建設機械の遠隔操作における手動運転と自動運転の融合

抄録

It is known that the work efficiency of the teleoperated construction machinery is lower than directly operated ones. Teleoperation with the assist of auto control is expected to improve work efficiency. But the assist might break the control feeling of manual. We proposed the fusion control of manual and auto operation not to disturb the operator's control and not to change the control feeling. The assist approach to the working trajectory on the assumption of the existence of the ideal trajectory of the hoist swing that is the major working of the excavator. We evaluated the control feeling using sense of agency. The results of the examination using a miniature excavator showed that the assist improved the perspective error from manual with high sense of agency.