moved up and down with almost no restrictions. .

In addition, the two TV cameras installed on one mount can easily change the field of view by moving the mount up and down or swinging it back and forth and left and right, and each TV camera can be moved independently to adjust the focus position and It is also possible to change the angle formed by the reference axes of both television cameras.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an example of a conventional visual device for remote control of a robot or the like. 2 is a perspective view showing the relative position of the monitor television and the reflecting mirror in FIG. 1. FIG. FIG. 3 is a side view showing the relative positions of the monitor television, the reflector, and the operator in FIG. 1. FIG. 4 is a perspective view of an embodiment of the present invention. FIG. 5 is a side view showing the relationship between the television monitor, the reflector, and the operator according to the embodiment of the present invention. 11.12...TV camera, 2...Object, 31
゜32...Monitor TV, 41, 42.5t, 52
... Reflector, 6... Frame, 71, 72... Television camera, 81.82... Monitor television, 91.92.
101゜102...Reflector.

Claims (1)

[Scope of utility model registration request] Two television cameras 71 and 72 are arranged side by side on the left and right on a single mount 6 to take pictures of the object, and a camera is placed directly above the operator, symmetrical with respect to a vertical plane that advances through the center of the operator. The television camera 7 is placed side by side with its image surface facing downward.
1, a monitor television 82 that receives images from the television camera 72, and an image from the left monitor television 81 and the right monitor television 8.
Two pairs of reflecting mirrors 91, 9 are provided so that the left and right eyes of a vertical person can observe the images of 2 as normal images in approximately the same direction.
A visual device for remote control consisting of 2,101,102.