Title: Development of 3D Digital-Twin System for Remote-Control Operation in Construction
Authors: Yoshihito Mori and Masaomi Wada
Abstract: This paper proposes a 3D digital-twin system for remote-control operation in construction. Prevalent remote operation using multiple cameras cannot eliminate blind spots completely due to the limitation of the number of installable cameras. Thus, to ensure various remote operations can be performed safely, the 3D digital-twin system applying is developed. This system can help remote operators to recognize the location and behavior of remote-control machines in virtual space simulating a work site. Experiments using a crawler robot with a manipulator verify that remote operators can grip an object with the gripper of the manipulator while avoiding collision between the robot and the robot s surrounding equipment. Furthermore, by using the system, remote operators can complement the field of view which camera images alone could not confirm. To apply the system in various work sites, the following research elements should be examined and verified. The first is to develop the collision-avoidance control with surrounding equipment for manipulators. The second is to improve the accuracy of self-localization and keep robots localized using 3D LiDAR. The third is to reflect the real behavior of objects in virtual space by using sensors such as LiDAR and stereo cameras.
Keywords: Digital Twin, Remote Operation, Collision avoidance
DOI: doi.org/10.222...
Негізгі бет Paper ID 189 - ISARC 2024 by Yoshihito Mori
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