JPS62271691A - Visual system driving device - 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] 3. Detailed Description of the Invention [Field of Industrial Application] Figure 3 shows, for example, "Measurement and Control JVO 1, 21, NO, 127) r 3rd generation, published in December 1982. robot"
1 is a schematic diagram illustrating a conventional vision system steering device disclosed in . In the figure, 1 is an operator who performs remote control, 2 is a helmet worn by operator 1, 3 is a multi-joint link mechanism for detecting the attitude of helmet 2, and 4 is a base for mounting multi-joint link mechanism 3. It is.

The fourth factor is a block diagram showing the visual system in the visual system control device of FIG. 3.

In the figure, 1 is an operator, 5 is a TV (television) camera that shows the working environment of the manipulator, 6 is a monitor TV that shows the signal of the TV camera 5 on the controller l, and 7
8 is a joint angle→posture calculation unit that calculates the attitude of the helmet 2 from the joint angle of the multi-joint link mechanism 3; and 8 is a TV camera control device for controlling the attitude of the TV camera 5.

Next, the operation of the above conventional visual system control device will be explained. When the operator 1 remotely controls the manipulator, if it is not possible to directly see the working environment of the manipulator, the working environment is monitored using a visual system consisting of a TV camera 5 and a monitor TV 6.

At this time, it is desirable from the viewpoint of work efficiency that the field of view of the monitor TV 6 changes in accordance with the movement of the operator's 1 head.

Therefore, the controller 1 attaches the helmet 2 connected to the base 4 via the multi-joint link mechanism 3, and calculates the posture of the helmet 2 from the joint angle of the multi-joint link mechanism 3 in the joint angle → posture calculation unit 7. do. TV camera control device 8
Now, the attitude of the TV camera 5 is controlled from the attitude of the helmet 2. As a result, the field of view of the monitor TV 6 changes in accordance with the movement of the player's head.

[Problem that the invention seeks to solve]

Since the conventional visual system control device described above is configured as described above, the head of the operator 1 is connected to the multi-joint link 41.
113, the operator 1 needs extra force to move the head, and there are also problems such as the device becomes a lot of dust and takes up a lot of space.

This invention was made in order to solve these problems, and aims to provide a visual system control device that allows the operator to easily move his or her head while downsizing the device. do.

[Means for Solving the Problems] A visual system control device according to the present invention attaches a gyro to a helmet worn by an operator, calculates the attitude of the helmet from an angular velocity signal obtained from the gyro, and calculates the calculation result. The attitude of the TV camera is controlled based on the following.

[Effect]

In the visual system control device of this invention.

A gyro on the helmet worn by the operator allows
The angular velocity when the helmet moves is detected, and the detected angular velocity signal is used to integrate the attitude of the helmet to obtain an attitude signal at each point in time, reducing resistance when the operator moves his head. The equipment can also be turned into a shed.

〔Example〕

FIG. 1 is a schematic diagram showing a visual system control device which is an embodiment of the present invention, and FIG. 2 is a block diagram showing the visual system in the visual system control device l of FIG.
The same or corresponding parts as those shown in FIGS. 3 and 4 are indicated using the same reference numerals, and detailed explanation thereof will be omitted. In FIG. 1, 9 is a gyro attached to a helmet 2 worn by an operator 1. For example, three gyros 9 are attached, and the respective axes of the gyros 9 (axes for detecting angular velocity) are orthogonal to each other. Also, in FIG.

Reference numeral 10 denotes an angular velocity→attitude calculation unit that calculates the attitude of the helmet 2 worn by the operator 1 from the gyro 90 angular velocity signal.

Next, the operation of the visual system control device which is an embodiment of the present invention will be described. A gyro 9 attached to a helmet 2 worn by an operator 1 detects the angular velocity of the helmet 2.

If the change in the attitude of the helmet 2 is determined from the attitude of the helmet 2 at the time when this angular velocity is detected using the angular velocity signal, the attitude of the helmet 2 at the next time point can be obtained. This kind of calculation is performed using angular velocity → calculation 1B1
This is the function of G, and the posture of the helmet 2 can be obtained from moment to moment by repeating the above-mentioned overfeeding. When the attitude of the TV camera 5 is controlled by the TV camera control device 8 based on the attitude signal of the helmet 2, one side of the monitor TV 6 changes in accordance with the movement of the operator's 1 head. Note that when determining the attitude using the gyro 9, the attitude angle is integrated, so there is a possibility that errors may accumulate, but in this case, accuracy is not required, so the
Errors can be easily corrected by simply moving the head of the person to the front position. Furthermore, in order to monitor the m plane of the monitor TV 6 while moving the am of the operator 1, it is desirable to be able to see the screen of the monitor TV 6 inside the helmet 2;
Even when the EI is always in front, if a control mode is provided in which the attitude of the TV camera 5 does not change regardless of the movement of the head of the operator 1, there will be no problem with the operation of the operator 1. do not have.

In the above embodiment, the axes of the three gyros 9 are perpendicular to each other. The angular velocity→attitude calculation unit 10 can compensate for this, and it is not necessary that they are orthogonal. Further, as long as the angular velocity of each gyro 9 in three axes can be detected, the number of gyros 9 does not need to be three.

〔Effect of the invention〕

As explained above, this invention is a visual system control device in which a gyro is attached to the helmet worn by the operator, the attitude of the helmet is calculated from the angular velocity signal obtained from this gyro, and the attitude of the helmet is calculated based on the calculation result.
Since the attitude of the V-camera is controlled, when the operator moves his head to control the TV camera, it is very easy to operate (and also has excellent effects such as the ability to make the device smaller). It is.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing a visual system control device which is an embodiment of the present invention, and FIG. 2 is a block diagram showing the visual system in the visual system control device of FIG.
Figure 3 is a schematic diagram showing a conventional visual system control device;
The figure is a block configuration diagram showing the visual system in the visual system control device of the third factor. In the figure, 1...O is a lever, 2...a helmet. 3... Multi-joint link mechanism, 4... Base, 5...
TV camera, 6...Monitor TV, 7--Joint angle→posture calculation section, 8...TV camera control device% 9...Gyro% 1G...Angular velocity→motion calculation section. In each figure, the same reference numerals indicate the same or complementary parts.

Claims (1)

[Claims] In a control device for a vision system consisting of a TV camera and a TV monitor, a helmet worn by an operator is equipped with a gyro, and the attitude of the helmet is calculated from an angular velocity signal obtained from the gyro according to the movement of the operator's head; A visual system control device, characterized in that the attitude of the TV camera is controlled based on the calculation result.