基于虚拟现实的建筑远程机器人系统

H. Yamada, Tao Ni, Dingxuan Zhao
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引用次数: 34

摘要

本文研究了一种用于工程机械的远程机器人系统。该系统由一个伺服控制的施工机器人、两个控制机器人的操纵杆和一个三维虚拟环境组成。机器人和任务对象的计算机图形在虚拟场景中呈现给操作者,作为辅助远程操作的工具。操作者在虚拟环境中直接使用操纵杆操纵图形机器人,对施工机器人进行远程操作。虚拟世界中任务物体的位置和形状是根据固定在远场的立体摄像机获取的图像信息实时更新的。为了提高远程操作的效率和安全性,克服传统三屏视觉显示的判断时间长、观察画面选择错误等缺点,介绍了自动视点(APV)和半透明物体(STO)方法。最后,基于评价实验(任务效率、风险指标、问卷调查)的结果,对APV和STO组合的一屏视觉显示与常规三屏视觉显示进行了对比研究。这些实验证实了APV和STO结合的一屏视觉显示在可操作性、安全性和减轻应力方面具有优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Construction Tele-robot System With Virtual Reality
In this paper, a tele-robotics system for a construction machine is investigated. The system consists of a servo-controlled construction robot, two joysticks for controlling the robot, and a 3-dimensional virtual environment. Computer graphics (CG) of the robot and task objects are presented to the operator in virtual scene as a tool for assisting teleoperation. The operator performs remote operation of the construction robot by manipulating the graphic robot directly in virtual environment using the joysticks. The position and shape of the task objects in virtual world are updated in real time on basis of image information obtained by a stereo camera fixed in remote field. To improve the efficiency as well as security of teleoperation, and overcome the shortcomings (such as time-consuming judgement and mistaken selection of screen to be observed) of conventional three-screens visual display, the methods of auto point of view (APV) and semi-transparent object (STO) are introduced in this paper. Finally, A comparative study of a one-screen visual display combining APV and STO with the conventional three-screens visual display is carried out based on the results of evaluation experiments (task efficiency, risk indexes, questionnaire). These experiments confirmed that one-screen visual display combining APV and STO is superior in operability, safety, and reduction of stress.
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