JPS60150984A - Monitor device for manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a monitor device for a manipulator, which has been devised by the author so that the tip of the manipulator can always be recognized three-dimensionally.

Conventionally, various devices for three-dimensionally recognizing objects have been researched, but what is currently available for practical use as a monitoring means for a remote control manipulator is a so-called two-lens three-dimensional television. The principle of 3D television is that two TV cameras are set to capture an object, one for the right eye and the other for the left eye, and the images from the TV cameras are used in some way to capture the right eye. The video of the TV camera is presented only to the right eye, and the video of the TV camera for the left eye is presented only to the left eye, thereby allowing humans to see objects stereoscopically. As a concrete example of this, there is, for example, a one-sided electronic shank system using a time division method.

More specifically, as shown in Fig. 1, this one-type electronic shutter system has TV cameras 1 and 2 arranged on the left and right with their optical axes slightly tilted inward, so that each TV camera 1 and 2 constantly capture images of the object. (stereoscopic viewing conditions) While the synchronizing signal generator 5 generates a synchronizing signal, the mixer 4 alternately converts the video signals of the TV cameras 1 and 2 into CBr.
Send to 4. The synchronization detection device 6 detects the synchronization signal and sends it to the stereoscopic glasses 8. The stereoscopic glasses 8 receive the signal from the synchronization signal detection device 6 and alternately release the shutters so that when an image for the right eye is displayed on the CBr 4, an image for the left eye is displayed only for the right eye. At times, each image enters only the left eye, allowing humans to see objects in 3D.

In such a stereoscopic television with one type of electronic shutter, the two TV cameras 1.2 are arranged so that the object 3 is always captured at the center of the imaging plane, but a person has to change the direction of the two TV cameras 1.2. , zoom, and focus must be adjusted. Therefore, it is impossible to directly apply a two-lens stereoscopic television as a monitoring means for a remote control manipulator.

On the other hand, for the manipulator operator, viewing the object three-dimensionally provides a sense of depth, and can be expected to improve workability and more precise operation when operating the manipulator. In particular, with the conventional method of capturing an object from various angles with a TV camera and projecting the images onto multiple TV monitors, the manipulator operator has to compare the images on the TV monitors as necessary. but,
If 3D television could be applied, it would be sufficient to have two monitor TVs: one to capture the object, and another to display the state of the object in a wide space that includes the object, so such a need would be eliminated. There isn't. In other words, in this case, an improvement in work efficiency can be expected.

For the above-mentioned reasons, it is a great advantage to be able to use a two-sleep stereoscopic television as a monitoring means for a remote control manipulator.

SUMMARY OF THE INVENTION In view of the above-mentioned prior art, an object of the present invention is to provide a manipulator monitor 'AN that allows an operator to always recognize the tip of a manipulator three-dimensionally using a three-dimensional television.

The key point in applying a twin-lens 3D television as a means of monitoring a remote-controlled manipulator is how to always monitor the area at the tip of the manipulator that acts on the object using two TV cameras for the stereoscopic vision described above. It is up to you to see it as satisfying the conditions. Therefore, an infrared lamp was attached to the tip of the manipulator, and an infrared receiver was attached to each of the two TV cameras.
Information on the direction in which the tip of the manipulator exists is given to the TV camera on the stand, and the image of the lamp is automatically directed in that direction so that it is located in the middle of the field of view of each TV camera. Based on the directions of the two TV cameras and the distance between the cameras, use trigonometry to find the distance between each TV camera and the manipulator, and calculate the distance P1. The basis of the technical idea is that the focus of each TV camera is automatically determined based on information.

Embodiments of the present invention will be described in detail below based on the drawings.

Note that the same parts as those in FIG. 1 are marked with the same @, and redundant explanations will be omitted.

FIG. 2 is a configuration diagram showing an embodiment of the present invention. As shown in the figure, an infrared lamp (near-infrared light with a wavelength of about 1.3 μm) 10 is provided at the tip of the operating section 11 of the manipulator.
is an obsession.

1.2 is a TV camera, which has an infrared receiver 1 equipped with a filter that transmits only light with a wavelength around 13 μm.
2 is attached. By wearing the stereoscopic glasses 8, the worker can perceive the CBr4 image three-dimensionally. Reference numeral 13 denotes a manipulator operation panel, which the operator operates while looking at CBr4 to move the manipulator operation section.

FIGS. 3(a) and 3(b) are explanatory diagrams showing the rotation range of the TV cameras 1 and 2. FIG. As shown in Figure 3(a),
It can be rotated within a range of 180 degrees in the horizontal plane (X) and ±90 degrees in the YZ plane (vertical plane).

In this embodiment, the worker operates the manipulator operation panel 13 to move the manipulator operation section 11 to make the beam. At this time, manipulator operation section 1
The tip of 1 is always captured by two cameras 1 and 2,
By supplying a video signal for a two-lens three-dimensional television to the CRT 7, the CRT 7 is used as a monitor means for manipulator operation. Normally, the tip of the manipulator moves during work, but this is always captured by the two TV right cameras, 2. In more detail, the infrared lamp lO attached to the tip of the manipulator is
When the position is N or the manipulator is operating, the infrared receiver 12 is attached to the two TV right cameras 2 at point EJ'L. Camera 2 is automatically directed in the direction of infrared radiation. A possible method for the infrared receiving section 12 to detect the direction of incidence of infrared rays is as shown in FIG. 4(a). FIG. 4(a) shows lens parts 1a and 2.
A rectangular infrared receiving section 12 is attached above a, and its details are as shown in FIG. , a lens 12a is attached to the front of the lens 12a.
, and depending on the direction of incidence of the infrared rays 140,
The incident direction of the infrared rays 14 is detected by focusing the images at different positions. FIG. 4(C) also shows the lens portion 1a.

The infrared receiver 12 is attached above 2a, and its details are as shown in Figure 4(d), in which silicon, PIN, and photo diodes are divided into several parts (8 parts in the figure) and arranged in a circle. A sensor 12b is formed, and a cylindrical object 12a is attached to the center of the sensor 12b. In this mechanism, when the infrared rays 14 are incident on the infrared receiving section 12 from the front, each sensor shows the same level of voltage value, but in general, for any incident angle, the cylindrical object 12a at the center Due to this, all the sensors 12b do not show the same level of voltage value. By feeding back the difference in voltage value from each sensor 12b, the incident direction of the infrared ray 14 is calculated based on T (i).In this way, the incident direction of the infrared ray 14 is determined, and the TV right camera, 2 automatically points in that direction.Furthermore, since the distance between the two TV right cameras and 2 is fixed, the distance information and the infrared receiver installed on the two TV right cameras and 2 Based on the direction of incidence of the infrared rays 140 that has been determined from 12, the distance between each TV right camera 2 and the infrared lamp 10 can be calculated, and the focus of that plus the AI TV camera 1.2 can be automatically adjusted.

As specifically explained above in conjunction with the embodiments, according to the present invention, the tip of the dynamic manipulator can always be followed by the two TV right cameras, and the video signal can be supplied to the CRT.

This allows the operator to operate the manipulator while always viewing the object three-dimensionally. That is, since the operator can always recognize the tip of the manipulator three-dimensionally, it is possible to improve the workability and precision of the operation of the manipulator.

Additionally, if there are multiple manipulators, one worker can easily handle multiple manipulators by attaching an infrared lamp to the tip of each manipulator so that the infrared lamp at the tip lights up only on the manipulator that is operating. The present invention can also be applied when dealing with

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a stereoscopic television according to the prior art, FIG. 2 is a block diagram showing an embodiment of the present invention, and FIG.
a) and (b) are explanatory diagrams showing the rotation range of the TV right camera, Figures 4(a) and (C) are explanatory diagrams showing how the infrared receiver is attached to the TV right camera, and Figure 4(b) ,
(d) is an enlarged view showing an extracted and enlarged infrared receiving section. In the drawing, 1.2 shows the TV right camera 3 is the object, and 7 shows the CRT. 10 is an infrared lamp, 1 is a manipulator operation part, 12 is an infrared receiver, and 4 is an infrared light. Patent Applicant: Mitsubishi Heavy Industries, Ltd. Sub-Agent Patent Attorney: Shibe Mitsuishi (and 1 other person) Figure 2 Figure 3 (a) 1a, Za (b) 2 (d)

Claims (1)

[Claims] By using an infrared lamp placed at the tip of a remote-controlled manipulator, two TV cameras each with an infrared receiver fixed to it, and an infrared receiver detecting the infrared rays emitted from the infrared lamp, 92 units were installed. The TV camera is given information on the direction in which the tip of the manipulator is located, and the infrared lamp image is automatically oriented in that direction so that it is located in the middle of the field of view of each of the two TV cameras, and the direction and the camera are 1. A manipulator monitor device comprising: a two-lens three-dimensional television that automatically adjusts the focus of the TV camera by determining the distance between the tips of each 'rvTV camera manipulator by p-trigonometry according to the distance between them.