드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제12권2호
  • /
  • Pages.27-33
  • /
  • 2015
  • /
  • 2671-7972(pISSN)
  • /
  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
권호 표지
DOI QR코드

DOI QR Code

헤드 트래킹 시스템을 이용한 가상 굴삭기의 편의 관측 시스템 개발

Development of the Flexible Observation System for a Virtual Reality Excavator Using the Head Tracking System

  • Le, Q.H. (Department of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Jeong, Y.M. (Department of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Nguyen, C.T. (Department of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Yang, S.Y. (School of Mechanical Engineering, University of Ulsan)
  • 투고 : 2015.03.23
  • 심사 : 2015.04.20
  • 발행 : 2015.06.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Excavators are versatile earthmoving equipment that are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Effective operator training is essential to ensure safe and efficient operating of the machine. The virtual reality excavator based on simulation using conventional large size monitors is limited by the inability to provide a realistic real world training experience. We proposed a flexible observation method with a head tracking system to improve user feeling and sensation when operating a virtual reality excavator. First, an excavation simulator is designed by combining an excavator SimMechanics model and the virtual world. Second, a head mounted display (HMD) device is presented to replace the cumbersome large screens. Moreover, an Inertial Measurement Unit (IMU) sensor is mounted to the HMD for tracking the movement of the operator's head. These signals consequently change the virtual viewpoint of the virtual reality excavator. Simulation results were used to analyze the performance of the proposed system.

키워드

참고문헌

  1. Q. H. Le, C. S. Jeong, H. K. Kim, H. L. Yang, S. Y. Yang, "Study On Modeling And Control Of Excavator", Proceedings of the 28th ISARC, pp. 969-974, Korea, 2011.
  2. C. T. Nguyen, Q. H. Le, Y. M. Jeong and S. Y. Yang, "A study of stability for Field Robot Using Energy Stability Level Method", J Korean Soc Fluid Power Constr Equip, Vol.11, No.3, pp.22-30, 2014.
  3. Q. H. Le, Y. M. Jeong, C. T. Nguyen and S. Y. Yang, "Study on Remote control for Field Robot and Augmented Reality vision using head tracker system", Conference on Korean Soc Fluid Power Constr Equip, pp.65-70, 2014.
  4. S. H. Lee, M. S. Kang, M. S. Gil and C. S. Han, "Recent Developments and Prospect of Automation and Robotics Technology in Construction", Journal of Fluid Power Systems Society, Vol.8, No. 2, pp.57-63, 2011.
  5. Q. H. Le, Y. M. Jeong, C. T. Nguyen and S. Y. Yang, "Development of a Virtual Excavator Using SimMechanics and SymHydraulic", J Korean Soc Fluid Power Constr Equip, Vol.10, No.1, pp.29-36, 2013.
  6. S. Y. Yang,, S. J. Jin, S. K. Kwon, "Remote control system of industrial field robot", INDIN 6th IEEE International Conference on Industrial Informatics, Daejeon, Korea, 2008
  7. H. Yamada, and T. Muto, "Construction Tele-Robotic System with Virtual Reality (CG presentation of virtual robot and task object using stereo vision system)," J. of Control and Intelligent Systems, Vol.35, No.3, pp. 195-201, 2007.
  8. T. Ni, D. X. Zhao, "Visual system design for excavator simulator with deformable terrain", InProceedinds of the IEEE international Conference on Mechatronics and Automation, pp. 724-728, 2009.
  9. D. Schmidt, M. Proetzdch, K. Berns, "Simulation and control of an excavator for landscaping tasks", IEEE International Conference on Robotics and Automation (IRCA), Anchorage, pp. 5108-5113, 2010.
  10. M. Elton, A. Enes, and W. Book, "A Virtual Reality Operator Interface Station with Hydraulic HIL Simulation for Prototyping Excavator Control Systems". Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Singapore, 2009.
  11. D. Dopico and A. Luaces, "A soil model for a hydraulic simulator excavator based on real-time multibody dynamics", Proceedings of the 5th Asian Conference on Multibody Dynamics, Kyoto, Japan, 2010