Remote Control System Virtual Viewpoint Angle Adjustment
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Solution Overview
Problem
Existing remote control systems for mobile bodies face difficulties in maintaining a clear and constant view of the mobile body's position and size when using low-speed communication links, as the mobile body image becomes smaller relative to the environmental image as it moves away, making remote control operations challenging.
Innovation Solution
A remote control system that determines a virtual viewpoint and generates a three-dimensional environmental image and mobile body model, adjusting the angle of view to maintain a constant size of the mobile body model in the composite image, even with slow communication speeds, by using a determination device, image generation devices, and a display device to provide a stable and natural view of the mobile body's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If the environmental image is fixed to reduce communication data amount, then the number of environmental images to be sent is reduced, but the mobile body image becomes increasingly smaller making remote control increasingly difficult
Solution Approach 1:
The patent transitions from a two-dimensional fixed environmental image to a three-dimensional virtual space representation. By constructing a 3D environmental image and allowing the mobile body model to move within this spatial framework, the system maintains the mobile body's visual prominence while reducing communication data through selective image transmission.
Solution Approach 2:
The patent dynamically adjusts the angle of view parameter based on the distance between the virtual viewpoint and the mobile body. As the mobile body moves farther away, the system increases the angle of view to maintain a constant proportion of the mobile body model size in the composite image, ensuring continuous ease of operation.
2Ease of operation
If the mobile body image is updated frequently to maintain visibility, then remote control ease is improved, but the communication data amount increases
Solution Approach 1:
The system performs preliminary construction of a three-dimensional environmental image framework in advance. This pre-established spatial structure allows for efficient integration of mobile body images at different positions and angles without requiring complete retransmission of environmental data, thus maintaining operational ease while minimizing communication overhead.
Solution Approach 2:
The patent introduces a virtual viewpoint as an intermediary between the mobile body and the operator. This virtual viewpoint serves as a dynamic observation point that can be positioned optimally to maintain clear visibility of the mobile body without requiring continuous transmission of actual camera images from all angles.
3Device complexity
If the angle of view is fixed to simplify processing, then device complexity is reduced, but the mobile body model size varies making remote control difficult
Solution Approach 1:
The patent implements a dynamic angle of view that automatically adjusts based on the distance between the virtual viewpoint and the mobile body. This dynamic parameter adaptation ensures the mobile body model maintains a constant size in the composite image, improving ease of operation without requiring complex manual intervention.
Solution Approach 2:
The system employs feedback mechanisms where the distance information between the virtual viewpoint and mobile body is continuously monitored, and the angle of view is automatically adjusted in response to maintain constant mobile body model proportion. This closed-loop control achieves ease of operation while keeping processing complexity manageable through algorithmic automation.
Data Source
AI summary
A remote control system and a remote control apparatus allow a human operator to remotely control a mobile body easily even if the system uses a low-speed communications link. The remote control system includes a remote control apparatus, in which a CPU selects old information based on both old information and the latest mobile body information from a mobile body, and determines a virtual view point V. The CPU generates a three-dimensional environmental image K and the virtual view point V based on the selected old information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding a mobile body model M, in a global coordinate system GC. The CPU calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor.