Development for teleoperation underwater grasping system in unclear environment
Development for teleoperation underwater grasping system in unclear environment
复制标题
不明环境下遥操作水下抓取系统研制
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
M. Yoshie
中科院分区：
文献类型：
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作者：
M. Utsumi;T. Hirabayashi;M. Yoshie
水下施工机械化不如地面施工机械化先进。大多数港口建设工程都依赖潜水员的劳动。考虑到潜水员的效率和安全，有必要引进一种水下施工机械。特别是具有抓取系统的遥控水下反铲，将有助于放置和清除碎屑或碎石，以及拆除破损的设施。在地面遥操作的情况下，可以使用机器视觉或人眼来观察受控机器的运动。然而，在水下，水流抬高泥沙造成的浑浊干扰了视觉。在水中抓取作业的效率降低。因此，我们考虑将增强现实(AR)技术应用于抓取系统。在本研究的AR技术中，通过对来自传感器的信息进行扩展或处理来弥补视觉信息的不足。通过对考生的计算机仿真实验，保证了AR技术的应用对弱可见光环境下的抓取操作是有效的。在本文中，我们介绍了增强现实技术和该遥操作系统的有效性。
The mechanization of underwater construction is not so much advanced as the mechanization of construction on the ground. Most port construction works depend on diver labor. Considering the efficiency and safety of divers, it is necessary to introduce an underwater construction machine. Especially, a teleoperational underwater backhoe with grasping system will be useful for setting and removing brocks or rubble, and dismantling broken facilities. In case of teleoperation on the ground, it is possible to use machine vision or human eyes to observe motion of a controlled machine. However, underwater, turbidity caused by raising earth and sand by water currents disturbs the vision. The efficiency of a grasping operation in water deteriorates. Therefore, we consider applying augmented reality (AR) technology to the grasping system. In AR technology of this research, information from a sensor is extended or processed to compensate for the lack of visual information. It is assured that the application of AR technology is effective for the grasping operation under poor visible circumstances through examinee experiments of a computer simulation. In this paper, we present AR technology and a validity of this teleoperation system.