Development of User Interfaces for an Internet-Based Forklift Teleoperation System with Telepresence

摘要

Teleoperated systems are often used for operations in difficult and dynamic environments, where remote humans must take over machinery for more difficult or more variable tasks than the local operators or automation system can manage. We designed and developed a prototype internet-based forklift teleoperation system using a real Pallet Carrier in order to augment operation of the Carrier with remote human control, to either assist a local human operator, or to augment or share control with an automatic driving system . We designed the teleoperated forklift system as an exploratory investigation based on telepresence technology that requires a wide field of vision, binaural sound, haptic feedback, and low latency of data transmission. We used the Player robotics platform and Gstreamer to send control information, such as video, audio, and haptic feedback, over the internet. A PS3 controller is used for user input to the system and also provides haptic feedback in the form of the rumble pack. We tested it with a real Pallet Carrier.