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JRM Vol.36 No.2 pp. 309-319
doi: 10.20965/jrm.2024.p0309
(2024)

Paper:

Visual Presentation Interface to Reduce Effect of Machine Switching for Teleoperated Hydraulic Excavators

Masaki Nagai*1 ORCID Icon, Junya Masunaga*2, Masaru Ito*3, Chiaki Raima*4, Seiji Saiki*3, Yoichiro Yamazaki*3, and Yuichi Kurita*1

*1Graduate School of Advanced Science and Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan

*2Toshiba Infrastructure Systems & Solutions Corporation
1 Toshiba-cho, Fuchu, Tokyo 183-8511, Japan

*3Kobelco Construction Machinery Co., Ltd.
5-5-15 Kitashinagawa, Shinagawa-ku, Tokyo 141-8626, Japan

*4School of Human and Social Sciences, Tokyo International University
1-13-1 Matoba-Kita, Kawagoe, Saitama 350-1197, Japan

Received:
August 4, 2023
Accepted:
December 24, 2023
Published:
April 20, 2024
Keywords:
human augmentation, hydraulic excavator, interface, internal model, visual feedback
Abstract

In the future, a situation in which operators switch between different machine classes in teleoperated hydraulic excavator is envisioned. In such a case, because the classes have different dynamic characteristics, the operator is expected to acquire an internal model for each class and switch models each time the operator switches between machines. However, in the case of teleoperated hydraulic excavator, the operator cannot obtain information such as the size and dynamic characteristics of the machine to be switched to; thus, the operator may not be able to switch internal models properly, which may affect the operation efficiency. Therefore, this study proposes a method in which images and videos are used to present the dynamic characteristics of the next machine to be operated during machine changeover in teleoperated hydraulic excavator. To verify the effectiveness of the proposed method, a simulator that imitates teleoperated hydraulic excavator was built and tested on test subjects. The swing operation time significantly increased when the machine was switched without presentation, compared with the case without switching. Meanwhile, the proposed method did not increase the swing operation time associated with machine switching, suggesting its effectiveness. The video presentation method was more effective than the image presentation method for suppressing the increase in swing operation time, indicating that the operator can immediately switch to an appropriate internal model with the presentation of the dynamic characteristics of the machine in advance using video.

Dynamic characteristics presentation method

Dynamic characteristics presentation method

Cite this article as:
M. Nagai, J. Masunaga, M. Ito, C. Raima, S. Saiki, Y. Yamazaki, and Y. Kurita, “Visual Presentation Interface to Reduce Effect of Machine Switching for Teleoperated Hydraulic Excavators,” J. Robot. Mechatron., Vol.36 No.2, pp. 309-319, 2024.
Data files:
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Last updated on May. 19, 2024