Research on Superimposed Terrain Model for Teleoperation Work Efficiency

抄録

In recent years, unmanned construction based on the teleoperation of construction equipment has increasingly been used in disaster sites or mines. However, operations based on teleoperation are based on 2D images, in which the lack of perspective results in considerably lower efficiency when compared with on-board operations. Previous studies employed multi-viewpoint images or binocular stereo, which resulted in problems, such as lower efficiency, caused by the operator’s need to evaluate distances by shifting his or her line of sight, or eye fatigue due to binocular stereo. Thus, the present study aims to improve the work efficiency of teleoperation by superimposing a 3D model of the terrain on the on-board operator’s view image. The surrounding terrain is measured by a depth image sensor and represented as a digital terrain model, which is generated and updated in real time. The terrain model is transformed into the on-board operator’s view, on which an artificial shadow of the bucket tip and an evenly spaced grid projected to the ground surface are superimposed. This allows the operator to visually evaluate the bucket tip position from the artificial shadow and the distance between the excavation point and bucket tip from the terrain grid. An experiment was conducted investigating the positioning of the bucket tip by teleoperation using a miniature excavator and the terrain model superimposed display. The results showed that the standard deviations of the positioning errors measured with the superimposed display were lower by 30% or more than those obtained without the superimposed display, while they were approximately equal to those acquired using binocular stereo. We thus demonstrated the effectiveness of the superimposed display in improving work efficiency in teleoperation.