Distributed virtual environment-based safety control for Internet tele-robots

摘要

The inherent complexity and uncertainty of multi-operator multi-robot (MOMR) tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis (FTA) technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment (DVE) including the characteristics of virtual guide (VG) technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators' intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.