An Intelligent Monitoring System for Teleoperation and Its Application to Space Robot.

摘要

In a telerobotic task execution, a human operator and a telerobot should hold common knowledge about the task environment. We propose intelligent monitoring to let the telerobot offer appropriate information to the human operator to cooperate the task execution. The intelligent monitoring provides a function which selects important scenes to help operator through monitoring camera. We propose snapshot function as an extension of the intelligent monitoring to apply it for super-long-telerobotics under constraints of communication such as time delay and small capacity. The snapshot function selects important still images from within the monitoring images. We constructed a telerobotic testbed which includes a connection through the international ISDN and typical space structure and conducted trans-Pacific teleoperation experiments. Experimental results showed the intelligent monitoring and snapshot function were effective to the cooperation between human operator and remote robot.