JPS63124490U - - Google Patents

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図ないし第３図は、本考案の実施例で、第
１図は原理説明のブロツク図、第２図は固定点を
対象とした具体的構成図、第３図は可動点を対象
とした具体的構成図である。 図中、１はカメラ位置座標検出手段、２は目標
点座標認定認識手段、３は演算手段、４は制御手
段である。 Figures 1 to 3 show examples of the present invention. Figure 1 is a block diagram explaining the principle, Figure 2 is a concrete configuration diagram targeting a fixed point, and Figure 3 is a diagram depicting a movable point. FIG. In the figure, 1 is a camera position coordinate detection means, 2 is a target point coordinate recognition recognition means, 3 is a calculation means, and 4 is a control means.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 作業ロボツトの対象物をモニタするカメラにあ
つて、このカメラの現在位置座標を検出する手段
と、撮影すべき対象物の目標点座標を設定認識す
る手段と、この目標点座標から現在位置座標まで
の偏差をとつて目標点座標をモニタする上記カメ
ラの俯仰角や旋回角を演算する手段と、この演算
結果にて上記カメラを制御する制御手段とを備え
たモニタＴＶカメラの自動追従制御装置。 For a camera that monitors an object of a work robot, there is a means for detecting the current position coordinates of the camera, a means for setting and recognizing the target point coordinates of the object to be photographed, and a method from the target point coordinates to the current position coordinates. An automatic follow-up control device for a monitor TV camera, comprising means for calculating an elevation angle and a turning angle of the camera that monitors target point coordinates by calculating a deviation of the coordinates of the target point, and a control means for controlling the camera based on the calculation results.