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US 11,582,438 B2Granted
Control device and master slave system
AssigneeSony Group Corporation
InventorsYuki Itotani, Kazuki Yokoyama, Koji Aoyama, Atsushi Miyamoto
Life of this patent
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Abstract
Provided is a control device including a control unit that calculates a first positional relationship between an eye of an observer observing an object displayed on a display unit and a first point in a master-side three-dimensional coordinate system, and controls an imaging unit that images the object so that a second positional relationship between the imaging unit and a second point corresponding to the first point in a slave-side three-dimensional coordinate system corresponds to the first positional relationship.
Claims12
A control device comprising:
- control circuitry that
- calculates a first positional relationship between an eye of an observer observing an object displayed on a display and a first point in a master-side three-dimensional coordinate system;
- and
- controls an imaging device with optics that images the object so that a second positional relationship between the imaging device and a second point corresponding to the first point in a slave-side three-dimensional coordinate system corresponds to the first positional relationship, wherein
- the control circuitry controls a parameter to satisfy
- I=MDR·DCR·CSR·SMR
- under a condition MSR is a rotation matrix used for conversion from a three-dimensional coordinate system for a master device that receives an input from the observer to a three-dimensional coordinate system for a slave device controlled on a basis of the input, SCR is a rotation matrix used for conversion from the three-dimensional coordinate system for the slave device to a three-dimensional coordinate system for the imaging device, CDR is a rotation matrix used for conversion from the three-dimensional coordinate system for the imaging device to a three-dimensional coordinate system for the display, DMR is a rotation matrix used for conversion from the three-dimensional coordinate system for the display to the three-dimensional coordinate system for the master device, and I is a unit matrix.
4 more elements
A master slave system comprising:
- a slave device;
- a master device used to operate the slave device;
- and
- control circuitry that
- calculates a first positional relationship between an eye of an observer observing an object displayed on a display and a first point in a master-side three-dimensional coordinate system, and
- controls an imaging device with optics that images the object so that a second positional relationship between the imaging device and a second point corresponding to the first point in a slave-side three-dimensional coordinate system corresponds to the first positional relationship, wherein
- the control circuitry controls a parameter to satisfy
- I=MDR·DCR·CSR·SMR
- under a condition MSR is a rotation matrix used for conversion from a three-dimensional coordinate system for the master device that receives an input from the observer to a three-dimensional coordinate system for the slave device controlled on a basis of the input, SCR is a rotation matrix used for conversion from the three-dimensional coordinate system for the slave device to a three-dimensional coordinate system for the imaging device, CDR is a rotation matrix used for conversion from the three-dimensional coordinate system for the imaging device to a three-dimensional coordinate system for the display, DMR is a rotation matrix used for conversion from the three-dimensional coordinate system for the display to the three-dimensional coordinate system for the master device, and I is a unit matrix.
6 more elements
Dependencies are inferred from the claim text.