Construction Tele-robot System With Virtual Reality

In this paper, a tele-robotics system for a construction machine is investigated. The system consists of a servo-controlled construction robot, two joysticks for controlling the robot, and a 3-dimensional virtual environment. Computer graphics (CG) of the robot and task objects are presented to the operator in virtual scene as a tool for assisting teleoperation. The operator performs 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 stereo camera fixed in remote field. To improve the efficiency as well as security of teleoperation, and overcome the shortcomings (such as time-consuming judgement and mistaken selection of screen to be observed) of conventional three-screens visual display, the methods of auto point of view (APV) and semi-transparent object (STO) are introduced in this paper. Finally, A comparative study of a one-screen visual display combining APV and STO with the conventional three-screens visual display is carried out based on the results of evaluation experiments (task efficiency, risk indexes, questionnaire). These experiments confirmed that one-screen visual display combining APV and STO is superior in operability, safety, and reduction of stress.