| In recent years, in some dangerous places which human is difficult to access,they need the high precision system to replace the human to work. For example, thework in some extreme environment (the universe, underground, bottom), the repairwork of the disaster site and the protection work of the nuclear power plant and so on.In the specific operation process, human will encountewr more and more complicatedsituations, so the requirements of the operating system is higher.The tele-operation technology was first used into the practice is in thePuXianYue natural disaster in1990. At that time, the volcanic debris from themountain cut off the road. Because the volcanic would break out at any time, the workof cleanup became very dangerous. The headquarters decided to use a few sets ofengineering machinery equipment which were unmanned to operate to complete thetask. At that time the tele-operation system is based on the simple feedforward control.The stereo cameras acquired the information at the job site, and operate theengineering machinery by the joystick with the force feedback function. But this kindof operation method had some shortcomings, it can’t get all the information at the jobsite, so the working efficiency was very low. It was only reached the30%to50%ofthe effect compeared to the directly operation. Since then, the tel-operation telenologywas established. And in the disaster of YouZhuShan, SanZhaiDao and ChangGangShi,the technology were used in many times. But in the the processes, stereo camerasmade the handlers’ eyes feel very tired, so the camera’s quantities would be added. Butby increasing the number of cameras, it caused that the volume of the entire operatingsystem was too big. In the primary stage of the remote control system, the number ofthe sensors in the system is limited, so the convey information is limited. Because ofthe cameras and sensors are limited, then it would produce the perspective of thecorner so that the working efficiency of the system would be down. But now we havethe VR (Virtual Reality) technology, the above problems could be solved. After using the VR technology, not only solve the above mentioned problems, but also could setthe camera in any position which was needed, namely viewpoint. Through thefreedom movement of the viewpoint, we could improve the operation efficiency.This study operate the former tele-operation engineering robot system as theresearch object, add the VR technology into the tele-robot technology. After using theVR technology, the system can provide the homework real-time telepresence for theoperator to achieve the purpose of improving the work efficiency. In this study, theinformation of the work site is acquired through the3D Graphics input devices, andthen rebulid the image of the virtual space through the CG (Computer Graphics)system. And other people’s research has shown that the CG visual cues method canimprove the operation efficiency.In this study, at the basement of the tele-operation engineering system, we add anew angel sensor which is setted on the helmet weared by the operator. When theoperator’s head swings, we can obtain the visual information in the CG image. So thatwe can achieve the purpose of improving the operation. In the previous experimentsystem, they use the viewpoint which is automatic, it means that the viewpointautomaticly moves along with the engineering robot, so that it can provide the visualinformation for the operator. But the purpose of this study is that the viewpoint canmove along with the operator’s mind. Even when the engineering robot has nomovements, the viewpoint may also move. So that we can get the best work viewpointand the real condition of homework assignments and the ubiety between the fork andthe object.The main research works in the paper are as follows:1. On the basis of the tele-robot engineering system in the YAMADA Laboratory,we add a new angle sensor which is used for collecting the information, and then weset up a new tele-robot engineering system. The new system is not only have thefunctions of the old system, but also own the new function, so that we can improvethe operation and efficiency.2. In the YAMADA Labortory, they have studied out the viewpoint movingmethod which is automatic moving. Although this method has some advantages and itcan improve the system’s operation, but it also have many shortcomings. In this paper we present a new method which is called the active viewpoint moving method. Andwe also design the experiments to verify its advantages and disadvantages andusefulness which is about the original method and the new method(Straight-linetrajectory and Curve-line trajectory).3. By analyzing and evaluating the experiment data, including homework time,failure number, working efficiency, risk index, NASA-TLX and questionnaire, weobtain the conclusions as follows:1) The active viewpoint moving method is betterthan the automatic viewpoint moving method in operation time, failure number, workefficiency, risk index. In the NASA-TLX, in addition to PD(Physical Demand), theactive viewpoint moving method is also better than the automatic viewpoint movingmethod. Because the active viewpoint moving method need the operator to cant hishead for controlling the angle sensor, so that the operator will feel more pressure onPD.2) Comparing the Straight-line trajectory and the Curve-line trajectory in theactive viewpoint moving method, the Curve-line trajectory is better than theStraight-line trajectory. Because the moving range in the Curve-line trajectory isbigger than the Straight-line trajectory, so it have more benefits to work for operators. |
