Virtual Reality-based Construction Tele-robot Control System with 3D Visor Device
In this paper, a virtual reality-based construction tele-robot control system is investigated. The systeM consists of a servo-controlled construction telerobot, two joysticks for contr-lling the construction tele-robot, and 3-dimensional virtual environment. The operator performs the teleoperation of the construction tele-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 the remote field. The method of auto point of view (APV), which moves the point of view and reference point in response to the behavior of the swing and boom cylinder, is used for facilitating work and proved to be superior in operability, safety, and reduction of stress than the conventional threescreen visual display method. However, the movement method of APV excessively depends on the moving of the construction tele-robot, namely, the viewpoint will not be changed when the construction tele-robot doesnt move. In this case, it is difficult to finish the work task for the operator. To overcome the shortcomings, a 3D visor device is introduced into this system in this paper, which can move the viewpoint even when the construction tele-robot doesnt move. At last, the evaluation experiments results based on risk indicator using APV method and 3D visor device with straight-line and circle trajectory are both included in this paper. The experiment indicates that changing the point of view by 3D visor device is effective to enhance the safety and improve the task efficiency in operation process.
Virtual reality Construction Tele-robot 3D visor Device Stereo vision Euler angle
Yamada Hironao Tang Xinxing Yusof Ahmad Anas
Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu, 501-1193, Japan Vitual System Laboratory, Gifu University, 1-1 Yanagido, Gifu, 501-1193, Japan Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu,501-1193, Japan
国际会议
长春
英文
6-10
2009-08-21（万方平台首次上网日期，不代表论文的发表时间）