METHOD OF CREATING IMAGE FOR REMOTE-CONTROL IN UNMANNED VEHICLE, AND REMOTE CONTROL SYSTEM OF UNMANNED VEHICLE

PROBLEM TO BE SOLVED: To solve problems of a conventional unmanned vehicle, which includes a long operation time required to move a manipulator carefully at a slow speed using one image captured by a camera, which provides limited depth perception.SOLUTION: When creating an image P5 for remote-controlling an unmanned vehicle V, after setting a front part of an object to be operated T, using an on-vehicle camera 4 attached to a manipulator M having a hand part H, the manipulator M is rotated to a selection position at which a side part of the object to be operated T is imaged by the on-vehicle camera 4 and a selection image P1 is captured, then, after the manipulator M is rotated to an operation position at which a front part of the object to be operated T is imaged by the on-vehicle camera 4, CG image P2 of the manipulator M on the selection image P1 is created, and the selection image P1 and the CG image P2 are composed to create a reference image P3 for remote control. The method of the invention achieves reduction of an operation time and prevention of operation failure by obtaining the current image P4 and the reference image P3 for remote control using the one on-vehicle camera 4.SELECTED DRAWING: Figure 1 【課題】従来の無人車両は、カメラの一画像では遠近感が乏しく、マニピュレータを慎重に微速で動かさざるを得なかったため、作業時間が長くなる等の問題点があった。【解決手段】無人車両Ｖの遠隔操縦用画像Ｐ５を作製するに際し、作業対象物Ｔの正面部を設定した後、ハンド部Ｈを有するマニピュレータＭに装着した車載カメラ４を用い、車載カメラ４が作業対象物Ｔの側部を捕捉する選定位置にマニピュレータＭを回動させて選定画像Ｐ１を撮像し、車載カメラ４が作業対象物Ｔの正面部を捕捉する作業位置にマニピュレータＭを回動させた後、選定画像Ｐ１上におけるマニピュレータＭのＣＧ画像Ｐ２を作製し、選定画像Ｐ１とＣＧ画像Ｐ２とを合成して遠隔操縦用の参考画像Ｐ３とする。１台の車載カメラ４を使用して、遠隔操縦用の現状画像Ｐ４及び参考画像Ｐ３を得ることで、作業を容易にして作業時間の短縮化や作業ミスの防止を実現した。【選択図】図１