A Study of the Image Display System for Teleoperation of a Bulldozer through the Evaluation of the Performance of the Control of Height and Angle of the Blade

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  • Ienaga Takafumi
    Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University
  • Minamoto Masahiko
    Medical Tele-robotics Laboratory Ltd.
  • Matsunaga Katsuya
    Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University
  • Otsuru Makoto
    Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University
  • Shidoji Kazunori
    Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University
  • Goshi Kazuaki
    Department of Intelligent Informatics, Faculty of Information Science, Kyushu Sangyo University
  • Matsuki Yuji
    Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University

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Other Title
  • 映像下でのブルドーザーの排土板の高さと傾きの調節精度の評価を通しての遠隔操作用画像提示法の検討
  • エイゾウ カ デ ノ ブルドーザー ノ ハイドバン ノ タカサ ト カタムキ ノ チョウセツ セイド ノ ヒョウカ オ トオシテ ノ エンカク ソウサヨウ ガゾウ テイジホウ ノ ケントウ

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Abstract

Until present, it has been very hard to make land flat with teleoperated bulldozers through the video images from the cameras on the bulldozer. It has been assumed that the quality of images taken by the video camera was not sufficient for operators to get enough information of the work environment for teleoperation of the bulldozer. To clarify the possibility of teleoperation of the bulldozer through images from the video cameras on it, we compared the accuracies of the height and the angle of a bulldozer's blade under teleoperation and direct operation. Furthermore, we compared the accuracies of those under images from stereoscopic cameras which took the image of the horizontal index with the environmental image, and those under direct operation. As a result of the experiment, it was observed that it is possible to operate bulldozers more accurately through images from the stereoscopic camera system, which took the images of horizontal index with the environmental image, than through the images from the conventional stereoscopic camera system, even though the accuracy was worse than that under direct operation.

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