Disassembling Process Using Tele-operation System : Tool Positioning Work Using Multi-View Monitoring System

Abstract

In this paper, we propose a multi-view monitoring system which displays a single object in different shots on various display devices taken by cameras on different sides in order to position a screwdriver at a screw, using a disassembling tele-operation system which is operated by remote manupulation for parts recycling in the disassembling process. It is assumed that the positioning accuracy for the screwdriver at a screw is influenced by such factors as the difference in monitoring systems, and the angle between the cameras' optical axes and screws' image size per pixel (resolution) in each display device. It makes clear by an analysis of variance that the positioning accuracy of depth and distance using the proposed monitoring system is higher than that of the stereoscopic vision system using specific glasses and display devices. And as the resolution is determined from 0.76 to 1.41mm/pixel under the conditions of an angle between cameras' optical axes from π/4 to π/2,the screwdiver can be set at the center of a screw within the acceptable circle of 1.0mm. Then as the resolution ratio between two monitors is given from 1 : 1 to 3 : 1 and the angle between cameras' optical axes is determined as π/2,the screwdirver can be set within the acceptable circle of 1.0mm under the condition that one monitor's resolution is set from 1.41mm/pixel to 1.85mm/pixel and the other's is 1.41mm/pixel to 0.77mm/pixel.