CONSTRUCTION TELE-ROBOTIC SYSTEM WITH VIRTUAL REALITY (CG PRESENTATION OF VIRTUAL ROBOT AND TASK OBJECT USING STEREO VISION SYSTEM)

摘要

In this study, we investigated a tele-robotics system for a construction machine. The system consists of a servo-controlled construction robot, two joysticks for controlling the robot from a remote place, and a 3-degrees-of-freedom motion base. The operator of the robot sits on the motion base and controls the robot bilaterally from a remote place. The role of the motion base is to realistically simulate the motion of the construction robot. As a tool for assisting the operator, a stereo video of the operation field is projected on a screen. If, in addition to the video, computer graphics (CG) of the robot were to be presented to the operator, the task efficiency could be expected to increase. To confirm this, a CG of a virtual robot was created, and its effectiveness for a task involving carrying an object was determined in this study. This system can present the position and shape of the task object by means of a stereo vision system. The results of the experiment clarified that tasking time was shortened effectively even for amateur operators. Thus, the usefulness of the developed CG system was confirmed.