土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

―第8報 没入感VRインターフェースOperaSimVRを用いたPreviewed Reality実験―

抄録

In recent years, the construction industry has been facing various challenges, such as a declining workforce and an aging population. These issues have been further exacerbated by increasing demand for construction due to aging infrastructure. To address these challenges, we are developing ROS2-TMS for Construction, a cyber-physical system (CPS) for earthwork sites. As part of this research, we are developing OperaSimVR, a visualization system for cyberspace within ROS2-TMS for Construction. In addition to the existing playback mode, we have newly developed a control mode and a preview mode. In control mode, users can remotely operate construction machinery via OperaSimVR, while in preview mode, the simulator predicts the state of the actual machine or earthwork site and visually presents it to users. This paper describes each function in detail and presents the verification experiments conducted to evaluate the control mode and preview mode using actual OPERA-compatible construction machinery.