Tele-operation Construction Robot Control System with Virtual Reality Technology

摘要

In this paper, a tele-operation construction robot (TOCR) control system with virtual reality is discussed. The system consists of TOCR driven by hydraulic servo system, two joysticks for controlling the TOCR, and 2-dimensional working environment created by virtual reality technology. And the operator performs the 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 trinocular stereo vision camera fixed in the remote site. To improve the efficiency as well as security of tele-operation, and overcome the shortcomings of conventional visual display, the methods of auto point of view (APV) and semi-transparent object (STO) are introduced in this paper. Finally, the experiments confirmed that one-screen visual display combining APV and STO is superior in operability, safety, and reduction of stress than the conventional visual display.