# US 12,005,570 B2 · Image display device and image display method

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,005,570 B2
- Document ID: US12005570B2
- Status: Granted
- Kind: B2
- Application number: 17/950,800
- Filed: 2022-09-22
- Published: 2023-06-22
- Granted: 2024-06-11
- Earliest claimed: 2021-12-22
- Assignees: JVCKENWOOD Corporation
- Applicants: JVCKENWOOD Corporation
- Inventors: Shunichi Fujii; Yuichi Arahata; Takayuki Arase; Satoshi Yoshimura
- Web page: https://patentgrep.com/patent/US12005570B2

## CPC

- B25J 13/088: {with position, velocity or acceleration sensors}
- G06F 3/012: {Head tracking input arrangements}
- B25J 19/023: {including video camera means}
- H04N 13/161: Encoding, multiplexing or demultiplexing different image signal components (for multi-view video sequence encoding H04N19/597)
- H04N 13/194: Transmission of image signals
- H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence)
- H04N 13/332: Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A synchronization controller performs control so that operator motion data is transmitted to a robot when a synchronization switch is set to ON which allows synchronization of a rotational motion of an operator with a rotational motion of the robot. An image correction unit, when there is a difference between a first rotation angle of the operator and a second rotation angle of the robot, corrects a cutout range of an image so as to be equal to a range corresponding to the first rotation angle. The synchronization controller performs control so that the operator motion data is not transmitted to the robot when the synchronization switch is set to OFF which does not allow synchronization of a rotational motion of the operator with a rotational motion. The image correction unit corrects the cutout range so as to be equal to a range corresponding to the first rotation angle.

## Claims

### Claim 1

An image display device comprising:
an operator motion data acquisition unit configured to acquire operator motion data indicating a first rotation angle produced when an operator who operates a robot performs a rotational motion;
a robot motion data acquisition unit configured to acquire robot motion data which indicates a second rotation angle produced when the robot performs a rotational motion in accordance with the operator motion data and is transmitted from the robot;
an image data acquisition unit configured to acquire image data which is generated by being captured by a 360-degree camera provided in the robot and is transmitted from the robot;
an image correction unit configured to supply, to a display panel, image data in a cutout range obtained by cutting out a range of an image to be displayed on the display panel to be viewed by the operator, from the image data acquired by the image data acquisition unit, and to correct the cutout range;
a synchronization switch configured to set whether or not to synchronize a rotational motion of the operator with a rotational motion of the robot; and
a synchronization controller configured to perform control so that the operator motion data is transmitted to the robot when the synchronization switch is set to ON which allows synchronization of a rotational motion of the operator with a rotational motion of the robot, and to control the image correction unit to correct the cutout range so as to be equal to a range corresponding to the first rotation angle when there is a difference between the first rotation angle and the second rotation angle, and configured to perform control so that the operator motion data is not transmitted to the robot when the synchronization switch is set to OFF which does not allow synchronization of a rotational motion of the operator with a rotational motion of the robot, and to control the image correction unit to correct the cutout range so as to be equal to a range corresponding to the first rotation angle.

### Claim 2 (depends on 1)

The image display device according to claim 1, wherein
the synchronization controller, when the synchronization switch is set to ON which allows synchronization of a rotational motion of the operator with a rotational motion of the robot, corrects the cutout range so as to be shifted in a direction in which the operator performs a rotational motion, by a difference between the first rotation angle and second rotation angle in a case where the first rotation angle is greater than the second rotation angle, and corrects the cutout range so as to be shifted in a direction opposite to the direction in which the operator performs a rotational motion, by a difference between the first rotation angle and second rotation angle in a case where the first rotation angle is smaller than the second rotation angle.

### Claim 3 (depends on 1)

The image display device according to claim 1, wherein
the synchronization controller is in a state equivalent to a state in which the synchronization switch is set to ON, when the operator has been watching an image displayed on the display panel for a predetermined period of time or longer.

### Claim 4 (depends on 1)

The image display device according to claim 1, wherein
the image correction unit cuts out a range of an image having a viewing angle which is wider than a field angle of the display panel, from the image data acquired by the image data acquisition unit as the cutout range, and compresses a size of the cutout range so as to fit within the field angle of the display panel.

### Claim 5

An image display method comprising:
acquiring operator motion data indicating a first rotation angle produced when an operator who operates a robot performs a rotational motion;
acquiring robot motion data which indicates a second rotation angle produced when the robot performs a rotational motion in accordance with the operator motion data and is transmitted from the robot;
acquiring image data which is generated by being captured by a 360-degree camera provided in the robot and is transmitted from the robot;
supplying, to a display panel, image data in a cutout range obtained by cutting out a range of an image to be displayed on a display panel to be viewed by the operator, from the acquired image data;
performing control so that the operator motion data is transmitted to the robot when a setting is implemented so that a rotational motion of the operator is synchronized with a rotational motion of the robot, and correcting the cutout range so as to be equal to a range corresponding to the first rotation angle when there is a difference between the first rotation angle and the second rotation angle; and
performing control so that the operator motion data is not transmitted to the robot when s setting is set to OFF which does not allow synchronization of a rotational motion of the operator with a rotational motion of the robot, and correcting the cutout range so as to be equal to a range corresponding to the first rotation angle.