| 摘要 |
PURPOSE:To make adjustment to the focus and the viewing angle automatically, by calculating the working position of a robot and always turning an ITV camera to the working point. CONSTITUTION:An arithmetic circuit within a damping circuit 130 calculates positions (x) and (y) of the working point O of a robot by means of the arm length l and angle psi of the robot. Then the viewing direction alpha of a ITV camera consisting of left and right ITV cameras 110a and 110b is calculated along with the viewing angle theta of the left and right ITV cameras. Based on the results of these calculations, the ITV camera is turned to the point O and controlled. At the same time, the distance between the ITV camera and the point O is calculated to perform an automatic control of focus. Thus the ITV camera is always turned to the working point to make automatic adjustment to both the focus and the viewing angle. |
