Teleoperated Construction Robot Using Visual Support with Drones

Hironao Yamada; Naoyuki B; o; Katsutoshi Ootsubo; Yuji Hattori

doi:10.20965/jrm.2018.p0406

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JRM Vol.30 No.3 pp. 406-415

doi: 10.20965/jrm.2018.p0406

(2018)

Paper:

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Teleoperated Construction Robot Using Visual Support with Drones

Hironao Yamada^*, Naoyuki Bando^**, Katsutoshi Ootsubo^*, and Yuji Hattori^***

^*Gifu University
1-1 Yanagido, Gifu City, Gifu 501-1193, Japan

^**Gifu Prefectural Research Institute of Information Technology
1-21 Techno-Plaza, Kakamigahara, Gifu 509-0108, Japan

^***Mitsubishi Electric Corporation
2-7-3 Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan

Received:

November 17, 2017

Accepted:

April 17, 2018

Published:

June 20, 2018

Keywords:

construction robot, teleoperation, drone, visual support

Abstract

A teleoperation system for a construction robot works effectively in a hazardous environment. However, it has problems with work precision and mental workload. In this study, a moving visual support system using a drone is developed to solve these operability problems. The usability of the system is confirmed through a subjective experiment.

Teleoperated construction robot system with drones

Cite this article as:

H. Yamada, N. Bando, K. Ootsubo, and Y. Hattori, “Teleoperated Construction Robot Using Visual Support with Drones,” J. Robot. Mechatron., Vol.30 No.3, pp. 406-415, 2018.

Data files:

References

[1] Special Issue, “Unmanned Construction to Become Familiar,” Nikkei Construction, Vol.296, pp. 38-56 (Nikkei Business Publications Inc., Archive CD-ROM2002, No.155490), 2002.
[2] D. Zhao, Y. Xia, H. Yamada, and T. Muto, “Presentation of Realistic motion to the Operator in Operating a Tele-operated Construction Robot,” J. of Robotics and Mechatronics, Vol.14, No.2, pp. 98-104, 2002.
[3] H. Yamada, H. Kato, and T. Muto, “Master-Slave Control for Construction Robot Teleoperation,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 54-60, 2003.
[4] H. Yamada, M. Gong, and D. Zhao, “A Master-Slave Control for a Tele-Operation System for a Construction Robot (Application of a Velocity Control Method with a Force Feedback Model),” J. of Robotics and Mechatronics, Vol.19, No.1, pp. 60-67, 2006.
[5] A. Y. Ahmad, T. Kawamura, and H. Yamada, “Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 949-957, 2012.
[6] H. Lingtao, T. Kawamura, and H. Yamada, “Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 958-966, 2012.
[7] K. Ootsubo, D. Kato, T. Kawamura, and H. Yamada, “Support System for Slope Shaping Based on a Teleoperated Construction Robot,” J. of Robotics and Mechatronics, Vol.28, No.2, pp. 149-157, 2016.
[8] H. Yamada, K. Kakehi, K. Ootsubo, and T. Kawamura, “Construction Robot Using Visual Support with Drones,” Proc. of 2017 the Int. Conf. on Advances in Construction Machinery and Vehicle Engineering, China, pp. 358-362, 2017.
[9] K. Kurashiki, H. Yoshinada, K. Nagatani, M. Tanaka, A. Yamashita, Y. Yokokohji, and M. Konyo, “A Teleoperated Hydraulic Rescue Robot Integrated with Elemental Technologies,” Proc. of the 10th JFPS Int. Symposium on Fluid Power, Fukuoka, 1C12, pp. 1-4, 2017.
[10] S. Kiribayashi, K. Yakushigawa, and K. Nagatani, “Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine,” Preprints of the 11th Int. Conf. on Field and Service Robotics, #24, 2017.
[11] S. Hart and L. Staveland, “Development of NASA-TLX (Task Load Index): Results of empirical and theoretical research,” Advances in Psychology, Human mental workload, Vol.52, North Holland, pp. 139-183, 1988.
[12] Y. Gouda, “Prevention of runaway of multicopter by drone spider,” The 34th Annual Conf. of the Robotics Society of Japan, RSJ2016AC1F3-05, 2016.
[13] H. Yamada, “Human Interface of a Tele-operated Construction Machine,” J. of the Robotics Society of Japan, Vol.336, pp. 400-403, 2015.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Special Issue, “Unmanned Construction to Become Familiar,” Nikkei Construction, Vol.296, pp. 38-56 (Nikkei Business Publications Inc., Archive CD-ROM2002, No.155490), 2002.

[2] [2] D. Zhao, Y. Xia, H. Yamada, and T. Muto, “Presentation of Realistic motion to the Operator in Operating a Tele-operated Construction Robot,” J. of Robotics and Mechatronics, Vol.14, No.2, pp. 98-104, 2002.

[3] [3] H. Yamada, H. Kato, and T. Muto, “Master-Slave Control for Construction Robot Teleoperation,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 54-60, 2003.

[4] [4] H. Yamada, M. Gong, and D. Zhao, “A Master-Slave Control for a Tele-Operation System for a Construction Robot (Application of a Velocity Control Method with a Force Feedback Model),” J. of Robotics and Mechatronics, Vol.19, No.1, pp. 60-67, 2006.

[5] [5] A. Y. Ahmad, T. Kawamura, and H. Yamada, “Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 949-957, 2012.

[6] [6] H. Lingtao, T. Kawamura, and H. Yamada, “Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 958-966, 2012.

[7] [7] K. Ootsubo, D. Kato, T. Kawamura, and H. Yamada, “Support System for Slope Shaping Based on a Teleoperated Construction Robot,” J. of Robotics and Mechatronics, Vol.28, No.2, pp. 149-157, 2016.

[8] [8] H. Yamada, K. Kakehi, K. Ootsubo, and T. Kawamura, “Construction Robot Using Visual Support with Drones,” Proc. of 2017 the Int. Conf. on Advances in Construction Machinery and Vehicle Engineering, China, pp. 358-362, 2017.

[9] [9] K. Kurashiki, H. Yoshinada, K. Nagatani, M. Tanaka, A. Yamashita, Y. Yokokohji, and M. Konyo, “A Teleoperated Hydraulic Rescue Robot Integrated with Elemental Technologies,” Proc. of the 10th JFPS Int. Symposium on Fluid Power, Fukuoka, 1C12, pp. 1-4, 2017.

[10] [10] S. Kiribayashi, K. Yakushigawa, and K. Nagatani, “Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine,” Preprints of the 11th Int. Conf. on Field and Service Robotics, #24, 2017.

[11] [11] S. Hart and L. Staveland, “Development of NASA-TLX (Task Load Index): Results of empirical and theoretical research,” Advances in Psychology, Human mental workload, Vol.52, North Holland, pp. 139-183, 1988.

[12] [12] Y. Gouda, “Prevention of runaway of multicopter by drone spider,” The 34th Annual Conf. of the Robotics Society of Japan, RSJ2016AC1F3-05, 2016.

[13] [13] H. Yamada, “Human Interface of a Tele-operated Construction Machine,” J. of the Robotics Society of Japan, Vol.336, pp. 400-403, 2015.

Teleoperated Construction Robot Using Visual Support with Drones

Hironao Yamada*, Naoyuki Bando**, Katsutoshi Ootsubo*, and Yuji Hattori***

Hironao Yamada^*, Naoyuki Bando^**, Katsutoshi Ootsubo^*, and Yuji Hattori^***