Remote Manipulator Workspace Visualization for Collision-Aware Operation
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Solution Overview
Problem
Conventional remote manipulation devices do not consider the circumference situation of the robot, leading to increased operator burden and reduced work efficiency as they need to constantly monitor areas outside the camera's view to avoid collisions and plan routes.
Innovation Solution
A remote-control manipulator system that includes a slave arm, camera, display device, and control device, which acquires and displays circumference information based on an environment model, allowing the operator to visualize both the imaged area and the surrounding environment, reducing the need for constant monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If the operator relies only on the camera's current field of view to operate the slave arm, then the display device shows clear real-time images, but the operator cannot grasp the circumference situation and must constantly monitor areas outside the camera view, increasing operator burden and reducing work efficiency
Solution Approach 1:
The system creates a virtual copy of the physical workspace using pre-acquired three-dimensional data to generate an environment model. This virtual model is then overlaid with real-time camera images on the display device, allowing the operator to see both the current camera view and the surrounding environment simultaneously. This copying approach provides comprehensive circumference information without requiring additional physical cameras or forcing the operator to switch between multiple views, thus reducing operator burden while maintaining complete situational awareness
Solution Approach 2:
The system transitions from a two-dimensional camera view to a three-dimensional virtual environment model that encompasses the entire workspace. By displaying the environment model that includes circumference areas beyond the camera's field of view, the operator gains spatial awareness in additional dimensions. This dimensional enhancement allows simultaneous visualization of both the detailed camera view and the broader workspace context, eliminating the need to constantly monitor areas outside the current view
2Reliability
If the operator must constantly monitor areas outside the camera view to avoid collisions and plan routes, then collision avoidance may be achieved, but work efficiency is reduced due to increased operator burden and attention requirements
Solution Approach 1:
The system provides continuous feedback about the workspace environment by overlaying the virtual environment model with real-time camera images. The environment model shows the positions of other robots and objects, giving the operator immediate feedback about potential collision risks without requiring active monitoring. This feedback mechanism maintains high reliability for collision avoidance while allowing the operator to focus on the primary task, thereby improving work efficiency
Solution Approach 2:
The system performs preliminary action by pre-acquiring three-dimensional data of the workspace and generating the environment model before operation begins. This pre-established virtual model provides advance information about the workspace layout, other robots, and potential obstacles. By having this information prepared in advance and continuously displayed, the operator can plan routes and avoid collisions more efficiently without needing to constantly survey the environment during operation
Data Source
AI summary
A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked.