Virtual reality-based teleoperation construction robot control system with 3Dvisor device

摘要

In this paper, a virtual reality-based construction tele-robot control system is investigated. The system consists of a servo-controlled construction tele-robot, two joysticks for controlling the construction tele-robot, and virtual environment imaging system. The operator performs the teleoperation of the construction tele-robot by manipulating the graphic robot directly in virtual environment using the joysticks. Experiments research indicated that virtual reality technology improved the task efficiency and offered the possibility of performing teleoperation with greater safety. Up to now, the virtual environment imaging system used in this control system is always 2D working scene, no 3D stereoscopic sense in real-life operation. Aiming at the problems, a 3Dvisor device is introduced into this system in this paper, which can move the viewpoint even when the construction tele-robot doesn't move. At last, the evaluation experiments results based on risk indicator using 2D and 3D stereoscopic virtual environment image system respectively are both included in this paper. These experiments results indicate that using 3Dvisor device to present the 3D stereoscopic virtual working environment is effective to enhance the safety by decreasing the average generation force, but the contacting time still needs to be improved in the application.