遠隔操作オペレータの要求仕様に基づいたバックホウ盛土作業のための映像自動提示

抄録

Construction work for disaster recovery is required in Japan where disasters occur frequently. Unmanned construction is a technology that can be utilized for safe construction by remotely operating an unmanned construction machine, without risk of secondary damage or danger to the humans involved in the disaster recovery. However, there exist problems such as low work efficiency, and, decline and lack of laborforce. Therefore, in this paper, we propose an automatic video presentation method for backhoe embankment construction that can solve these problems. In the proposed method, an analysis is done of the kind of video that the remote operator wants in order to extract the required specifications. Then, automatic control of the pan, tilt, and zoom of an external camera is performed based on the required specifications and the appropriate view is presented. The proposed method was evaluated quantitatively by experiments on actual equipment via visibility evaluation.